機(jī)器人簡單搬運(yùn)

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：編制時間：20145.13 編制單位：南京工業(yè)職業(yè)技術(shù)學(xué)院案例10說明：功能：此案例利用機(jī)器人拾取工件，機(jī)器人將工件拾取后放置到暫存盒中，機(jī)器人快速有效的完成，極大地提高了生產(chǎn)效率，降低成本；運(yùn)動軌跡編程過程：1、 規(guī)劃運(yùn)動路徑；2、此案例共定義了3個TCP目標(biāo)點(diǎn)， pHome、pPick、pPlace，通過示教器示教并保存在程序數(shù)據(jù)中；3、設(shè)置機(jī)器人啟動信號di01；4、 編寫程序；5、 調(diào)試程序；程序及注釋：案例10 機(jī)器人工作站案例10 機(jī)器人程序MODULE MainModuleMO

2、DULE MainModuleCONST robtarget pHome:=1261.21,0.00,1395.00,0.5,-5.73546E-09,0.866025,-3.31137E-09,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPick:=905.52,-774.64,824.76,0.00261044,-0.355316,-0.934743,0.000263676,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPlace:

3、=884.40,564.28,795.44,0.00193859,0.271839,-0.962339,0.00176762,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR num nCount:=1;VARnumnPosition9,3:=200,200,0,200,0,0,200,-200,0,0,-200,0,0,0,0,0,200,0,-200,200,0,-200,0,0,-200,-200,0;PROC main() MoveJ pHome,v1000,z50,tool0WObj:=wobj0; p1: IF nCount =10

4、THEN GOTO p2; ENDIF MoveJ Offs (pPick,0,0,-100),v1000,z50,tool0WObj:=wobj0; Set do1; MoveL pPick,v300,fine,tool0WObj:=wobj0; RSet do1; WaitDI di02,1; Movel Offs (pPick,0,0,-100),v1000,z50,tool0WObj:=wobj0; IF nCount <10 THEN MoveJ RelTool (offs(pPlace,0,0,-100),nPosition nCount ,1,nPosition nCoun

5、t ,2,nPosition nCount ,3) ,v1000,z50,tool0WObj:=wobj0; Movel RelTool (pPlace,nPosition nCount ,1,nPosition nCount ,2,nPosition nCount ,3) ,v1000,fine,tool0WObj:=wobj0; Set do1; WaitTime 1;RSet do1; Movel RelTool (offs(pPlace,0,0,-100),nPosition nCount ,1,nPosition nCount ,2,nPosition nCount ,3) ,v1000,z50,tool0WObj:=wobj0; nCount :=nCou