ABB機器人編程程序解析.docx

精品文檔ABB機器人編程1程序解析：1、此程序是典型的ABB機器人官方編程思路與方法，分為主程序，初始化例行程序和軌跡程序。2、思路清晰，結(jié)構(gòu)編排明確，方便使用者閱讀。%VERSION:1LANGUAGE:ENGLISH%MODULE MainModulePERS tooldata tGripper:=TRUE,0,0,100,1,0,0,0,25,0,0,10,1,0,0,0,0,0,0;PERS wobjdata WobBox:=FALSE,TRUE,1,1,1,0,0,0,0,0,0,0,1,0,0,0;CONST robtarget pPointA:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPointB:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget PHome:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PERS loaddata load_Empty:=1,0,0,0,1,0,0,0,0,0,0;PERS loaddata load_Box:=20,0,0,0,1,0,0,0,0,0,0;以上是固定的數(shù)據(jù)存放位置。PROC main()主程序，是一個程序的開始rInitial;Accset 60,60;此部分其實可放入到rInitial中去，這樣管理起來更方便velset 100,100;此部分其實可放入到rInitial中去，這樣管理起來更方便WHILE TRUE DOrBox;在此指令后插入0.3秒的等待指令，防止CPU過負荷的情況出現(xiàn)。ENDWHILEENDPROCPROC rInitial()SetDo DOGrip,0;WaitDI DIGripReleased,1;MoveJ pHome, v300, z50, tGripper;ENDPROCPROC rBox()MoveJ offs(pPointA,0,200,500), v1500, z100,tGripper;MoveJ offs(pPointA,0,200,0), v1500, z50,tGripper;A:TPErase;IF DIAllowPick=1THENWaitTime 0;ELSEIF DIAllowPick=0 THENTPWrite Signal of AllowPick no ready,Please Check!;GOTO A;ENDIFMoveL pPointA,v800, fine, tGripper;SetDo DOGrip,1;WaitDI DIGripPicked,1;Gripload load_Box;這一句很重要的，設定機器人的實際負荷情況，有利于機器人伺服控制的優(yōu)化MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;MoveJ offs(pPointB,0,0,200), v1000, z50, tGripperWObj:=WobBox;MoveL pPointB, v1000, fine, tGripperWObj:=WobBox;SetDo DOGrip,0;WaitDI DIGripReleased,1;Gripload load_Empty;MoveL offs(pPointB,0,200,0), v800, z50, tGripperWObj:=WobBox;MoveJ offs(pPointB,0,200,500), v1500, z100, tGripperWObj:=WobBox;ENDPROCENDMODULEABB機器人編程02程序解析：1、此程序編寫的思路是完全按照比賽題目中的要求的進行，就是按步就班式的2、思路清晰，結(jié)構(gòu)編排明確，方便使用者閱讀。3、有相應的寫屏信息提示，方便操作員對機器人運行狀態(tài)的了解。4、有一點小問題，就是缺少初始化的部分。MODULEMainModuleCONSTrobtargetPHOME:=1149.87,13.55,451.35,0.729477,0.0748599,0.679603,0.0199765,0,0,0,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPA:=250.14,-652.34,650.90,0.429093,0.468557,-0.496153,0.591749,-1,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP20:=250.14,-652.35,828.56,0.429091,0.468538,-0.496163,0.591756,-1,0,-3,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP30:=695.24,18.14,826.55,0.0377066,-0.677588,0.0913591,-0.728771,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP40:=1227.51,18.14,826.55,0.0377092,-0.677583,0.0913642,-0.728774,0,0,-3,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPB:=1227.52,18.15,424.02,0.0377092,-0.677591,0.0913577,-0.728767,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROCmain()在主程序里，過于臃腫，將具體功能盡量細分到例行程序TPErase;MoveJPHOME,v1000,z50,tool0;OpenGripper;WaitTime5;WHILEtrueDOIFPLC=1THENTPErase;TPWriteWarning! Begin to move the new staff.;WaitTime1;ClkResetclock1;ClkStartclock1;MovFromAtoB;ClkStopclock1;reg1:=ClkRead(clock1);TPErase;TPWriteGoods handling in place, it take (time in second): Num:=reg1;運行時間的顯示W(wǎng)aitTime5;ELSETPErase;TPWriteWaiting for new goods.;運行狀態(tài)的提醒WaitDIPLC,1;ENDIFENDWHILEENDPROCPROCOpenGripper()將對夾具的控制做在一個例行程序里，方便管理SetG0;ResetG1;ENDPROCPROCCloseGripper()將對夾具的控制做在一個例行程序里，方便管理SetG1;ResetG0;ENDPROCPROCMovFromAtoB()MoveJP30,v1000,z50,tool0;MoveJP20,v1000,z50,tool0;MoveLPA,v50,fine,tool0;WaitTime1;CloseGripper;WaitTime1;MoveJP20,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJP40,v1000,z50,tool0;MoveLPB,v50,fine,tool0;WaitTime1;OpenGripper;WaitTime1;MoveLP40,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJPHOME,v1000,z50,tool0;ENDPROCENDMODULEABB機器人編程03程序解析：1、此程序是典型的ABB機器人官方編程思路與方法，分為主程序，初始化例行程序和軌跡程序。2、思路清晰，結(jié)構(gòu)編排明確，方便使用者閱讀。3、但有點要注意的初始化例行程序只在開始時，執(zhí)行一次，正常運行時，不再執(zhí)行。但此程序是每個循環(huán)都會進行一次初始化，是有點問題的。PROC main()InitAll;此初始化程序應與循環(huán)執(zhí)行的程序隔離開，使用WHILE指令Circle;WaitTime 0.5;ENDPROCPROC InitAll()Reset Do_fixOn;WaitDIOnConfJOn;ConfLOn;VelSet 80, 1000;AccSet 70,70;MoveJ PHome, v150, fine, Tool0WObj:=Wobj2;RETURN;ENDPROCPROC Circle()MoveJ Home, v60, z0, Tool0WObj:=Wobj2;waitDI;work;reset waitDIMoveJ Home, v150, fine, Tool0WObj:=Wobj2;ENDPROCPROC fixopen()Set Do_fixopen;ENDPROCPROC fixclose()Reset Do_fixclose;ENDPROCPROC Work()MOVEJ A0v150, z10, Tool0WObj:=Wobj2;fixopen;waittime 2;MOVEL A1v30, fine,Tool0WObj:=Wobj2;fixclose;waittime 2;MOVEJ B0v150, z10, Tool0WObj:=Wobj2;MOVEj B1v30, fine,Tool0WObj:=Wobj2;fixopen;waittime 2;MoveJ PHome, v150, fine, Tool0WObj:=Wobj2;ENDPROCABB機器人編程04程序解析：1、此程序是典型的ABB機器人官方編程思路與方法。2、思路清晰，結(jié)構(gòu)編排明確，方便使用者閱讀。3、此程序有一個亮點，就是有一個回等待點的例行程序rMoveHome，這個好處在于可以在手動狀態(tài)下，就能方便的回到機器人的等待位置。4、有足夠的寫屏信息，很好地提示運行狀態(tài)。PROC Main()rInitial;rMoveHome;While True DoVelset 100,3000;AccSet 70, 70;rpickworkpiece;rplaceworkpiece;endwhileproc rpickworkpiece;if workpiece=falseMoveJ pickup, v2000, z5, too10;A:TPErase;IF DI10_pickup=1THEN(pickup為PLC發(fā)來拾取信號)WaitTime 0;ELSEIF DI10_pickup=0 THENTPWrite PLC-pickup signal no ready.;GOTO A;ENDIFMoveJ Offs(pickup,0,0,300), v500, z200, too10;SetDo DO10_pickup1,1;wait time1;workpiece=tureendifendprocproc rplaceworkpiece;if workpiece=tureMoveJ placemiddle, v2000, z5, too10;MoveJ placeworkpiece, v2000, z5, too10;MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10;SetDo DO10_pickup1,0;A:TPErase;IF DI10_pickon=1THEN(pickon為PLC檢測已放好信號)WaitTime 0;ELSEIF DI10_pickup=0 THENTPWrite PLC-pickON signal no ready.;GOTO A;workpiece=falseENDIFendprocPROC rInitial()TpReadFk nInput,Is the pack_machine ready,No,Yes;(機器是否準備好）If nInput=4 ThenbReady:=False;stop;ElseIF nInput=5 thenbReady:=True;ENDIFbFirstPickBoard:=True;TpReadFk nInput,Do you want to place workpiece,No,Yes;（機器人抓頭是否工件）If nInput=4 Thenworkpiece:=False;ElseIF nInput=5 thenworkpiece:=True;ENDPROC PROC rMoveHome()(定義原點）此例行程序可以方便地回到等待位置MoveJ pHome, v500, z50, tGripper;ENDPROCABB機器人編程05程序解析：1、此程序是典型的ABB機器人官方編程思路與方法。2、思路清晰，結(jié)構(gòu)編排明確，方便使用者閱讀。3、此程序共分了3個程序模塊，清楚地將不同用途的語句分開，方便閱讀，這種編程在進行一些復雜系統(tǒng)的編程是非常有用的。4、里面編程中運用了很多編程技巧，節(jié)省了機器人示教的時間，如使用OFFS功能。5、在寫屏信息提示方面也非常豐富。6、此程序非常適合大家的參考與提高。7、有一個小問題，缺少搬運重要的負荷重量設定數(shù)據(jù)。MODULE Data此模塊專門用于存放程序數(shù)據(jù)的!targetCONST jointtarget home_pos := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9 ;CONST jointtarget delta_pos := 2, 2, 2, 2, 2, 2, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9 ;CONST jointtarget jhome := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9 ;PERS robtarget roFetch:=2000,0,233.483269239532,0,0,1,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget roDeFetch:=2000,1000,233.483269239532,0,0,1,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;VAR wzstationary home;VAR shapedata joint_space;VAR num nu_inhome;VAR bool flag1:=FALSE;ENDMODULE%VERSION: 1LANGUAGE: ENGLISH%MODULE CalibData此模塊用于存放需要設定的程序數(shù)據(jù)TASK PERS tooldata Tooldata_1:=TRUE,0,0,1000,1,0,0,0,1,0,0,1,1,0,0,0,0,0,0;TASK PERS wobjdata Workobject_1:=FALSE,TRUE,0,0,0,1,0,0,0,0,0,0,1,0,0,0;ENDMODULEMODULE MainModulePROC main()CheckHome;CheckGriper;Production;ENDPROCPROC CheckHome()IF DOutput(do_inhome) = 1 THENnu_inhome := 1;ELSEnu_inhome :=0;ENDIFTEST nu_inhomeCASE 0 :GoHome;CASE 1 :RETURN;DEFAULT :TPWrite error;Stop;ENDTESTENDPROCPROC CheckGriper()IF di_griperclosed = 1 THENControlGriper;ELSERETURN;ENDIFENDPROCPROC Production()WHILE TRUE DOWaitUntil di_plc=1;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;利用OFFS此功能，減少示教MoveL roFetch,v1000,fine,Tooldata_1WObj:=Workobject_1;CloseGriper;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL roDeFetch,v1000,fine,Tooldata_1WObj:=Workobject_1;OpenGriper;MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;ENDWHILEENDPROCPROC CloseGriper()flag1:=FALSE;Reset do_opengriper;Set do_closegriper;WaitDI di_griperclosed, 1MaxTime:=3TimeFlag:=flag1;WHILE flag1=TRUE DOTPWriteCANNT CLOSE GRIPER;StopNoRegain;ENDWHILEENDPROCPROC OpenGriper()flag1:=FALSE;Set do_opengriper;Reset do_closegriper;WaitDI di_griperopend, 1MaxTime:=3TimeFlag:=flag1;WHILE flag1=TRUE DOTPWriteCANNT OPEN GRIPER;StopNoRegain;ENDWHILEENDPROCPROC DEF_Zone()對機器人是否在等待位進行檢測WZHomeJointDef Inside, joint_space, home_pos, delta_pos;WZDOSetStat, homeInside, joint_space