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ABB机器人编程程序解析

ABB机器人编程程序解析
ABB机器人编程程序解析

ABB机器人编程1

程序解析：

1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。

2、思路清晰，结构编排明确，方便使用者阅读。

%%%

VERSION:1

LANGUAGE:ENGLISH

%%%

MODULE MainModule

PERS 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 pPointA:=[[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 pPointB:=[[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],[1,0,0,0],0,0,0]; 以上是固定的数据存放位置。

PROC main() 主程序，是一个程序的开始

rInitial;

Accset 60,60; 此部分其实可放入到rInitial中去，这样管理起来更方便

velset 100,100; 此部分其实可放入到rInitial中去，这样管理起来更方便

WHILE TRUE DO

rBox; 在此指令后插入0.3秒的等待指令，防止CPU过负荷的情况出现。

ENDWHILE

ENDPROC

PROC rInitial()

SetDo DOGrip,0;

WaitDI DIGripReleased,1;

MoveJ pHome, v300, z50, tGripper;

ENDPROC

PROC rBox()

MoveJ offs(pPointA,0,200,500), v1500, z100,tGripper;

MoveJ offs(pPointA,0,200,0), v1500, z50,tGripper;

A:

TPErase;

IF DIAllowPick=1 THEN

WaitTime 0;

ELSEIF DIAllowPick=0 THEN

TPWrite "Signal of AllowPick no ready,Please Check!";

GOTO A;

ENDIF

MoveL pPointA,v800, fine, tGripper;

SetDo DOGrip,1;

WaitDI DIGripPicked,1;

Gripload load_Box; 这一句很重要的，设定机器人的实际负荷情况，有利于机器人伺服控制的优化

MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;

MoveJ offs(pPointB,0,0,200), v1000, z50, tGripper\WObj:=WobBox;

MoveL pPointB, v1000, fine, tGripper\WObj:=WobBox;

SetDo DOGrip,0;

WaitDI DIGripReleased,1;

Gripload load_Empty;

MoveL offs(pPointB,0,200,0), v800, z50, tGripper\WObj:=WobBox;

MoveJ offs(pPointB,0,200,500), v1500, z100, tGripper\WObj:=WobBox;

ENDPROC

ENDMODULE

ABB机器人编程02

程序解析：

1、此程序编写的思路是完全按照比赛题目中的要求的进行，就是按步就班式的

2、思路清晰，结构编排明确，方便使用者阅读。

3、有相应的写屏信息提示，方便操作员对机器人运行状态的了解。

4、有一点小问题，就是缺少初始化的部分。

MODULEMainModule

CONSTrobtargetPHOME:=[[1149.87,13.55,451.35],[0.729477,0.0748599,0.679603,0.0199765],[0,0,0,1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetPA:=[[250.14,-652.34,650.90],[0.429093,0.468557,-0.496153,0.591749],[-1,0,-2,1],[9E+ 09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP20:=[[250.14,-652.35,828.56],[0.429091,0.468538,-0.496163,0.591756],[-1,0,-3,1],[9E +09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP30:=[[695.24,18.14,826.55],[0.0377066,-0.677588,0.0913591,-0.728771],[0,0,-2,1],[9E +09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP40:=[[1227.51,18.14,826.55],[0.0377092,-0.677583,0.0913642,-0.728774],[0,0,-3,1],[9 E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetPB:=[[1227.52,18.15,424.02],[0.0377092,-0.677591,0.0913577,-0.728767],[0,0,-2,1],[9 E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROCmain() 在主程序里，过于臃肿，将具体功能尽量细分到例行程序

TPErase;

MoveJPHOME,v1000,z50,tool0;

OpenGripper;

WaitTime5;

WHILEtrueDO

IFPLC=1THEN

TPErase;

TPWrite"Warning! Begin to move the new staff...";

WaitTime1;

ClkResetclock1;

ClkStartclock1;

MovFromAtoB;

ClkStopclock1;

reg1:=ClkRead(clock1);

TPErase;

TPWrite"Goods handling in place, it take (time in second): "\Num:=reg1; 运行时间的显示

WaitTime5;

ELSETPErase;

TPWrite"Waiting for new goods..."; 运行状态的提醒

WaitDIPLC,1;

ENDIF

ENDWHILE

ENDPROC

PROCOpenGripper() 将对夹具的控制做在一个例行程序里，方便管理

SetG0;

ResetG1;

ENDPROC

PROCCloseGripper() 将对夹具的控制做在一个例行程序里，方便管理

SetG1;

ResetG0;

ENDPROC

PROCMovFromAtoB()

MoveJP30,v1000,z50,tool0;

MoveJP20,v1000,z50,tool0;

MoveLPA,v50,fine,tool0;

WaitTime1;

CloseGripper;

WaitTime1;

MoveJP20,v50,z50,tool0;

MoveJP30,v1000,z50,tool0;

MoveJP40,v1000,z50,tool0;

MoveLPB,v50,fine,tool0;

WaitTime1;

OpenGripper;

WaitTime1;

MoveLP40,v50,z50,tool0;

MoveJP30,v1000,z50,tool0;

MoveJPHOME,v1000,z50,tool0;

ENDPROC

ENDMODULE

ABB机器人编程03

程序解析：

1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。

2、思路清晰，结构编排明确，方便使用者阅读。

3、但有点要注意的初始化例行程序只在开始时，执行一次，正常运行时，不再执行。但此程序是每个循环都会进行一次初始化，是有点问题的。

PROC main()

InitAll; 此初始化程序应与循环执行的程序隔离开，使用WHILE指令 Circle;

WaitTime 0.5;

ENDPROC

PROC InitAll()

Reset Do_fixOn;

WaitDI\On

ConfJ\On;

ConfL\On;

VelSet 80, 1000;

AccSet 70,70;

MoveJ PHome, v150, fine, Tool0\WObj:=Wobj2;

RETURN;

ENDPROC

PROC Circle()

MoveJ Home, v60, z0, Tool0\WObj:=Wobj2;

waitDI;

work;

reset waitDI

MoveJ Home, v150, fine, Tool0\WObj:=Wobj2;

ENDPROC

PROC fixopen()

Set Do_fixopen;

ENDPROC

PROC fixclose()

Reset Do_fixclose;

ENDPROC

PROC Work()

MOVEJ A0 v150, z10, Tool0\WObj:=Wobj2;

fixopen;

waittime 2;

MOVEL A1 v30, fine,Tool0\WObj:=Wobj2;

fixclose;

waittime 2;

MOVEJ B0 v150, z10, Tool0\WObj:=Wobj2;

MOVEj B1 v30, fine,Tool0\WObj:=Wobj2;

fixopen;

waittime 2;

MoveJ PHome, v150, fine, Tool0\WObj:=Wobj2;

ENDPROC

ABB机器人编程04

程序解析：

1、此程序是典型的ABB机器人官方编程思路与方法。

2、思路清晰，结构编排明确，方便使用者阅读。

3、此程序有一个亮点，就是有一个回等待点的例行程序rMoveHome，这个好处在于可以在手动状态下，就能方便的回到机器人的等待位置。

4、有足够的写屏信息，很好地提示运行状态。

PROC Main()

rInitial;

rMoveHome;

While True Do

Velset 100,3000;

AccSet 70, 70;

rpickworkpiece;

rplaceworkpiece;

endwhile

proc rpickworkpiece;

if workpiece=false

MoveJ pickup, v2000, z5, too10;

A:

TPErase;

IF DI10_pickup=1 THEN (pickup为PLC发来拾取信号) WaitTime 0;

ELSEIF DI10_pickup=0 THEN

TPWrite "PLC-pickup signal no ready.";

GOTO A;

ENDIF

MoveJ Offs(pickup,0,0,300), v500, z200, too10;

SetDo DO10_pickup1,1;

wait time 1;

workpiece=ture

endif

endproc

proc rplaceworkpiece;

if workpiece=ture

MoveJ placemiddle, v2000, z5, too10;

MoveJ placeworkpiece, v2000, z5, too10;

MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10;

SetDo DO10_pickup1,0;

A:

TPErase;

IF DI10_pickon=1 THEN (pickon为PLC检测已放好信号) WaitTime 0;

ELSEIF DI10_pickup=0 THEN

TPWrite "PLC-pickON signal no ready.";

GOTO A;

workpiece=false

ENDIF

endproc

PROC rInitial()

TpReadFk nInput,"Is the pack_machine ready","","","","No","Yes";(机器是否准备好）

If nInput=4 Then

bReady:=False;

stop;

ElseIF nInput=5 then

bReady:=True;

ENDIF

bFirstPickBoard:=True;

TpReadFk nInput,"Do you want to place workpiece","","","","No","Yes";（机器人抓头是否工件）

If nInput=4 Then

workpiece:=False;

ElseIF nInput=5 then

workpiece:=True;

ENDPROC

PROC rMoveHome() (定义原点）此例行程序可以方便地回到等待位置

MoveJ pHome, v500, z50, tGripper;

ENDPROC

ABB机器人编程05

程序解析：

1、此程序是典型的ABB机器人官方编程思路与方法。

2、思路清晰，结构编排明确，方便使用者阅读。

3、此程序共分了3个程序模块，清楚地将不同用途的语句分开，方便阅读，这种编程在进行一些复杂系统的编程是非常有用的。

4、里面编程中运用了很多编程技巧，节省了机器人示教的时间，如使用OFFS功能。

5、在写屏信息提示方面也非常丰富。

6、此程序非常适合大家的参考与提高。

7、有一个小问题，缺少搬运重要的负荷重量设定数据。

MODULE Data 此模块专门用于存放程序数据的

!target

CONST jointtarget 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 jointtarget jhome := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];

PERS robtarget roFetch:=[[2000,0,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERS robtarget

roDeFetch:=[[2000,1000,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

VAR wzstationary home;

VAR shapedata joint_space;

VAR num nu_inhome;

VAR bool flag1:=FALSE;

ENDMODULE

%%%

VERSION: 1

LANGUAGE: ENGLISH

%%%

MODULE CalibData 此模块用于存放需要设定的程序数据

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]]]; ENDMODULE

MODULE MainModule

PROC main()

CheckHome;

CheckGriper;

Production;

ENDPROC

PROC CheckHome()

IF DOutput(do_inhome) = 1 THEN

nu_inhome := 1;

ELSE

nu_inhome :=0;

ENDIF

TEST nu_inhome

CASE 0 :

GoHome;

CASE 1 :

RETURN;

DEFAULT :

TPWrite "error";

Stop;

ENDTEST

ENDPROC

PROC CheckGriper()

IF di_griperclosed = 1 THEN

ControlGriper;

ELSE

RETURN;

ENDIF

ENDPROC

PROC Production()

WHILE TRUE DO

WaitUntil di_plc=1;

MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1; 利用OFFS此功能，减少示教

MoveL roFetch,v1000,fine,Tooldata_1\WObj:=Workobject_1;

CloseGriper;

MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

MoveL roDeFetch,v1000,fine,Tooldata_1\WObj:=Workobject_1;

OpenGriper;

MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

ENDWHILE

ENDPROC

PROC CloseGriper()

flag1:=FALSE;

Reset do_opengriper;

Set do_closegriper;

WaitDI di_griperclosed, 1\MaxTime:=3\TimeFlag:=flag1;

WHILE flag1=TRUE DO

TPWrite"CANN'T CLOSE GRIPER";

Stop\NoRegain;

ENDWHILE

ENDPROC

PROC OpenGriper()

flag1:=FALSE;

Set do_opengriper;

Reset do_closegriper;

WaitDI di_griperopend, 1\MaxTime:=3\TimeFlag:=flag1;

WHILE flag1=TRUE DO

TPWrite"CANN'T OPEN GRIPER";

Stop\NoRegain;

ENDWHILE

ENDPROC

PROC DEF_Zone() 对机器人是否在等待位进行检测WZHomeJointDef \Inside, joint_space, home_pos, delta_pos;

WZDOSet\Stat, home\Inside, joint_space, do_inhome, 1;

!RETURN;

ENDPROC

PROC GoHome()

VAR btnres answer;

VAR string my_message{2}:= ["",""];

CONST string my_buttons{2}:=["MOVE TO HOME","STOP PRG"]; 丰富的写屏指令 my_message{1}:="RBT IS IN SAFETY POSITION";

my_message{2}:="OR CANNOT MOVE AUTOMATICALLY";

answer:= UIMessageBox (

\Header:="RBT IS IN SAFETY AREA TO MOVE ON HOME?"

\MsgArray:=my_message

\BtnArray:=my_buttons

\Icon:=iconWarning);

IF answer=2 THEN

EXIT;

!Stop\NoRegain;

ELSE

MoveAbsJ jhome\NoEOffs, v100, z5, Tooldata_1;

ENDIF

ENDPROC

PROC ControlGriper()

VAR btnres answer;

VAR string my_message{2}:= ["",""];

CONST string my_buttons{2}:=["OPEN GRIPER","STOP PRG"]; 丰富的写屏指令 my_message{1}:="GRIPER IS NOT EMPTY";

my_message{2}:="OR SENSOR IS WRONG";

answer:= UIMessageBox (

\Header:="OPEN THE GRIPER?"

\MsgArray:=my_message

\BtnArray:=my_buttons

\Icon:=iconWarning);

IF answer=2 THEN

EXIT;

!Stop\NoRegain;

ELSE

OpenGriper;

ENDIF

ENDPROC

ENDMODULE

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