ABB机器人双工位码跺程序- 大数跨境

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ABB机器人双工位码跺程序

东莞机器人之家

2021-04-26

导读：ABB机器人双工位码跺程序

MODULE Module1

CONST robtarget pHome:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

TASK PERS tooldata tool_XiPan:=[TRUE,[[0,0,0],[1,0,0,0]],[1,[0,0,0],[1,0,0,0],0,0,0]];

TASK PERS wobjdata wobj_Table:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

VAR intnum intno1:=0;

VAR intnum intno2:=0;

CONST robtarget p100:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p110:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p120:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p130:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPick1:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pZuoDaiWei:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pYouDaiWei:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p10:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p20:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p30:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p40:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget p50:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR bool Zuo:=FALSE;

VAR bool ZuoFangLiao:=FALSE;

VAR bool YouFangLiao:=FALSE;

VAR num reg6:=0;

VAR num Zuo_Z:=0;

VAR num Zuo_n:=0;

VAR num You_Z:=0;

VAR num You_n:=0;

CONST robtarget p60:=[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget pYou{5,3}:=[[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]];

VAR robtarget pZuo{5,3}:=[[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],[[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[522.01,0.00,848.10],[0.5,0,0.866025,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]];

!***********************************************************

! Module: Module1

! Description:

! <Insert description here>

! Author: tianz

! Version: 1.0

!***********************************************************

! Procedure main

! This is the entry point of your program

!***********************************************************

PROC main() !主程序

rReset; !复位程序，用于复位信号变量，中断初始化，数据存储

rHome; !回到原点后再进行运行

WHILE TRUE DO

rPick; !抓料程序

rTiaoZheng; !调整程序

rPlace; !放料程序

ENDWHILE

ENDPROC

PROC rHome()

MoveJ pHome,v300,fine,tool_XiPan\WObj:=wobj_Table;

ENDPROC

PROC rReset()

Reset Do01_XiPan; !复位相关信号

Reset Do02_ZuoTuiLiao;

Reset Do03_YouTuiLiao;

Reset Do04_FangLiao;

Zuo_n:=1; !初始化相关变量

Zuo_Z:=1;

You_n:=1;

You_Z:=1;

reg6:=1;

rPoint; !放料点位的计算存储

IDelete intno1; !中断程序，用于左输送带出料

CONNECT intno1 WITH rZuoTuiLiao;

ISignalDI Di01_ZuoDaoWei,0,intno1; !当左到位信号断开时，触发中断，推出新的产品

IDelete intno2; !中断程序，用于右输送带出料

CONNECT intno2 WITH rYouTuiLiao;

ISignalDI Di02_YouDaoWei,0,intno2; !当右到位信号断开时，触发中断，推出新的产品

PulseDO\PLength:=2,Do02_ZuoTuiLiao; !第一次运行，推出一次产品

PulseDO\PLength:=2,Do03_YouTuiLiao;

ENDPROC

TRAP rZuoTuiLiao !中断程序

PulseDO\PLength:=2,Do02_ZuoTuiLiao; !左输送带的气缸推出2秒

ENDTRAP

TRAP rYouTuiLiao !中断程序

PulseDO\PLength:=2,Do03_YouTuiLiao; !右输送带的气缸推出2秒

ENDTRAP

PROC rPick() !抓料程序

WaitUntil Di01_ZuoDaoWei=1 OR Di02_YouDaoWei=1; !等待左右到位信号

IF Di01_ZuoDaoWei=1 THEN !当左到位时，机器人抓取左输送带的产品

MoveJ Offs(pZuoDaiWei,0,0,50),v500,z40,tool_XiPan\WObj:=wobj_Table;

MoveL pZuoDaiWei,v200,fine,tool_XiPan\WObj:=wobj_Table;

Set Do01_XiPan;

WaitTime 0.3;

MoveJ Offs(pZuoDaiWei,0,0,50),v500,z40,tool_XiPan\WObj:=wobj_Table;

ENDIF

IF Di02_YouDaoWei=1 THEN !当右到位时，机器人抓取右输送带的产品

MoveJ Offs(pYouDaiWei,0,0,50),v500,z40,tool_XiPan\WObj:=wobj_Table;

MoveL pYouDaiWei,v200,fine,tool_XiPan\WObj:=wobj_Table;

Set Do01_XiPan;

WaitTime 0.3;

MoveJ Offs(pYouDaiWei,0,0,50),v500,z40,tool_XiPan\WObj:=wobj_Table;

ENDIF

ENDPROC

PROC rTiaoZheng() !产品抓取后，进行位置调整

MoveJ p10,v800,z50,tool_XiPan\WObj:=wobj_Table;

MoveJ p20,v300,fine,tool_XiPan\WObj:=wobj_Table;

Reset Do01_XiPan;

WaitTime 0.3;

MoveJ p30,v800,z20,tool_XiPan\WObj:=wobj_Table;

MoveL p40,v300,fine,tool_XiPan\WObj:=wobj_Table;

Set Do01_XiPan;

WaitTime 0.3;

MoveL p50,v800,z20,tool_XiPan\WObj:=wobj_Table;

ENDPROC

PROC rPoint() !点位存储

FOR z FROM 1 TO 3 DO !通过For循环进行数据存储，存入到对应的数组中

FOR n FROM 1 TO 5 DO

IF n<=3 THEN ! 点位：P100，位置参考图片

pZuo{n,z}:=Offs(p100,(n-1)*30,0,(z-1)*8);

ELSEIF n>3 THEN !点位：P110，位置参考图片

pZuo{n,z}:=Offs(p110,(n-4)*60,0,(z-1)*8);

ENDIF

ENDFOR

FOR z FROM 1 TO 3 DO

FOR n FROM 1 TO 5 DO

IF n<=3 THEN ! 点位：P120，位置参考图片

pYou{n,z}:=Offs(p120,(n-1)*30,0,(z-1)*8);

ELSEIF n>3 THEN ! 点位：P130，位置参考图片

pYou{n,z}:=Offs(p130,(n-4)*60,0,(z-1)*8);

ENDIF

ENDFOR

ENDPROC

PROC rPlace() !放料程序

TEST reg6

CASE 1:

rFangLiao pZuo{Zuo_n,Zuo_Z}; !进行放料动作

CASE 2:

rFangLiao pYou{You_n,You_Z};

DEFAULT:

Stop;

ENDTEST

IF reg6=1 THEN !放料后，进行数据的计算更改

Zuo_n:=Zuo_n+1;

IF Zuo_n>5 THEN

Zuo_Z:=Zuo_Z+1;

Zuo_n:=1;

ENDIF

IF Zuo_Z>3 THEN

reg6:=2;

Zuo_n:=1;

Zuo_Z:=1;

ENDIF

elseIF reg6=2 THEN

You_n:=You_n+1;

IF You_n>5 THEN

You_Z:=You_Z+1;

You_n:=1;

ENDIF

IF You_Z>3 THEN

reg6:=1;

You_n:=1;

You_Z:=1;

ENDIF

ENDPROC

PROC rFangLiao(robtarget Point) !带参数的例行程序

MoveJ Offs(Point,0,0,30),v800,z20,tool_XiPan\WObj:=wobj_Table;

MoveL Point,v300,fine,tool_XiPan\WObj:=wobj_Table;

Reset Do01_XiPan;

WaitTime 0.3;

MoveL Offs(Point,0,0,80),v800,z20,tool_XiPan\WObj:=wobj_Table;

ENDPROC

ENDMODULE

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