三角式机器人搬运
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1、职业教育机电一体化专业教学资源库课程案例工业机器人调试王晓勇201469课程名称: 编制人: 邮 箱: 电 话: 编制时间：编制单位：南京工业职业技术学院案例13说明：功能：三角式机器人动作快速，反应灵敏，与视觉技术应用的一起，能够快速完成工件的摆放及入库等动作，效率极高； 运动轨迹编程过程：1、规划运动路径；（为了提高机器人工作效率，必须尽量简短机器人工作路径）2、定义4个TCP目标点，pHome pPick、p10、p20，通过示教器示教并保存在程序数据中；3、 设置机器人启动信号di01，控制信号do1 （真空吸盘打开信号）、di2 （真 空反馈信号）；4、编写程序；5、调试程序； 程序
2、及注释：案例13三角式机器人工作站示意图三角式机器人程序：MODULE MainModuleCONST robtargetp10:=-144.82,724.44,1316.05,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+09, 9E+09,9E+09;CONST robtarget pHome:=-0.00,0.00,1254.37,0.999997,0,0,0.00245943,0,0,0,0,9E+09,9E+09,9E+09,9E+09, 9E+09,9E+09;CONST robtargetp20:=-144.82,-720
3、.07,1316.04,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+0 9,9E+09,9E+09;CONST robtarget pPick:=-41.63,0.00,1316.05,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;VAR signaldo diGripper;PROC main()WHILE TRUE DOWaitDI di01,1;WaitTime 0.3;ENDWHILEMoveJ Offs (pPick,-143,143,
4、-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (pPick,-143,143,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1;Set diGripper;MoveL Offs (pPick,-143,143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (p10,0,0,-100), v1500, z1, tool0 WObj:=wobj0;MoveL p10, v1500 , z1, tool0 WObj:=wobj0;WaitTime 1;MoveL
5、 Offs (p10,0,0,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (pPick,-143,0,-100), v1500 , z1, tool0 WObj:=wobj0;MoveL Offs (pPick,-143,0,0), v1500, z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (pPick,-143,0,-100), v1500, z1, tool0 WObj:=wobj0;MoveJ Offs (p20,0,0,-100), v1500, z1, tool0 WObj:=wobj0;
6、MoveL p20, v1500 , z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (p20,0,0,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (pPick,-143,-143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveL Offs (pPick,-143,-143,0), v1500, z1, tool0 ;WaitTime 1;MoveL Offs (pPick,-143,-143,-100), v1500, z1, tool0 WObj:=wobj0;M
7、oveJ Offs (p10,0,-150,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (p10,0,-150,0), v1500 , z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (p10,0,-150,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (pPick,0,143,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (pPick,0,143,0), v1500, z1, tool0 WObj:=wob
8、j0; WaitTime 1;MoveL Offs (pPick,0,143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (p20,0,150,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (p20,0,150,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1;MoveL Offs (p20,0,150,-100), v1500, z1, tool0 WObj:=wobj0;MoveJ Offs (pPick,0,0,-100), v1500 , z1,
9、 tool0 WObj:=wobj0;MoveL pPick, v1500, z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (pPick,0,0,-100), v1500, z1, tool0 WObj:=wobj0;MoveJ Offs (p10,150,0,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (p10,150,0,0), v1500 , z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (p10,150,0,-100), v1500, z1, tool0
10、 WObj:=wobj0;MoveJ Offs (pPick,0,-143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveL Offs (pPick,0,-143,0), v1500, z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (pPick,0,-143,-100), v1500, z1, tool0 WObj:=wobj0;MoveJ Offs (p20,150,0,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (p20,150,0,0), v1500 , z1,
11、 tool0 WObj:=wobj0; WaitTime 1;MoveL Offs (p20,150,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,143,143,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (pPick,143,143,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1;MoveL Offs (pPick,143,143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (p
12、10,150,-150,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (p10,150,-150,0), v1500, z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (p10,150,-150,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (pPick,143,-143,-100), v1500, z1, tool0 WObj:=wobj0;MoveL Offs (pPick,143,-143,0), v1500 , z1, tool0 WObj:=wob
13、j0;WaitTime 1;MoveL Offs (pPick,143,-143,-100), v1500 , z1, tool0 WObj:=wobj0;MoveJ Offs (p20,150,150,-100), v1500 , z1, tool0 WObj:=wobj0;MoveL Offs (p20,150,150,0), v1500, z1, tool0 WObj:=wobj0;WaitTime 1;MoveL Offs (p20,150,150,-100), v1500, z1, tool0 WObj:=wobj0;MoveJ pHome, v1500, z1, tool0 ;ENDPROCENDMODULE
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