abb机器人搬运码垛程序

精品文档，仅供学习与交流，如有侵权请联系网站删除MODULE maduoVAR num nox:=0;VAR num noy:=0;VAR num noz:=0;VAR num disx:=0;VAR num disy:=0;VAR num disz:=0; VAR num a1:=0;VAR num b1:=0;VAR num c1:=0;CONST robtarget pPick:=1962.00,-140.49,745.92,0.199803,-4.33198E-07,0.979836,-2.86531E-07,-1,-3,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST jointtarget home1:=2.97566,-16.7117,15.2556,-4.92418,31.5841,5.68641,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PERS robtarget pPlace:=1919.7,937.54,529.48,0.199803,-3.69944E-07,0.979836,-4.20685E-07,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPlace10:=1719.70,837.54,429.48,0.199803,-3.69944E-07,0.979836,-4.20685E-07,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget wating01:=1753.43,219.90,1023.02,0.199803,-2.46214E-07,0.979836,-5.32938E-07,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main() Initall; prg1; ENDPROCPROC Initall()AccSet 100,100; VelSet 100, 2000; nox:=3;noy:=2;noz:=2; disx:=100;disy:=100;disz:=100; a1:=1;b1:=1;c1:=1;ENDPROC PROC prg1() MoveAbsJ home1NoEOffs, v1000, z50, pick1; FOR k FROM 1 TO noz DO FOR j FROM 1 TO noy DO FOR i FROM 1 TO nox DO pickandplace; a1:=a1+1; ENDFOR a1:=1; b1:=b1+1; ENDFOR a1:=1;b1:=1; c1:=c1+1; ENDFOR MoveAbsJ home1NoEOffs, v1000, z50, pick1;ENDPROCPROC pickandplace()MoveJ wating01, v1000, z50, pick1;MoveJ Offs(pPick,0,0,200), v1000, z50, pick1; MoveL pPick, v1000, fine, pick1; Set do1; MoveL Offs(pPick,0,0,200), v1000, z50, pick1; MoveJ wating01, v1000, z50, pick1; !MoveL pPlace10, v1000, z50, pick1; pPlace:=Offs(pPlace10,(a1-1)*disx,(b1-1)*disy,(c1-1)*disz); MoveJ Offs(pPlace,0,0,200), v1000, z50 ,pick1; MoveL pPlace, v1000, fine, pick1; Reset do1; MoveL Offs(pPlace,0,0,200), v1000, fine, pick1; MoveJ wating01, v1000, z50, pick1;ENDPROCendmodule【精品文档】第 2 页