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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：2014.7.3 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：機器人搬運工件是所有機器人應(yīng)用當(dāng)中使用最廣的一個，此案例為機器人搬運裝配好的軸承，軸承加工好后，從傳送帶上輸送過來，機器人采用電磁吸盤將其拾取后，暫放置在儲蓄盒里； 運動軌跡編程過程：1、 規(guī)劃運動路徑；2、此案例一共定義3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26 機器人工作站示意圖案例26 機器人程序：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

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