ABB机器人的离线编程与仿真之原程序详解！|通用机器人-工博士工业品中心

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在工作站配置中所使用的机器人是ABB机器人 IRB1410型机器人，并且事先已经使用Smart组件构建完成机器人所使用的工具的夹取和放置的动态效果。

程序注释：

MODULE MainMoudle

程序主模块

PERS tooldata tGripper:=[TRUE,[[0,0,123],[1,0,0,0]],[1,[0,0,60],[1,0,0,0],0,0,0]];

定义工具数据

TASK PERS wobjdata WobjPick:=[FALSE,TRUE,"",[[812.92,-380,554],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

定义左侧托盘工件坐标数据

TASK PERS wobjdata WobjPlace:=[FALSE,TRUE,"",[[812.112,131.704,629],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

定义右侧托盘工件坐标数据

PERS loaddata LoadEmpty:=[0.001,[0,0,0.001],[1,0,0,0],0,0,0];

定义空载载荷数据

PERS loaddata LoadFull:=[0.1,[0,0,5],[1,0,0,0],0,0,0];

定义抓取工件后的载荷数据

PERS robtarget pPick:=[[226.448,104.769,13.931],[0.00734292,-1.6E-08,0.999973,-1E-09],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

定义抓取数据，此数据随着抓取位置的不同而变化，是变量

PERS
robtarget
pPlace:=[[223.781,102.869,13.3023],[0.00656412,0.698111,0.71593,-0.00649543],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

定义放置数据，此数据随着抓取位置的不同而变化，是变量

CONST

robtarget

pHome:=[[873.054605526,0,764.656133294],[0.007342891,0,0.999973041,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

定义安全点

CONST

robtarget

pPickBase:=[[66.447802087,24.768906099,13.931002806],[0.007342918,-0.000000016,0.99997304,-0.000000001],

[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

定义抓取基准点

CONST

robtarget

pPlaceBase:=[[63.7807864,22.868891847,13.302282874],[0.006564124,0.698111195,0.715929802,-0.006495435],

[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

定义放置基准点

PERS num nPickH:=150; 定义抓取位置的安全距离

PERS num nPlaceH:=100; 定义放置位置的安全距离

PERS num nOffsX:=40; 定义X方向偏移数值

PERS num nOffsY:=40; 定义Y方向偏移数值

PERS num nCount:=16; 定义搬运数量并赋初始值为1，此数值随着搬运数量的变化而变化，是变量

PERS speeddata vMinSpeed:=[200,100,1000,5000];

PERS speeddata vMidSpeed:=[500,200,1000,5000];

PERS speeddata vMaxSpeed:=[800,300,1000,5000];定义高中低3种不同的运行速度，根据不同情况选择不同的运行速度

PROC Main()

主程序

rInitAll; 调用初始化子程序

WHILE TRUE DO

条件语句，通过这样的的调用方式，只运行初始化程序一次

rPick; 调用抓取子程序

rPlace; 调用放置子程序

ENDWHILE

ENDPROC

PROC rInitAll()

初始化子程序

ConfL\Off;

关闭线性运动和圆弧运动时的轴配置参数，使机器人能自由选择轴运动方式接近目标点，预防报警

ConfJ\Off;

关闭关节运动时的轴配置参数，使机器人能自由选择轴运动方式接近目标点，预防报警

AccSet 100,100; 设置加速度数据

VelSet 100,5000; 设置速度数据

Reset doGrip; 复位启动信号

nCount:=1; 搬运计数数值置1

MoveJ pHome,vMinSpeed,fine,tGripper\WObj:=wobj0;

利用关节运动指令移动TCP到安全点pHome

ENDPROC

PROC rPick()

抓取子程序

rCalPos; 调用计算位置子程序

MoveJ Offs(pPick,0,0,nPickH),vMaxSpeed,z50,tGripper\WObj:=wobjPick;

以关节运动方式高速运动到抓取点工件上方150mm处

MoveL pPick,vMinSpeed,fine,tGripper\WObj:=wobjPick;

以直线运动方式低速运动到待抓取工件位置

Set doGrip; 启动抓取操作

WaitTime 0.5; 等待0.5秒，确保抓取动作高质量完成

GripLoad LoadFull; 机器人满载

MoveL Offs(pPick,0,0,nPickH),vMidSpeed,z50,tGripper\WObj:=wobjPick;

以直线运动方式中速运动到待抓取工件上方150mm

ENDPROC

PROC rPlace()

放置子程序

MoveJ Offs(pPlace,0,0,nPlaceH),vMidSpeed,z50,tGripper\WObj:=wobjPlace;

以关节运动方式中速运动到待抓取工件上方100mm

MoveL pPlace,vMinSpeed,fine,tGripper\WObj:=wobjPlace;

以直线运动方式低速运动到待放置位置处

Reset doGrip;复位启动信号，放下火花塞

WaitTime 0.5;等待0.5秒，确保放置动作完成

GripLoad LoadEmpty;机器人空载

MoveL Offs(pPlace,0,0,nPickH),vMidSpeed,z50,tGripper\WObj:=wobjPlace;

以直线运动方式中速运动抬起100mm

rPlaceRD; 调用计数子程序

ENDPROC

PROC rPlaceRD()

计数子程序

nCount:=nCount+1;

搬运火花塞数量自增

IF nCount>32 THEN

IF条件判断指令，当计数变量大于32的时候向下执行

TPErase; 清屏

TPWrite "Pick&Place done,the robot will stop!";

在触摸屏上显示"Pick&Place done,the robot will stop!"

nCount:=1; 计数变量置1

Reset doGrip;启动复位信号

MoveJ pHome,vMinSpeed,fine,tGripper\WObj:=wobj0;

以关节运动形式低速运动到安全点

Stop;机器人停止

ENDIF

ENDPROC

PROC rCalPos()

计算位置子程序

!Row 1

TEST nCount

测量nCount变量，与CASE的数值作对比

CASE 1:

pPick:=Offs(pPickBase,0,0,0);

pPlace:=Offs(pPlaceBase,0,0,0);

CASE 2:

pPick:=Offs(pPickBase,nOffsX,0,0);

pPlace:=Offs(pPlaceBase,nOffsX,0,0);

CASE 3:

pPick:=Offs(pPickBase,2*nOffsX,0,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,0,0);

CASE 4:

pPick:=Offs(pPickBase,3*nOffsX,0,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,0,0);

!Row 2

CASE 5:

pPick:=Offs(pPickBase,-nOffsX,nOffsY,0);

pPlace:=Offs(pPlaceBase,-nOffsX,nOffsY,0);

CASE 6:

pPick:=Offs(pPickBase,0,nOffsY,0);

pPlace:=Offs(pPlaceBase,0,nOffsY,0);

CASE 7:

pPick:=Offs(pPickBase,nOffsX,nOffsY,0);

pPlace:=Offs(pPlaceBase,nOffsX,nOffsY,0);

CASE 8:

pPick:=Offs(pPickBase,2*nOffsX,nOffsY,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,nOffsY,0);

CASE 9:

pPick:=Offs(pPickBase,3*nOffsX,nOffsY,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,nOffsY,0);

CASE 10:

pPick:=Offs(pPickBase,4*nOffsX,nOffsY,0);

pPlace:=Offs(pPlaceBase,4*nOffsX,nOffsY,0);

!Row 3

CASE 11:

pPick:=Offs(pPickBase,-nOffsX,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,-nOffsX,2*nOffsY,0);

CASE 12:

pPick:=Offs(pPickBase,0,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,0,2*nOffsY,0);

CASE 13:

pPick:=Offs(pPickBase,nOffsX,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,nOffsX,2*nOffsY,0);

CASE 14:

pPick:=Offs(pPickBase,2*nOffsX,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,2*nOffsY,0);

CASE 15:

pPick:=Offs(pPickBase,3*nOffsX,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,2*nOffsY,0);

CASE 16:

pPick:=Offs(pPickBase,4*nOffsX,2*nOffsY,0);

pPlace:=Offs(pPlaceBase,4*nOffsX,2*nOffsY,0);

!Row 4

CASE 17:

pPick:=Offs(pPickBase,-nOffsX,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,-nOffsX,3*nOffsY,0);

CASE 18:

pPick:=Offs(pPickBase,0,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,0,3*nOffsY,0);

CASE 19:

pPick:=Offs(pPickBase,nOffsX,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,nOffsX,3*nOffsY,0);

CASE 20:

pPick:=Offs(pPickBase,2*nOffsX,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,3*nOffsY,0);

CASE 21:

pPick:=Offs(pPickBase,3*nOffsX,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,3*nOffsY,0);

CASE 22:

pPick:=Offs(pPickBase,4*nOffsX,3*nOffsY,0);

pPlace:=Offs(pPlaceBase,4*nOffsX,3*nOffsY,0);

!Row 5

CASE 23:

pPick:=Offs(pPickBase,-nOffsX,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,-nOffsX,4*nOffsY,0);

CASE 24:

pPick:=Offs(pPickBase,0,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,0,4*nOffsY,0);

CASE 25:

pPick:=Offs(pPickBase,nOffsX,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,nOffsX,4*nOffsY,0);

CASE 26:

pPick:=Offs(pPickBase,2*nOffsX,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,4*nOffsY,0);

CASE 27:

pPick:=Offs(pPickBase,3*nOffsX,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,4*nOffsY,0);

CASE 28:

pPick:=Offs(pPickBase,4*nOffsX,4*nOffsY,0);

pPlace:=Offs(pPlaceBase,4*nOffsX,4*nOffsY,0);

!Row 6

CASE 29:

pPick:=Offs(pPickBase,0,5*nOffsY,0);

pPlace:=Offs(pPlaceBase,0,5*nOffsY,0);

CASE 30:

pPick:=Offs(pPickBase,nOffsX,5*nOffsY,0);

pPlace:=Offs(pPlaceBase,nOffsX,5*nOffsY,0);

CASE 31:

pPick:=Offs(pPickBase,2*nOffsX,5*nOffsY,0);

pPlace:=Offs(pPlaceBase,2*nOffsX,5*nOffsY,0);

CASE 32:

pPick:=Offs(pPickBase,3*nOffsX,5*nOffsY,0);

pPlace:=Offs(pPlaceBase,3*nOffsX,5*nOffsY,0);

计算火花塞抓取和放置位置数据

DEFAULT:

TPErase;清屏

TPWrite "the counter is error,please check it!";

在屏幕上显示"the counter is error,please check it!"

Stop;机器人停止

ENDPROC

PROC rTeachPos()

示教位置子程序

MoveL pHome,v1000,z100,tGripper\WObj:=wobj0;

示教安全点

MoveL pPickBase,v1000,z100,tGripper\WObj:=WobjPick;

示教抓取基准点

MoveL pPlaceBase,v1000,z100,tGripper\WObj:=WobjPlace;

示教放置基准点

ENDPROC

ENDMODULE

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