ABB搬运机器人培训说明书
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MODULE MainModule
TASK PERS tooldata
TCP_Spindle:=[TRUE,[[291.33,167.604,132.752],[1,0,0,0]],[0.1,[1,1,1],[1,0,0,0],0,0,0]];
PERS pos ActualPos:=[9E+09,9E+09,9E+09];
PERS pos ActualPos2:=[9E+09,9E+09,9E+09];
PERS pos HomePos:=[9E+09,9E+09,9E+09];
PERS pos ActualPosTemp:=[9E+09,9E+09,9E+09];
PERS pos p1010Pos:=[9E+09,9E+09,9E+09];
CONST robtarget pHome:=
[[795.85,6.37,1648.16],[0.00603037,0.708691,-0.705406,0.0111058],[0,-1,-1,0],[9E+09,9E+09,9E +09,9E+09,9E+09,9E+09]];
CONST robtarget
pActualPos:=[[482.2,2.35,1142.99],[0.011582,0.00662,-0.999867,0.009436],[0,0,-1,0],[9E+09,9E +09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
phome1:=[[1058.60,81.29,1173.72],[0.707289,0.032109,0.705328,-0.0349896],[-1,0,-1,1],[9E+09 ,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1010:=[[826.29,1139.54,986.43],[0.510404,-0.498693,0.483949,0.506544],[0,1,-2,0],[9E+09,9E +09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1030:=[[826.30,1139.53,981.11],[0.510403,-0.498694,0.483955,0.506537],[0,1,-2,0],[9E+09,9E +09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1050:=[[826.25,653.95,981.08],[0.51037,-0.498771,0.483993,0.506459],[0,1,-2,0],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1070:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1090:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1110:=[[500.55,-1594.16,1287.39],[0.00607319,0.708728,-0.705367,0.0111581],[-1,-1,-2,0],[9E +09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p1130:=[[500.58,-1614.22,1648.18],[0.00603701,0.708694,-0.705403,0.0111083],[-1,-1,-2,0],[9E +09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p2010:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p2030:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p2110:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
p2130:=[[9E+09,9E+09,9E+09],[0.651074,-0.278836,0.649575,0.276414],[0,0,-1,1],[9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09]];
PROC main()
ClearI_O;
IF CurrentPos(pHome,tool0) = TRUE THEN
Set do_pHome;
ENDIF
IF di_auto=1 THEN
AutoMoveHome;
ENDIF
!Program 1 类型1 搬运
IF di_ProgBit=1 and di_auto=1 and di_Start=1 THEN
Autoroutine1;
ENDIF
!Program 2 类型2搬运
IF di_ProgBit=2 and di_auto=1 and di_Start=1 THEN
Autoroutine2;
ENDIF
!Auto Return Home 自动回原位程序，已经取消。
!IF di_Robt_At_Phome=0 and di_manual=1 and di_Returnhome=1 and di_Closed=1 and
di_Type1_Plug=1 then
!Auto_Return_Home;
!Endif
！类型1原位放件，原位→总装托盘上，原位→测试托盘上。
IF di_manual=1 and di_Tool_Check=1 and di_Robt_At_Phome=1 and di_Type1_TAPut=1 then
Auto_Put_Type1_TA;
Endif
IF di_manual=1 and di_Tool_Check=1 and di_Robt_At_Phome=1 and di_Type1_HTPut=1 then
Auto_Put_Type1_HT;
Endif
ENDPROC
PROC Autoroutine1() ！自动循环模式下工件类型1搬运
If di_TA_Ready=1 and di_HT_Ready=1 and di_Tool_Check=0 then ！判断条件，总装准备就绪，测试准备就绪，机器人夹爪上无件。
Set do_Type1_Working;