| 如何抓包pos机(解析 | 您所在的位置：网站首页 › abb机器人confl › 如何抓包pos机(解析 |
|
项目要求产生这样的效果：产品在输送链末端，随着输送链的运动而运动，并且当产品运动到输送链末端时自动停止。此时机器人通过安装在法兰盘末端的夹具夹取产品，放置在垛盘上。然后机器人回到初始位置等待下一个产品的到来，继续进行抓取放置在垛盘上。 视频加载中... 程序解析如下： MODULE MainMoudle 程序模块 PERS wobjdata WobjPallet_L:=[FALSE,TRUE,"",[[-456.216,-2058.49,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]]; 定义左码盘工件坐标系 PERS wobjdata WobjPallet_R:=[FALSE,TRUE,"",[[-421.764,1102.39,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]]; 定义右码盘工件坐标系 PERS tooldata tGripper:=[TRUE,[[0,0,527],[1,0,0,0]],[1,[0,0,100],[1,0,0,0],0,0,0]]; 定义工具坐标系数据 PERS loaddata LoadFull:=[20,[0,0,300],[1,0,0,0],0,0,0.1]; 定义载荷数据 PERS wobjdata CurWobj; 定义工具坐标系数据 PERS jointtarget jposHome:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 定义关节点数据，各关节轴数据为零，用于手动将机器人运动到各关节机械零位 CONST robtarget pPlaceBase0_L:=[[296.,212.,3.],[0,0.,-0.,0],[-2,0,-3,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 左码盘,不旋转放置基准位置 CONST robtarget pPlaceBase90_L:=[[218.,695.,3.],[0,-0.,1,0],[-2,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 左码盘,旋转90°放置基准位置 CONST robtarget pPlaceBase0_R:=[[296.,212.,3.],[0,0.,-0.,0],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 右码盘,不旋转放置基准位置 CONST robtarget pPlaceBase90_R:=[[218.,695.,3.],[0,-0.,0.,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 右码盘,旋转90°放置基准位置 CONST robtarget pPick_L:=[[1627.,-426.,-26.],[0,0.,-0.,0],[-1,0,-2,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 左码盘，抓取位置 CONST robtarget pPick_R:=[[1611.,442.,-26.],[0,0.,-0.,0],[0,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 右码盘，抓取位置 CONST robtarget pHome:=[[1505.00,-0.00,878.55],[1.E-06,0.,-0.,-1.E-06],[0,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 程序起点 PERS robtarget pPlaceBase0; PERS robtarget pPlaceBase90; PERS robtarget pPick; PERS robtarget pPlace; 定义目标点数据，机器人当前使用的目标点 PERS robtarget pPickSafe;安全高度 PERS num nCycleTime:=3.332; 定义数字型数据，用于存储单次节拍的时间 PERS num nCount_L:=1;左码盘，定义数字型数据，用于计数 PERS num nCount_R:=1;右码盘，定义数字型数据，用于计数 PERS num nPallet:=1;定义数字型数据，利用TEST指令判断，当其为1，进行码垛 PERS num nPalletNo:=2;定义数字型数据，利用TEST指令判断，当其为2，进行码垛 PERS num nPickH:=300;定义数字型数据，抓取时的安全高度 PERS num nPlaceH:=400;定义数字型数据，放置时的安全高度 PERS num nBoxL:=605;定义数字型数据，产品的长 PERS num nBoxW:=405;定义数字型数据，产品的宽 PERS num nBoxH:=300;定义数字型数据，产品的高 VAR clock Timer1;定义时钟型数据，用于计时 PERS bool bReady:=FALSE;定义布尔型数据，判断是否满足码垛条件 PERS bool bPalletFull_L:=FALSE;定义布尔型数据，判断左码盘是否已满 PERS bool bPalletFull_R:=TRUE;定义布尔型数据，判断右码盘是否已满 PERS bool bGetPosition:=TRUE;定义布尔型数据，判断是否已计算出当前的取放位置 VAR triggdata HookAct;定义触发数据，夹具上钩爪的夹紧动作 VAR triggdata HookOff;定义触发数据，夹具上钩爪的松开动作 VAR intnum iPallet_L;定义中断型符，左码垛，复位操作 VAR intnum iPallet_R;定义数字型数据，右码垛，复位操作 PERS speeddata vMinEmpty:=[2000,400,6000,1000]; PERS speeddata vMidEmpty:=[3000,400,6000,1000]; PERS speeddata vMaxEmpty:=[5000,500,6000,1000]; PERS speeddata vMinLoad:=[1000,200,6000,1000]; PERS speeddata vMidLoad:=[2500,500,6000,1000]; PERS speeddata vMaxLoad:=[4000,500,6000,1000]; 定义多种速度数据，分别对应空载时的高、中、低速和满载时的高、中、低速，便于对各个动作进行速度控制 PERS num Compensation{15,3}:=[[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0]]; 定义，二维数组，用于各摆放位置的偏差调整；15组数据，对应15个摆放位置，每组数据3个数值，对应xyz的偏差值 PROC main() 主程序 rInitAll; 调用初始化子程序、包括复位、复位程序数据、初始化中断 WHILE TRUE DO IF bReady THEN rPick; 调用抓取程序 rPlace; 调用放置程序 ENDIF rCycleCheck; 调用循环检测程序 ENDWHILE ENDPROC PROC rInitAll() 初始化程序 rCheckHomePos; ConfL\OFF; ConfJ\OFF; nCount_R:=1; nPallet:=1; nPalletNo:=1; bPalletFull_R:=FALSE; bGetPosition:=FALSE; Reset do00_ClampAct; Reset do01_HookAct; ClkStop Timer1; ClkReset Timer1; TriggEquip HookAct,100,0.1\DOp:=do01_HookAct,1; TriggEquip HookOff,100\Start,0.1\DOp:=do01_HookAct,0; IDelete iPallet_R; CONNECT iPallet_R WITH tEjectPallet_R; ISignalDI di03_PalletInPos_R,0,iPallet_R; ENDPROC PROC rPick() 抓取程序 ClkReset Timer1; ClkStart Timer1; rCalPosition; MoveJ Offs(pPick,0,0,nPickH),vMaxEmpty,z50,tGripper\WObj:=wobj0; MoveL pPick,vMinLoad,fine,tGripper\WObj:=wobj0; Set do00_ClampAct; Waittime 0.3; GripLoad LoadFull; TriggL Offs(pPick,0,0,nPickH),vMinLoad,HookAct,z50,tGripper\WObj:=wobj0; MoveL pPickSafe,vMaxLoad,z100,tGripper\WObj:=wobj0; ENDPROC PROC rPlace() 放置程序 MoveJ Offs(pPlace,0,0,nPlaceH),vMaxLoad,z50,tGripper\WObj:=CurWobj; TriggL pPlace,vMinLoad,HookOff,fine,tGripper\WObj:=CurWobj; Reset do00_ClampAct; Waittime 0.3; GripLoad Load0; MoveL Offs(pPlace,0,0,nPlaceH),vMinEmpty,z50,tGripper\WObj:=CurWobj; rPlaceRD; MoveJ pPickSafe,vMaxEmpty,z50,tGripper\WObj:=wobj0; ClkStop Timer1; nCycleTime:=ClkRead(Timer1); ENDPROC PROC rCycleCheck() 周期循环检查 TPErase; TPWrite "The Robot is running!"; TPWrite "Last cycle time is : "\Num:=nCycleTime; TPWrite "The number of the Boxes in the Right pallet is:"\Num:=nCount_R-1; IF (bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1) THEN bReady:=TRUE; ELSE bReady:=FALSE; WaitTime 0.1; ENDIF ENDPROC PROC rCalPosition() 计算位置程序 bGetPosition:=FALSE; WHILE bGetPosition=FALSE DO IF bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1 THEN pPick:=pPick_R; pPlaceBase0:=pPlaceBase0_R; pPlaceBase90:=pPlaceBase90_R; CurWobj:=WobjPallet_R; pPlace:=pPattern(nCount_R); bGetPosition:=TRUE; nPalletNo:=2; ELSE bGetPosition:=FALSE; ENDIF ULT: TPERASE; TPWRITE "The data 'nPallet' is error,please check it!"; ENDWHILE ENDPROC FUNC robtarget pPattern(num nCount) 计算摆放位置功能程序，此程序为带参数的例行程序 VAR robtarget pTarget; IF nCount>=1 AND nCount ELSEIF nCount>=6 AND nCount pPickSafe:=Offs(pPick,0,0,600); ELSEIF nCount>=11 AND nCount pPickSafe:=Offs(pPick,0,0,800); ENDIF TEST nCount CASE 1: pTarget.trans.x:=pPlaceBase0.trans.x; pTarget.trans.y:=pPlaceBase0.trans.y; pTarget.trans.z:=pPlaceBase0.trans.z; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 2: pTarget.trans.x:=pPlaceBase0.trans.x+nBoxL; pTarget.trans.y:=pPlaceBase0.trans.y; pTarget.trans.z:=pPlaceBase0.trans.z; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 3: pTarget.trans.x:=pPlaceBase90.trans.x; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 4: pTarget.trans.x:=pPlaceBase90.trans.x+nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 5: pTarget.trans.x:=pPlaceBase90.trans.x+2*nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 6: pTarget.trans.x:=pPlaceBase0.trans.x; pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL; pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 7: pTarget.trans.x:=pPlaceBase0.trans.x+nBoxL; pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL; pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 8: pTarget.trans.x:=pPlaceBase90.trans.x; pTarget.trans.y:=pPlaceBase90.trans.y-nBoxW; pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 9: pTarget.trans.x:=pPlaceBase90.trans.x+nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y-nBoxW; pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 10: pTarget.trans.x:=pPlaceBase90.trans.x+2*nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y-nBoxW; pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 11: pTarget.trans.x:=pPlaceBase0.trans.x; pTarget.trans.y:=pPlaceBase0.trans.y; pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 12: pTarget.trans.x:=pPlaceBase0.trans.x+nBoxL; pTarget.trans.y:=pPlaceBase0.trans.y; pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH; pTarget.rot:=pPlaceBase0.rot; pTarget.robconf:=pPlaceBase0.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 13: pTarget.trans.x:=pPlaceBase90.trans.x; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 14: pTarget.trans.x:=pPlaceBase90.trans.x+nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); CASE 15: pTarget.trans.x:=pPlaceBase90.trans.x+2*nBoxW; pTarget.trans.y:=pPlaceBase90.trans.y; pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH; pTarget.rot:=pPlaceBase90.rot; pTarget.robconf:=pPlaceBase90.robconf; pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); DEFAULT: TPErase; TPWrite "The data 'nCount' is error,please check it !"; stop; ENDTEST Return pTarget; ENDFUNC PROC rPlaceRD() 码垛产品计数程序 TEST nPalletNo CASE 1: Incr nCount_L; IF nCount_L>15 THEN Set do02_PalletFull_L; bPalletFull_L:=TRUE; nCount_L:=1; ENDIF CASE 2: Incr nCount_R; IF nCount_R>15 THEN Set do03_PalletFull_R; bPalletFull_R:=TRUE; nCount_R:=1; ENDIF DEFAULT: TPERASE; TPWRITE "The data 'nPalletNo' is error,please check it!"; Stop; ENDTEST ENDPROC PROC rCheckHomePos() 检测机器人是否在Home VAR robtarget pActualPos; IF NOT CurrentPos(pHome,tGripper) THEN pActualpos:=CRobT(\Tool:=tGripper\WObj:=wobj0); pActualpos.trans.z:=pHome.trans.z; MoveL pActualpos,v500,z10,tGripper; MoveJ pHome,v1000,fine,tGripper; ENDIF ENDPROC FUNC bool CurrentPos(robtarget ComparePos,INOUT tooldata TCP) 比较机器人的位置是否在给定目标点的偏差范围内 VAR num Counter:=0; VAR robtarget ActualPos; ActualPos:=CRobT(\Tool:=TCP\WObj:=wobj0); IF ActualPos.trans.x>ComparePos.trans.x-25 AND ActualPos.trans.x IF ActualPos.trans.y>ComparePos.trans.y-25 AND ActualPos.trans.y IF ActualPos.trans.z>ComparePos.trans.z-25 AND ActualPos.trans.z IF ActualPos.rot.q1>ComparePos.rot.q1-0.1 AND ActualPos.rot.q1 IF ActualPos.rot.q2>ComparePos.rot.q2-0.1 AND ActualPos.rot.q2 IF ActualPos.rot.q3>ComparePos.rot.q3-0.1 AND ActualPos.rot.q3 IF ActualPos.rot.q4>ComparePos.rot.q4-0.1 AND ActualPos.rot.q4 RETURN Counter=7; ENDFUNC TRAP tEjectPallet_R Reset do03_PalletFull_R; bPalletFull_R:=FALSE; ENDTRAP PROC rMoveAbsj() 机器人回零。手动将机器人移动至各关节轴机械零点，在程序运行过程中不调用 MoveAbsJ jposHome\NoEOffs, v100, fine, tGripper\WObj:=wobj0; ENDPROC PROC rModPos() MoveL pHome,v100,fine,tGripper\WObj:=Wobj0; MoveL pPick_L,v100,fine,tGripper\WObj:=Wobj0; MoveL pPick_R,v100,fine,tGripper\WObj:=Wobj0; MoveL pPlaceBase0_L,v100,fine,tGripper\WObj:=WobjPallet_L; MoveL pPlaceBase90_L,v100,fine,tGripper\WObj:=WobjPallet_L; MoveL pPlaceBase0_R,v100,fine,tGripper\WObj:=WobjPallet_R; MoveL pPlaceBase90_R,v100,fine,tGripper\WObj:=WobjPallet_R; ENDPROC ENDMODULE |
| CopyRight 2018-2019 实验室设备网 版权所有 |