ABB-robotstudio使用詳細步驟

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12、,0,50,1,0,0,0,0,0,0;！有效載荷數(shù)據(jù)PERS robtargetpHome:=1620.00,-0.00,1331.59,1.27986E-06,-0.707107,-0.707107,1.27986E-06,0,0,1,0 ,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;！基準點PERS robtargetpActualPos:=1620,-1.87531E-14,1331.59,1.27986E-06,-0.707107,-0.707107,1.27986E-06 ,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E

13、+09;！實際點PERS robtargetpPick1:=1488.007792464,376.826660408,476.964684195,0,0.707106307,0.707107256,0 ,0,0,1,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路拾取目標點PERS robtarget pPlace1:=-292.446,1263.27,55.4492,0,0.707107,0.707106,0,1,0,2,0,9E+09,9E+09,9E +09,9E+09,9E+09,9E+09;！ 1 路放置基準點PERS robtargetpBase1_0:=-292.4

14、46294945,1263.272085268,55.449220723,0,0.707107387,0.707106176,0,1,0,2,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路放置 0 度姿態(tài)PERS robtarget pBase1_90:=-391.976797324,1362.469634994,55.449159414,0,1,-0.000030621,0,1,0,3 ,0,9E9,9E9,9E9,9E9,9E9,9E9;！ 1 路放置 90 度姿態(tài)PERS robtarget pPick2:=1488.013130905,-358.406014736,47

15、6.965039287,0,0.707106307,0.707107256,0 ,-1,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget pPlace2:=-317.378,-1857.99,55.449,0,0.707108,0.707106,0,-2,0,-1,0,9E+09,9E+09,9E +09,9E+09,9E+09,9E+09;PERS robtarget pBase2_0:=-317.378137718,-1857.993871961,55.448967354,0,0.707107745,0.707105817 ,0,-2,0,-1,0,

16、9E9,9E9,9E9,9E9,9E9,9E9;PERS robtarget pBase2_90:=-407.525988074,-1755.902485322,55.449282402,0,1,-0.000031217,0,-2,0, 0,0,9E9,9E9,9E9,9E9,9E9,9E9;PERS speeddata MinSpeed:=1000,300,5000,1000;PERS speeddata MidSpeed:=2500,400,5000,1000;PERS speeddata MaxSpeed:=4000,500,5000,1000;！搬運速度定義PERS bool bPal

17、letFull1:=FALSE;PERS bool bPalletFull2:=FALSE;!邏輯布爾量，拾取后為UE,放置后為FALSEPERS num nCount1:=1;PERS num nCount2:=1;!輸送鏈計數(shù)PROC Main()rInitAll;WHILE TRUE DOIF diBoxInPos1=1 AND diPalletInPos1=1 AND bPalletFull1=FALSE THEN rPick1;rPlace1;ENDIFIF diBoxInPos2=1 AND diPalletInPos2=1 AND bPalletFull2=FALSE THEN

18、rPick2;rPlace2;ENDIFWaitTime 0.1;ENDWHILEENDPROCPROC rInitAll()Reset doGrip;pActualPos:=CRobT(tool:=tGrip);pActualPos.trans.z:=pHome.trans.z;MoveL pActualPos,MinSpeed,fine,tGripWObj:=wobj0;MoveJ pHome,MidSpeed,fine,tGripWObj:=wobj0;bPalletFull1:=FALSE;nCount1:=1;bPalletFull2:=FALSE;nCount2:=1;ENDPRO

19、CPROC rPick1()MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPick1,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime 0.3;GripLoad LoadFull;MoveL Offs(pPick1,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPick2()MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPi

20、ck2,MinSpeed,fine,tGripWObj:=wobj0;Set doGrip;WaitTime 0.3;GripLoad LoadFull;MoveL Offs(pPick2,0,0,400),MinSpeed,z50,tGripWObj:=wobj0;ENDPROCPROC rPlace1()rPosition1;MoveJ Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveL pPlace1,MinSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripL

21、oad LoadEmpty;MoveL Offs(pPlace1,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJ Offs(pPick1,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; nCount1:=nCount1+1;IF nCount1>20 THENbPalletFull1:=TRUE;ENDIFENDPROCPROC rPlace2()rPosition2;MoveJ Offs(pPlace2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0;MoveL pPlace2,Mi

22、nSpeed,fine,tGripWObj:=wobj0;Reset doGrip;WaitTime 0.3;GripLoad LoadEmpty;MoveL Offs(pPlace2,0,0,400),MidSpeed,z50,tGripWObj:=wobj0;MoveJ Offs(pPick2,0,0,400),MaxSpeed,z50,tGripWObj:=wobj0; nCount2:=nCount2+1;IF nCount2>20 THENbPalletFull2:=TRUE;ENDIFENDPROCPROC rPosition1()TEST nCount1CASE 1: pP

23、lace1:=Offs(pBase1_0,0,0,0);CASE 2: pPlace1:=Offs(pBase1_0,600+10,0,0);CASE 3: pPlace1:=Offs(pBase1_90,0,400+10,0);CASE 4:pPlace1:=Offs(pBase1_90,400+10,400+10,0);CASE 5: pPlace1:=Offs(pBase1_90,800+20,400+10,0);CASE 6: pPlace1:=Offs(pBase1_0,0,600+10,200);CASE 7: pPlace1:=Offs(pBase1_0,600+10,600+1

24、0,200);CASE 8: pPlace1:=Offs(pBase1_90,0,0,200);CASE 9:pPlace1:=Offs(pBase1_90,400+10,0,200);CASE 10:pPlace1:=Offs(pBase1_90,800+20,0,200);CASE 11: pPlace1:=Offs(pBase1_0,0,0,400);CASE 12: pPlace1:=Offs(pBase1_0,600+10,0,400);CASE 13: pPlace1:=Offs(pBase1_90,0,400+10,400);CASE 14: pPlace1:=Offs(pBas

25、e1_90,400+10,400+10,400);CASE 15: pPlace1:=Offs(pBase1_90,800+20,400+10,400);CASE 16: pPlace1:=Offs(pBase1_0,0,600+10,600);CASE 17: pPlace1:=Offs(pBase1_0,600+10,600+10,600);CASE 18: pPlace1:=Offs(pBase1_90,0,0,600);CASE 19: pPlace1:=Offs(pBase1_90,400+10,0,600);CASE 20: pPlace1:=Offs(pBase1_90,800+

26、20,0,600);DEFAULT:TPErase;TPWrite he Counter of line 1 is error ,please check it!; Stop;ENDTESTENDPROCPROC rPosition2()TEST nCount2CASE 1: pPlace2:=Offs(pBase2_0,0,0,0);CASE 2: pPlace2:=Offs(pBase2_0,600+10,0,0);CASE 3: pPlace2:=Offs(pBase2_90,0,400+10,0);CASE 4: pPlace2:=Offs(pBase2_90,400+10,400+10,0);CASE 5: pPlace2:=Offs(pBase2_90,800+20,400+10,0);CASE 6: pPlace2:=Offs(pBase2_0,0,600+10,200);CASE 7:pPlace2:=Offs(pBase2_0,600+10,600+10,200);CASE 8: pPlace2:=Offs(pBase2_90,0,0,200);CASE 9: pPlace2:=Offs(pBase2_90,400+10,0,200);CASE 10: pPlace2:=Offs(pBase2_90,800+20,0,200);CASE 11: pPl