機(jī)器人搬運(yùn)儲(chǔ)物盒_第1頁
機(jī)器人搬運(yùn)儲(chǔ)物盒_第2頁
機(jī)器人搬運(yùn)儲(chǔ)物盒_第3頁
機(jī)器人搬運(yùn)儲(chǔ)物盒_第4頁
全文預(yù)覽已結(jié)束

下載本文檔

版權(quán)說明：本文檔由用戶提供并上傳，收益歸屬內(nèi)容提供方，若內(nèi)容存在侵權(quán)，請進(jìn)行舉報(bào)或認(rèn)領(lǐng)

文檔簡介

1、職業(yè)教育機(jī)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(jī)器人調(diào)試編 制 人：王曉勇郵 箱：電 話：編制時(shí)間：2014.7.3 編制單位：南京工業(yè)職業(yè)技術(shù)學(xué)院案例26說明：功能：機(jī)器人搬運(yùn)工件是所有機(jī)器人應(yīng)用當(dāng)中使用最廣的一個(gè)，此案例為機(jī)器人搬運(yùn)裝配好的軸承，軸承加工好后，從傳送帶上輸送過來，機(jī)器人采用電磁吸盤將其拾取后，暫放置在儲(chǔ)蓄盒里； 運(yùn)動(dòng)軌跡編程過程：1、 規(guī)劃運(yùn)動(dòng)路徑；2、此案例一共定義3個(gè)TCP目標(biāo)點(diǎn)，通過示教器示教并保存在程序數(shù)據(jù)中；3、設(shè)置機(jī)器人啟動(dòng)信號(hào)di01；4、 編寫程序；5、 調(diào)試程序；程序及注釋：案例26 機(jī)器人工作站示意圖案例26 機(jī)器人程序：MODULE Ma

2、inModuleCONST robtarget pPick:=484.44,325.87,88.60,0.0021487,0.000166672,0.999998,0.000288857,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPlace:=763.85,20.67,203.51,0.00214873,0.000167244,0.999998,0.000288883,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pHome:=506.15

3、,0.00,677.70,0.498214,0,0.867054,0,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DO WaitDI di02,1;WaitTime 0.3;ENDWHILEMoveJ Offs(pPick,0,0,100), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveJ Offs(pPick,0,0,100), v800, z1, MyTool WObj:=

4、wobj1;MoveJ Offs(pPlace,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPlace, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPlace,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pP

5、ick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,0,-210,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(pPlace,0,-210,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPlace,0,-210,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPic

6、k, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,-210,0,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(pPlace,-210,0,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPlace,-210,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Of

7、fs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,-210,-210,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(pPlace,-210,-210,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;Move

8、L Offs(pPlace,-210,-210,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,-210,-420,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(

9、pPlace,-210,-420,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPlace,-210,-420,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ O

10、ffs(pPlace,-420,0,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(pPlace,-420,0,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveJ Offs(pPlace,-420,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL

11、 Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,-420,-210,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(pPlace,-420,-210,0), v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPlace,-420,-210,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveL pPick, v800, z1, MyTool WObj:=wobj1;WaitTime 1.5;MoveL Offs(pPick,0,0,150), v800, z1, MyTool WObj:=wobj1;MoveJ Offs(pPlace,-420,-420,150), v800, z1, MyTool WObj:=wobj1;MoveL Offs(p

溫馨提示

  • 1. 本站所有資源如無特殊說明，都需要本地電腦安裝OFFICE2007和PDF閱讀器。圖紙軟件為CAD,CAXA,PROE,UG,SolidWorks等.壓縮文件請下載最新的WinRAR軟件解壓。
  • 2. 本站的文檔不包含任何第三方提供的附件圖紙等，如果需要附件，請聯(lián)系上傳者。文件的所有權(quán)益歸上傳用戶所有。
  • 3. 本站RAR壓縮包中若帶圖紙，網(wǎng)頁內(nèi)容里面會(huì)有圖紙預(yù)覽，若沒有圖紙預(yù)覽就沒有圖紙。
  • 4. 未經(jīng)權(quán)益所有人同意不得將文件中的內(nèi)容挪作商業(yè)或盈利用途。
  • 5. 人人文庫網(wǎng)僅提供信息存儲(chǔ)空間，僅對用戶上傳內(nèi)容的表現(xiàn)方式做保護(hù)處理，對用戶上傳分享的文檔內(nèi)容本身不做任何修改或編輯，并不能對任何下載內(nèi)容負(fù)責(zé)。
  • 6. 下載文件中如有侵權(quán)或不適當(dāng)內(nèi)容，請與我們聯(lián)系，我們立即糾正。
  • 7. 本站不保證下載資源的準(zhǔn)確性、安全性和完整性, 同時(shí)也不承擔(dān)用戶因使用這些下載資源對自己和他人造成任何形式的傷害或損失。

最新文檔

評(píng)論

0/150

提交評(píng)論