A機器人編程程序解析

1、1程序解析：1、此程序是典型的ABB機器人官方編程思路與方法,分為主程序,初始化例行程序和軌跡程序.2、思路清楚,結(jié)構(gòu)編排明確,方便使用者閱讀.%VERSION"LANGUAGE:ENGLISH%MODULE Mai nM odulePERS tooldata tGripper:=TRUE,0,0,100,1,0,0,0,25,0,0,10,1,0,0,0,0,0,0;？PERS wobjdata WobBox:=FALSE,TRUE,"",1,1,1,0,0,0,0,0,0,0,1,0,0,0;CONST robtarget pPoi ntA:=1,1,1,1,

2、1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPoi ntB:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget PHome:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;？PERS loaddata load_Empty:=1,0,0,0,1,0,0,0,0,0,0;PERS loaddata load_Box:=20,0,0,0,

3、1,0,0,0,0,0,0;以上是固定的數(shù)據(jù)存放位置.？PROC ma in ()主程序,是一個程序的開始rIn itial;Accset 60,60;此局部其實可放入到rlnitial中去,這樣治理起來更方便velset 100,100;此局部其實可放入到rlnitial中去,這樣治理起來更方便WHILE TRUE DO ？rBox;在此指令后插入秒的等待指令,預防CPU過負荷的情況岀現(xiàn).ENDWHILEENDPROCPROC rIn itial()?SetDo DOGrip,0;WaitDI DIGripReleased,1;?MoveJ pHome, v300, z50, tGrippe

4、r;?ENDPROCPROC rBox()MoveJ offs(pPo in tA,0,200,500), v1500, z100,tGripper;MoveJ offs(pPo in tA,0,200,0), v1500, z50,tGripper;A:TPErase;IF DIAllowPick=1THENWaitTime 0;ELSEIF DIAllowPick=0 THENTPWrite "Signal of AllowPick no ready,Please Check!"GOTO A;ENDIF?MoveL pPointA,v800, fine, tGrippe

5、r; ?SetDo DOGrip,1;WaitDI DIGripPicked,1;Gripload load_Box;這一句很重要的,設定機器人的實際負荷情況,有利于機器人伺服限制的優(yōu)化MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;？MoveJ offs(pPointB,0,0,200), v1000, z50, tGripperWObj:=WobBox; ？MoveL pPoi ntB, v1000, fine, tGripperWObj:=WobBox;SetDo DOGrip,0;WaitDI DIGripReleased,1; ？

6、Gripload load_Empty;MoveL offs(pPoi ntB,0,200,0), v800, z50, tGripperWObj:=WobBox;MoveJ offs(pPo in tB,0,200,500), v1500, z100, tGripperWObj:=WobBox;ENDPROCENDMODULEABB機器人編程02程序解析：1、此程序編寫的思路是完全根據(jù)比賽題目中的要求的進行,就是按步就班式的2、思路清楚,結(jié)構(gòu)編排明確,方便使用者閱讀.3、有相應的寫屏信息提示,方便操作員對機器人運行狀態(tài)的了解.4、有一點小問題,就是缺少初始化的局部.MODULEMai nM

7、oduleC0NSTrobtargetPH0ME:=,0,0,0,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPA:=,-1,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;C0NSTrobtargetP20:=,-1,0,-3,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP30:=,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP40:=,0,0,-3,1,9E+0

8、9,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPB:=,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROCmai n()在主程序里,過于臃腫,將具體功能盡量細分到例行程序TPErase;MoveJPHOME,v1000,z50,tool0;Open Gripper;WaitTime5;WHILEtrueDOIFPLC=1THENTPErase;TPWrite"Warni ng! Begi n to move the new staff."WaitTime1;ClkResetcloc

9、k1;ClkStartclockl;MovFromAtoB;ClkStopcIockl;reg1:=CIkRead(cIock1);TPErase;TPWrite'Goods han dli ng in place, it take (time in seco nd): "Num:=reg1;運行時間的顯示W(wǎng)aitTime5;ELSETPErase;TPWrite"Waiting for new goods."運行狀態(tài)的提醒WaitDIPLC,1;ENDIFENDWHILEENDPROCPROCOpe nGripper()將對夾具的限制做在一個例行程序里,

10、方便治理SetGO;ResetG1;ENDPROCPROCCloseGripper()將對夾具的限制做在一個例行程序里,方便治理SetG1;ResetG0;ENDPROCPROCMovFromAtoB()MoveJP30,v1000,z50,tool0;MoveJP20,v1000,z50,tool0;MoveLPA,v50,fi ne,tool0;WaitTime1;CloseGripper;WaitTime1;MoveJP20,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJP40,v1000,z50,tool0;MoveLPB,v50,fi ne,

11、tool0;WaitTime1;Open Gripper;WaitTime1;MoveLP40,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJPH0ME,v1000,z50,tool0;ENDPROCENDMODULE程序解析：1、此程序是典型的ABB機器人官方編程思路與方法,分為主程序,初始化例行程序和軌跡程序2、思路清楚,結(jié)構(gòu)編排明確,方便使用者閱讀.3、但有點要注意的初始化例行程序只在開始時,執(zhí)行一次,正常運行時,不再執(zhí)行.但此程序是每 個循環(huán)都會進行一次初始化,是有點問題的.PROC mai n()InitAll;此初始化程序應與循環(huán)執(zhí)行的程序

12、隔離開,使用WHILE指令Circle;WaitTime ;ENDPROC？PROC Ini tAll()Reset Do_fix On;WaitDI'O nCo nfJOn;ConfL'On;VelSet 80, 1000;AccSet 70,70;MoveJ PHome, v150, fine, Tool0WObj:=Wobj2;RETURN;ENDPROC？PROC Circle()MoveJ Home, v60, z0, Tool0WObj:=Wobj2;waitDI;work;reset waitDI？MoveJ Home, v150, fine, Tool0WObj

13、:=Wobj2;ENDPROC？PROC fixope n()Set Do_fixope n;ENDPROC？PROC fixclose()Reset Do_fixclose;ENDPROC？PROC Work()MOVEJ A0v150, z10, Tool0WObj:=Wobj2;fixope n;waittime 2;MOVEL A1v30, fin e,Tool0WObj:=Wobj2;fixclose;waittime 2;MOVEJ B0v150, z10, ToolOWObj:=Wobj2;MOVEj B1v30, fin e,ToolOWObj:=Wobj2;fixope n;

14、waittime 2;MoveJ PHome, v150, fine, ToolOWObj:=Wobj2;ENDPROCABB機器人編程04程序解析：1、此程序是典型的ABB機器人官方編程思路與方法.2、思路清楚,結(jié)構(gòu)編排明確,方便使用者閱讀.3、 此程序有一個亮點,就是有一個回等待點的例行程序rMoveHome,這個好處在于可以在手動狀態(tài) 下,就能方便的回到機器人的等待位置.4、有足夠的寫屏信息,很好地提示運行狀態(tài).PROC Mai n()？rln itial;rMoveHome;While True DoVelset 100,3000;AccSet 70, 70;rpickworkpiec

15、e;rplaceworkpiece;?en dwhile？proc rpickworkpiece;if workpiece=falseMoveJ pickup, v2000, z5, too10;A:TPErase;？IF DI10_pickup=1THEN(pickup 為 PLC 發(fā)來拾取信號)WaitTime 0; ？ELSEIF DI10_pickup=0 THENTPWrite "PLC-pickup signal no ready."GOTO A;ENDIFMoveJ Offs(pickup,0,0,300), v500, z200, too10;SetDo D

16、O10_pickup1,1;wait time1;workpiece=tureen difen dproc?proc rplaceworkpiece;if workpiece=tureMoveJ placemiddle, v2000, z5, toolO;?MoveJ placeworkpiece, v2000, z5, too10;MoveJ 0ffsplaceworkpiece,0,0,300, v500, z200, too10;SetDo DO10_pickup1,0;A:TPErase;?IF DI10_pickonhTHENpickon 為 PLC 檢測已放好信號WaitTime

17、0; ?ELSEIF DI10_pickup=0 THENTPWrite "PLC-pickON signal no ready."GOTO A;workpiece=falseENDIF?en dproc?PROC rln itialTpReadFk nlnput,"Is the pack_machine ready","","","","No","Yes"機器是否準備好If nln put=4 ThenbReady:=False;stop;ElseIF

18、nln put=5 the nbReady:=True;ENDIF?bFirstPickBoard:=True;TpReadFk nlnput,"Do you want to place workpiece","","","","No","Yes"機器人抓頭是否工件If nln put=4 Thenworkpiece:=False;ElseIF nln put=5 the nworkpiece:=True;ENDPROC ？?PROC rMoveHome定義原點此例行程序可以

19、方便地回到等待位置MoveJ pHome, v500, z50, tGripper;ENDPROC程序解析：1、此程序是典型的ABB機器人官方編程思路與方法.2、思路清楚,結(jié)構(gòu)編排明確,方便使用者閱讀.3、此程序共分了 3個程序模塊,清楚地將不同用途的語句分開,方便閱讀,這種編程在進行一些復 雜系統(tǒng)的編程是非常有用的.4、 里面編程中運用了很多編程技巧,節(jié)省了機器人示教的時間,如使用OFFS功能.5、在寫屏信息提示方面也非常豐富.6、此程序非常適合大家的參考與提升.7、有一個小問題,缺少搬運重要的負荷重量設定數(shù)據(jù).MODULE Data此模塊專門用于存放程序數(shù)據(jù)的!target？CONST j

20、ointtarget home_pos := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;CONST jointtarget delta_pos := 2, 2, 2, 2, 2, 2, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;CONST joi nttarget jhome := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;VAR wzstati onary home;VAR shapedata join t_space;VAR num nu_in home;VAR bo

21、ol flag1:=FALSE;ENDMODULE%VERSION: 1LANGUAGE: ENGLISH%MODULE CalibData此模塊用于存放需要設定的程序數(shù)據(jù)TASK PERS tooldata Tooldata_1:=TRUE,0,0,1000,1,0,0,0,1,0,0,1,1,0,0,0,0,0,0;TASK PERS wobjdata Workobject_1:=FALSE,TRUE,"",0,0,0,1,0,0,0,0,0,0,1,0,0,0;？ENDMODULEMODULE Mai nM odulePROC mai n()CheckHome;Che

22、ckGriper;Producti on;ENDPROCPROC CheckHome()IF DOutput(do_i nhome) = 1 THENnu_in home := 1;ELSE?nu_in home :=0;ENDIFTEST nu_in homeCASE 0 :GoHome;CASE 1 :RETURN;DEFAULT:TPWrite "error"Stop;ENDTESTENDPROCPROC CheckGriper()IF di_griperclosed = 1 THENCon trolGriper;ELSERETURN;ENDIFENDPROCPROC

23、 Productio n()WHILE TRUE DOWait Un til di_plc=1;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;利用 OFFS 此功能,減少示教MoveL roFetch,v1000,fi ne,Tooldata_1WObj:=Workobject_1;CloseGriper;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL Offs(roDeFetch,O,O,5OO),v1O

24、OO,z1OO,Tooldata_1WObj:=Workobject_1;MoveL roDeFetch,v1000,fi ne,Tooldata_1WObj:=Workobject_1;Open Griper;MoveL Offs(roDeFetch,O,O,5OO),v1OOO,z1OO,Tooldata_1WObj:=Workobject_1;ENDWHILEENDPROCPROC CloseGriper()flag1:=FALSE;Reset do_ope ngriper;Set do_closegriper;WaitDI di_griperclosed, 1MaxTime:=3Tim

25、eFlag:=flag1;WHILE flag1=TRUE DOTPWrite"CANN'T CLOSE GRIPER"StopNoRega in;ENDWHILEENDPROCPROC Ope nGriper()flag1:=FALSE;Set do_ope ngriper;Reset do_closegriper;WaitDI di_griperope nd, 1MaxTime:=3TimeFlag:=flag1;WHILE flag仁TRUE DOTPWrite"CANN'T OPEN GRIPER"StopNoRega in;ENDWHILEENDPROCPROC DEF_Z on e()對機器人是否在等待位進行檢測WZHomeJo in tDef ln side, join t_space, home_pos, delta_pos;WZDOSetStat, homeI nside, joi nt_space, do_i nhome, 1;!RETURN;ENDPROCPROC GoHome()?VAR btn res an swer;VAR stri ng my_message2:= "",""CONST string my_butto