機器人變位機焊接

1、職業(yè)教育機電一體化專業(yè)教學(xué)資源庫課 程 案 例課程名稱：工業(yè)機器人調(diào)試編 制 人：王曉勇郵 箱：電 話：編制時間：2014.6.12 編制單位：南京工業(yè)職業(yè)技術(shù)學(xué)院案例15說明：功能：為了減少機器人的運動路徑，優(yōu)化運動軌跡，常采用變位機與機器人一起工作，從而提高工作效率；變位機改變工件的位置，使得被焊接的表面更加容易加工；運動軌跡編程過程：1、規(guī)劃運動路徑；2、一共定義31個TCP目標(biāo)點，通過示教器示教并保存在程序數(shù)據(jù)中；3、設(shè)置機器人啟動信號di01；4、編寫程序；5、調(diào)試程序；程序及注釋：案例15 機器人工作站示意圖案例15機器人程序：MODULE MainModuleCONST robt

2、arget p10:=1117.68,0.00,1611.21,0.585188,-5.70601E-09,0.810898,-4.11777E-09,0,0,-1,0,9E+09,0,0,9E+09,9E+09,9E+09;CONST robtarget p20:=1117.68,0.00,1611.21,0.585188,-1.47685E-08,0.810898,-1.06578E-08,0,0,-1,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p30:=1193.84,-9.07,1382.12,0.402055,-9.399

3、09E-08,0.915615,-1.89645E-07,-1,0,-1,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p40:=1233.45,57.63,1382.12,0.402055,1.06613E-07,0.915616,2.0534E-07,0,-1,0,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p60:=1263.51,-27.07,1531.92,0.402054,-5.88115E-07,0.915616,-3.28323E-07,-1,0,-1,0,9E

4、+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p50:=1302.38,46.05,1382.12,0.402055,-9.04068E-08,0.915616,1.212E-07,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p80:=791.59,-27.07,1531.92,0.402054,-7.49944E-07,0.915616,-6.64253E-07,-1,0,-1,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST ro

5、btarget p90:=791.59,25.47,1382.00,0.402054,-1.34872E-06,0.915616,-2.76224E-07,0,-1,0,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p100:=791.59,123.71,1382.00,0.402054,-8.68178E-07,0.915616,1.84368E-07,0,-1,0,0,9E+09,90.2745,0,9E+09,9E+09,9E+09; CONST robtargetp110:=699.50,157.47,1382.12,0.402

6、054,4.98744E-07,0.915616,6.45428E-07,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p130:=640.43,59.62,1558.21,0.402053,-4.47367E-07,0.915616,4.54573E-07,0,-1,0,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p140:=1208.16,59.62,1704.63,0.402053,-9.03093E-08,0.915616,8.68637E-07,0,

7、-1,0,0,9E+09,90.2745,0,9E+09,9E+09,9E+09;CONST robtarget p150:=1208.16,59.62,1704.63,0.402053,-9.20148E-08,0.915616,8.63395E-07,0,-1,0,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p160:=1145.81,29.72,1408.56,0.344826,3.29993E-07,0.938667,5.59152E-07,0,-1,0,0,9E+09,90.2745,179.751,9E+09,

8、9E+09,9E+09;CONST robtarget p170:=1143.79,125.83,1408.56,0.344826,2.99914E-07,0.938667,2.3133E-07,0,-1,0,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p180:=1233.42,156.77,1408.56,0.344826,8.04894E-07,0.938667,3.20578E-07,0,-1,0,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p

9、200:=1212.97,-8.15,1408.56,0.344826,8.85586E-07,0.938667,1.73974E-07,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p220:=1164.27,-8.15,1679.19,0.344826,9.34342E-07,0.938667,8.66629E-08,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p230:=727.42,-8.15,1628.35,0.

10、344826,6.98938E-07,0.938667,-3.89141E-07,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p240:=742.41,-8.15,1407.60,0.344825,7.49053E-07,0.938667,3.23685E-07,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p250:=702.48,61.85,1407.59,0.344824,1.3875E-07,0.938667,2.

11、84628E-08,0,-1,0,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p270:=615.22,-13.72,1407.59,0.344823,1.38774E-07,0.938668,-7.38284E-08,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p260:=639.04,52.00,1407.59,0.344824,6.17534E-07,0.938667,-7.28013E-08,0,-1,0,0,9E+09,90.

12、2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p280:=670.42,-65.54,1407.59,0.344823,6.69746E-07,0.938668,3.70435E-07,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E+09;CONST robtarget p300:=819.84,-17.62,1795.44,0.461704,-1.00049E-08,0.887034,2.97801E-07,-1,0,-1,0,9E+09,90.2745,179.751,9E+09,9E+09,9E

13、+09;CONST robtarget p310:=819.84,-17.62,1795.44,0.461704,-3.681E-08,0.887034,2.83332E-07,-1,0,-1,0,9E+09,0,0,9E+09,9E+09,9E+09;CONST robtarget p330:=1312.94,-29.59,1382.12,0.402055,-1.89219E-07,0.915616,-2.24152E-07,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p320:=1235.88,-61.58,1

14、382.12,0.402054,3.91475E-07,0.915616,-1.70036E-08,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p350:=639.02,84.31,1382.12,0.402054,5.48529E-07,0.915616,7.79972E-07,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p340:=671.38,9.50,1382.12,0.402054,9.88894E-07,0.915616,5.

15、71704E-07,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DO WaitDI di01,1;WaitTime 0.3;ENDWHILEMoveJ p10, v200, z20, tWeldGun WObj:=wobj1;ActUnit STN1;（激活變位機指令）MoveJ p20, v200, z20, tWeldGun WObj:=wobj1;DeactUnit STN1;MoveL p30, v200, fine, tWeldGun WObj:=wobj1;MoveL p40, v200, f

16、ine, tWeldGun WObj:=wobj1;MoveC p50, p330, v200, z10, tWeldGun WObj:=wobj1;MoveC p320, p30, v200, z10, tWeldGun WObj:=wobj1;MoveL p60, v200, z20, tWeldGun WObj:=wobj1;MoveL p80, v200, z20, tWeldGun WObj:=wobj1;MoveL p90, v200, fine, tWeldGun WObj:=wobj1;MoveL p100, v200, fine, tWeldGun WObj:=wobj1;M

17、oveC p110, p350, v200, z10, tWeldGun WObj:=wobj1;MoveC p340, p90, v200, z10, tWeldGun WObj:=wobj1;MoveL p130, v200, fine, tWeldGun WObj:=wobj1;MoveL p140, v200, z20, tWeldGun WObj:=wobj1;ActUnit STN1;MoveJ p150, v200, fine, tWeldGun WObj:=wobj1;DeactUnit STN1;MoveL p160, v200, fine, tWeldGun WObj:=wobj1;MoveL p170, v200, fine, tWeldGun WObj:=wobj1;MoveC p180, p190, v200, z10, tWeldGun WObj:=wobj1;MoveC p200, p160, v200, z10, tWeldGun WObj:=wobj1;MoveL p220, v200, fine, tWeldGun WObj:=wobj1;MoveL p230, v200, fine, tWeldGun WObj:=wobj1;MoveL p240, v200, fine, tWeldGun WObj:=wo