ABB工业机器人编程仿真程序


MODULE Module1
TASKPERS tooldata Tooldata_2:=[TRUE,[[0,0,90],[0,0,1,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
CONST robtargetTarget_10:=[[952.507230421,-0.000339777,382.56],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtargetTarget_20:=[[-200,-699.806339777,-89.5],[1,0,0,0],[-2,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_30:=[[-200,-699.806339777,-89.5],[0.707106781,0,0,-0.707106781],[-2,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
TASKPERS tooldata JOJO:=[TRUE,[[0,0,90],[0,0,1,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
VAR num ceng:=1;
VAR num x:=0;
VAR num z:=0;
CONST robtargetTarget_40:=[[1096.554,-0.000339777,1172.5],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtargetTarget_50:=[[488.572169431,-899.673244798,510.499903422],[0.686607911,0.000000045,0.000000304,-0.727027906],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtargetTarget_60:=[[952.51,-0.00,682.56],[0.695817,7.3849E-9,7.15455E-9,0.718219],[-1,0,-2,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PROC main()
ConfL\Off;
confj\Off;
MoveJ Target_40, v5000, z50, JOJO;
FORi FROM1 TO20 DO
WaitDI DV0,1;
IFceng MOD2=1 THEN !???
Movel OFFS(Target_10,0,0,300),v5000, fine, JOJO;
MoveLoffs(Target_10,0,0,0),v5000,fine,JOJO;
SetDO ZZ0,1;
WaitTime 1.1;
Movel OFFS(Target_10,0,0,300),v5000, fine, JOJO;
MoveLTarget_50,v5000,fine,JOJO;
IFi MOD5<4 and i mod 5 <>0 THEN
MoveLoffs(Target_30,100+x,-150,300+z),v5000,fine,JOJO;
MoveLoffs(Target_30,100+x,-150,100+z),v5000,fine,JOJO;
Reset ZZ0;
WaitTime 1.1;
MoveL offs(Target_30,100+x,-150,300+z),v5000,fine,JOJO;
MovelTarget_50,v5000,fine,JOJO;
IFZZ0=0 THEN
Movel Target_40, v5000,z50, JOJO;
ENDIF
x:=x+250;
IFi MOD5 =3 THEN
x:=0;
ENDIF
ELSE
Moveloffs(Target_20,150+x,-450,300+z),v5000,fine,JOJO;
MoveLoffs(Target_20,150+x,-450,100+z),v5000,fine,JOJO;
Reset ZZ0;
WaitTime 1.1;
MoveLoffs(Target_20,150+x,-450,300+z),v5000,fine,JOJO;
MovelTarget_50,v5000,fine,JOJO;
IFZZ0=0 THEN
Movel Target_40, v5000, z50, JOJO;
ENDIF
x:=x+400;
ENDIF
IFi MOD5=0 THEN
x:=0;
ceng:=2;
z:=z+100;
ENDIF
ELSE !???
MoveLOFFS(Target_10,0,0,300),v5000,fine,JOJO;
MoveLoffs(Target_10,0,0,0),v5000,fine,JOJO;
SetDO ZZ0,1;
WaitTime 1.1;
MoveLoffs(Target_10,0,0,300),v5000,fine,JOJO;
movel Target_50, v5000, fine,JOJO;
IFi MOD5<3 andi mod5 <>0 THEN
Moveloffs(Target_20,150+x,-100,300+z),v5000,fine,JOJO;
MoveLoffs(Target_20,150+x,-100,100+z),v5000,fine,JOJO;
Reset ZZ0;
WaitTime 1.1;
MoveLoffs(Target_20,150+x,-100,300+z),v5000,fine,JOJO;
Movel Target_50,v5000,fine,JOJO;
IFZZ0=0 THEN
Movel Target_40,v5000, z50, JOJO;
ENDIF
x:=x+400;
IFi MOD5 =2 THEN
x:=0;
ENDIF
ELSE
Moveloffs(Target_30,100+x,-400,300+z),v5000,fine,JOJO;
MoveLoffs(Target_30,100+x,-400,100+z),v5000,fine,JOJO;
Reset ZZ0;
WaitTime 1.1;
MoveLoffs(Target_30,100+x,-400,300+z),v5000,fine,JOJO;
MovelTarget_50,v5000,fine,JOJO;
IFZZ0=0 THEN
Movel Target_40, v5000, z50, JOJO;
ENDIF
x:=x+250;
ENDIF
IFi MOD5=0 THEN
ceng:=1;
x:=0;
z:=z+100;
ENDIF
ENDIF
ENDFO
MoveJ Target_40, v5000, fine, JOJO;
ENDPRO
ENDMODULE
李老师:18200518714