ABB机器人程序实例

MODULE MainModule

CONST robtarget pHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.7141 73,-2.80277E-05],[0,-1,-

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

CONST robtarget

pPrePickMould:=[[1653.99,272.19,1779.41],[5.83312E-05,0.69997, -0.714172,-3.47922E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

CONST robtarget pPrePickClapboard:=[[2036.17,-

741.24,1235.05],[0.678651,0.73435 ,-0.0119011,0.00467586],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09]];

CONST robtarget

pPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.7 14166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09]];

CONST robtarget

pPickClapboard:=[[1943.19,173.08,620.72],[1.61422E-05,0.699977, -0.714165,-7.62858E-06],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

robtarget pPrePlace:=[[785.90,-

CONST

957.40,1722.38],[0.00231652,0.0492402,-0.99 8779,-0.00310842],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,

9E+09]];

CONST robtarget pPrePlace10:=[[-277.40,-

1202.57,1621.17],[0.00183571,-0.0139794, -0.999895,-

0.00341408],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9

E+09,9E+09]];

CONST robtarget pPrePlace20:=[[-491.18,-

1082.85,1505.90],[0.000663644,0.69408,0. 719887,0.00386364],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09 ,9E+09]];

CONST robtarget pPlaceMould:=[[-92.13,-

2580.19,1171.45],[0.000771646,0.713144,0 .701007,0.00383692],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09]];

CONST robtarget

pPlaceClapboard:=[[1585.08,1761.04,787.33],[0.00645323,-0.00552 996,-0.726358,-0.687263],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09]];

CONST robtarget

pPrePlaceClapboard:=[[1017.30,955.85,1443.17],[1.0621E-05,-0.00 849593,-0.999964,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E +09,9E+09,9E+09]];

CONST robtarget pPrePickClapboard10:=[[2257.17,-

841.03,1579.56],[0.667517,0.744 57,-0.00360206,0.00487631],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+0 9,9E+09,9E+09]];

CONST robtarget pPrePickMould10:=[[530.24,-

1703.27,1762.63],[5.07659E-05,0.961 61,0.274421,2.37287E-05],[-

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

CONST num nOffs:=100;

PERS num nCurOffs:=100;

CONST num nLayer:=0;

PERS num nCurLayer:=0;

CONST num nThickness:=40;

VAR bool bTimeOut:=FALSE;

PERS bool bDryCycle:=FALSE;

VAR intnum iDryCycle;

VAR intnum iResDryCycle;

VAR intnum iVacuum;

tooldata tGripper:=[TRUE,[[0,0,100],[1,0,0,0]],[88.5,[-3.7,-PERS

1.4,13

2.1],[1,0,0, 0],5.5,17.831,25.067]];

PROC main()

rInitAll;

WHILE TRUE DO

IF siDryCycle=1 or nCurLayer<1 then

rPickClapboard;

ELSE

rPickMould;