ABB机器人程序实例ROBOT studio 6.01(附带与工业相机网络通讯实例)(完整资料).doc.pdf

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1、【最新整理，下载后即可编辑】ABB机器人（ROBOT studio6.01）程序实例MODULE MainModulePERS tooldatatGripper:=TRUE,0.533078,1.51617,583.739,1,0,0,0,30,0,0,50,1,0,0,0,0,0,0;TASK PERS wobjdataVisionWobj:=FALSE,TRUE,0,0,0,1,0,0,0,-934.534,1807.34,-76.7707,0.400996,0.0128267,-0.0292473,-0.915523;TASK PERS wobjdataWobjCompressor1:=

2、FALSE,TRUE,518.656,-1088.9,164.25,0,0,0,1,686.651,296.298,-588.529,0.917114,1.69419E-06,-7.35001E-05,-0.398626;TASK PERS wobjdataWobjCompressor2:=FALSE,TRUE,518.656,-1088.9,164.25,0,0,0,1,-944.871,-657.402,-323.406,0.918098,-1.98999E-05,-6.49686E-06,0.396353;PERS wobjdata WobjCompressor;VAR robtarge

3、t pActualPos;VAR socketdev server_socket;VAR socketdev client_socket;VAR string client_ip;VAR string stReceived;VAR num NumCharacters:=9;VAR bool bOK;PERS numnXOffs;PERS numnYOffs;PERS numnAngleOffs;VAR string XData:=;【最新整理，下载后即可编辑】VAR string YData:=;VAR string AngleData:=;VARnumnPresenceOrAbsence;P

4、ERS num nPickH:=-400;PERS num nCountX;PERS num nCountY;PERS num nCountZ;PERS num nCount;VAR num nPlaceNo;PERS bool bSMPreOrAbs;PERS bool bInpos;VAR robtarget PVision;VAR robtarget Vision;VAR robtarget ppPick;VAR robtarget pPick;PERS robtarget Pick;PERS robtarget ErCiDingWeiPlace;PERS robtarget ErCiD

5、ingWeiPick;PERS robtarget pPlace;PERS robtarget PlaceVision;PERS robtarget PZhanban;PERS robtarget PZhanbanUp;PERS robtarget PZhanbanDown;PERS robtarget PlaceZhanban;PERS robtarget Place;PERS boolbKindChoose;VAR num nAngle;VAR num nX;VAR num nCamOut;VAR num nInpos;【最新整理，下载后即可编辑】VAR num nTotalPalletH

6、igh;VAR num nPalletHigh;PERS num nPalletHighUp;PERS num nPalletHighDown;VAR num Compensation8,3;VAR num CompensationTwo8,3;PERS numCompensationErr8,3:=999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,999999,99

7、9999,999999,999999;PERS jointtargetjposHome:=0,0,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpHome:=621.23,-975.96,1166.44,0.00703884,-0.385671,-0.922573,-0.00826231,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPZhanbanSafe:=-162.69,-1703.07,2270.38,0.0109452,-0.955357,-

8、0.295179,-0.00645602,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetVisionA:=-228.96,94.47,643.11,0.00434955,-0.699954,0.714102,-0.0101798,-2,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPickA:=90.09,79.65,61.29,0.0102135,0.00299714,0.999935,-0.00417093,-2,-1,1,0,9E+09,9E+0

9、9,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPlaceA:=-644.46,-1019.60,396.56,0.00841448,-0.692574,0.721298,0.【最新整理，下载后即可编辑】000680825,-1,-1,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetPZhanbanUpA:=549.64,541.39,821.21,0.000808037,-0.999985,-0.00498684,-0.00209158,-2,-1,-1,0,9E+09,9E+09,9E+09,9E

10、+09,9E+09,9E+09;CONST robtargetPZhanbanDownA:=548.40,560.53,179.18,0.00417276,0.999929,-0.00436864,0.0102239,-2,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetPlaceZhanbanA:=2456.73,-1154.76,205.32,0.0106126,-0.0247295,-0.999603,0.00838785,1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PER

11、S numCompensationA8,3:=0,0,0,210,136,0,430,264,99999999,645,403,99999999,855,533,99999999,99999999,670,99999999,99999999,800,99999999,99999999,936,99999999;PERS numCompensationA18,3:=860,936,0,0,0,0,215,133,99999999,430,264,99999999,645,403,99999999,99999999,533,99999999,99999999,670,99999999,999999

12、99,800,99999999;PERS numCompensationA28,3:=860,0,0,0,133,0,215,264,99999999,430,403,99999999,645,533,99999999,99999999,670,99999999,99999999,800,99999999,99999999,936,99999999;CONST num nPalletHighUpA:=100;CONST num nPalletHighDownA:=200;CONST robtargetVisionB:=936.63,959.75,378.90,0.00373262,0.1054

13、79,-0.994406,-0.00407233,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;【最新整理，下载后即可编辑】CONST robtargetPickB:=1180.22,1009.95,213.74,0.00373443,0.1055,-0.994404,-0.00406331,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetPlaceB:=-1194.30,-1552.83,582.17,0.0062614,0.795938,-0.605346,-0.000999

14、941,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetPZhanbanUpB:=511.86,550.08,92.05,0.00172284,-0.00758955,-0.99997,-0.000606164,-1,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetPZhanbanDownB:=511.86,550.08,92.05,0.00172284,-0.00758955,-0.99997,-0.000606164,-1,0,1,0,9E+09,9E+0

15、9,9E+09,9E+09,9E+09,9E+09;CONST robtargetPlaceZhanbanB:=511.86,550.08,92.05,0.00172284,-0.00758955,-0.99997,-0.000606164,-1,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PERS numCompensationB8,3:=0,0,300,210,136,0,430,264,99999999,645,403,99999999,855,533,99999999,99999999,670,99999999,99999999,800,9999

16、9999,99999999,936,99999999;PERS numCompensationB18,3:=860,936,300,0,0,0,215,133,99999999,430,264,99999999,645,403,99999999,99999999,533,99999999,99999999,670,99999999,99999999,800,99999999;PERS numCompensationB28,3:=860,0,300,0,133,0,215,264,99999999,430,403,99999999,645,533,99999999,99999999,670,99

17、999999,99999999,800,99999999,99999999,936,99999999;CONST num nPalletHighUpB:=100;【最新整理，下载后即可编辑】CONST num nPalletHighDownB:=200;PERS speeddata vMinEmpty:=1300,100,6000,1000;PERS speeddata vMidEmpty:=1400,100,6000,1000;PERS speeddata vMaxEmpty:=1500,100,6000,1000;PERS speeddata vBigMaxEmpty:=1500,100,

18、6000,1000;PERS speeddata vMinLoad:=1200,100,6000,1000;PERS speeddata vMaxLoad:=1300,100,6000,1000;PERS speeddata vBigMaxLoad:=1400,100,6000,1000;TASK PERS wobjdatawobj1:=FALSE,TRUE,0,0,0,1,0,0,0,1984.06,-1180.48,453.803,0.661114,-0.659907,-0.252753,0.252124;PROC Main()rInitAll;WHILE TRUE DOrPickCal;

19、rPick;ENDWHILEWaitTime 0.3;ENDPROCPROC rInitAll()AccSet 60,100;Compensation:=CompensationErr;CompensationTwo:=CompensationErr;reg1:=0;reg2:=0;nCountX:=1;nCountY:=1;nCount:=0;【最新整理，下载后即可编辑】nCountZ:=1;nTotalPalletHigh:=0;nPalletHigh:=0;nInpos:=0;rKindChoose;rCheckHomePos;Reset do00_JawsOpen;Reset do01

20、_JawsClose;Set do00_JawsOpen;Reset do02_BigJaws1;WaitTime 0.3;Reset do03_BigJaws2;Reset do00_JawsOpen;Reset do13_Placing;Reset do12_PlaceOK;ENDPROCPROC rPickCal()Set do00_JawsOpen;bSMPreOrAbs:=TRUE;IF nCount=0 THENrCompressorInPos;ENDIFWHILE bSMPreOrAbs=TRUEDOIncr nCount;IF nCount=1 THENMoveL Offs(V

21、ision,0,0,CompensationnCountZ,3+100),vBigMaxEmpty,z20,tGripperWObj:=WobjCompressor;MoveJ Offs(Vision,0,0,CompensationnCountZ,3),vBigMaxEmpty,fine,tGrip【最新整理，下载后即可编辑】perWObj:=WobjCompressor;GOTO C;ENDIFIncr reg2;rnXCal;pVision:=Offs(Vision,CompensationnCountX,1,CompensationnCountY,2,CompensationnCoun

22、tZ,3);MoveLpVision,vMidEmpty,fine,tGripperWObj:=WobjCompressor;C:nPresenceOrAbsence:=1;!rServer;!socketsend client_socket Str:=T1;!socketReceive client_socket Str:=stReceived;!bOK:=StrToVal(stReceived,nPresenceOrAbsence);!IF nPresenceOrAbsence=2 OR nPresenceOrAbsence=3 THEN!bSMPreOrAbs:=FALSE;!ELSEI

23、F nPresenceOrAbsence=5 THEN!bSMPreOrAbs:=TRUE;!IF di02_PhotoelectricSensor=1 THEN!TPErase;!TPWrite The camera getpicture there is aproblem,Please check it!(2);!SystemStopAction Halt;!ELSEIF di02_PhotoelectricSensor=0 THEN!reg2:=0;!ENDIF!ELSEIF nPresenceOrAbsence=1 ORnPresenceOrAbsence=4THEN【最新整理，下载后

24、即可编辑】!TPErase;!TPWrite The Camera is wrong,and camera willrestart,;!TPWrite after a few seconds the robot willcontinue;!Stop;!ENDIFWaitTime 1;IF di02_PhotoelectricSensor=1 THENbSMPreOrAbs:=FALSE;ELSEbSMPreOrAbs:=TRUE;ENDIFIncr nCountX;!TEST di16_giBCD!CASE 1:IF nCountX=6 THENnCountX:=1;IncrnCountY;I

25、F nCountY=9 THENnCountY:=1;SystemStopAction Halt;ENDIFENDIFIF nCount=40 THENnCount:=0;IncrnCountZ;nCountX:=1;【最新整理，下载后即可编辑】nCountY:=1;nInpos:=0;IF reg2=0 THENrZhanban;IF nCountZ=2 THENrCompressorOutPos;nCountZ:=1;ENDIFENDIFreg2:=0;ENDIF!DEFAULT:!TPErase;!TPWrite The PLC communication there is aprobl

26、em,Please check it;!ENDTESTENDWHILEENDPROCPROC rPick()!TEST di16_giBCD!CASE 1:IF nCountX=1 THENCompensationTwo:=CompensationA1;ELSECompensationTwo:=CompensationA2;ENDIFpPick:=Offs(Pick,CompensationTwonCountX,1+nX,CompensationTwonCountY,2,CompensationTwonCountZ,3);【最新整理，下载后即可编辑】!CASE 2:!pPick:=Offs(P

27、ick,CompensationTwonCountX,1+nX,CompensationTwonCountY,2,CompensationTwonCountZ,3);!DEFAULT:!TPErase;!TPWrite The PLC communication there is aproblem,Please check it;!ENDTESTWaitTime 0.2;nCamOut:=1;!rServer;!socketsend client_socket Str:=T2;!socketReceive client_socket Str:=stReceived;!XData:=StrPar

28、t(stReceived,3,NumCharacters);!YData:=StrPart(stReceived,NumCharacters,NumCharacters);!AngleData:=StrPart(stReceived,2*NumCharacters,NumCharacters);!bOK:=StrToVal(XData,nXOffs);!bOK:=StrToVal(YData,nYOffs);!bOK:=StrToVal(AngleData,nAngleOffs);rAngle;!ppPick:=RelTool(pPick,0,0,0Rz:=-nAngleOffs+nAngle

29、);ppPick:=RelTool(pPick,0,0,0Rz:=nAngle);ConfLOff;!MoveL Offs(ppPick,nXOffs,nYOffs,120),vMinEmpty,【最新整理，下载后即可编辑】fine,tGripperWObj:=WobjCompressor;!MoveL Offs(ppPick,nXOffs,nYOffs,0),v100,fine,tGripperWObj:=WobjCompressor;MoveL Offs(ppPick,0,0,200),vMinEmpty,fine,tGripperWObj:=WobjCompressor;MoveL Of

30、fs(ppPick,0,0,0),v100,fine,tGripperWObj:=WobjCompressor;Reset do00_JawsOpen;Set do01_JawsClose;WaitDI di00_JawsInClose,1;!MoveL Offs(ppPick,nXOffs,nYOffs,80),vMinLoad,z10,tGripperWObj:=WobjCompressor;!MoveL Offs(ppPick,nXOffs,nYOffs,400),vMaxLoad,fine,tGripperWObj:=WobjCompressor;MoveL Offs(ppPick,0

31、,0,80),vMinLoad,z10,tGripperWObj:=WobjCompressor;MoveL Offs(ppPick,0,0,400),vMaxLoad,fine,tGripperWObj:=WobjCompressor;ConfLOn;rPlace;!TEST di16_giBCD【最新整理，下载后即可编辑】!CASE 1:IF nCount=40 THENnCount:=0;nCountX:=1;nCountY:=1;reg2:=0;nInpos:=0;rZhanban;IF nCountZ=2 THENrCompressorOutPos;nCountZ:=1;ENDIFE

32、NDIF!DEFAULT:!TPErase;!TPWrite The PLC communication there is aproblem,Please check it;!ENDTESTENDPROCPROC rPlace()MoveJ Offs(Place,0,0,200),vMaxLoad,z40,tGripperWObj:=WobjCompressor;Set do13_Placing;Waitdi di06_AssemblyLineOK,0;MoveL Offs(Place,0,0,50),vMinLoad,z5,tGripperWObj:=WobjCompressor;MoveL

33、 Place,v100,fine,tGripperWObj:=WobjCompressor;Reset do01_JawsClose;Set do00_JawsOpen;【最新整理，下载后即可编辑】WaitDI di01_JawsInOpen,1;MoveL Offs(Place,0,0,300),vMinEmpty,fine,tGripperWObj:=WobjCompressor;Reset do13_Placing;WaitTime 0.4;Reset do00_JawsOpen;ENDPROCPROC rnXCal()!TEST di16_giBCD!CASE 1:TEST nCoun

34、tCASE1,2,3,4,5,11,12,13,14,15,21,22,23,24,25,31,32,33,34,35nX:=0;CASE 6,7,8,9,10,16,17,18,19,20,26,27,28,29,30,36,37,38,39,40:nX:=65;ENDTEST!ENDTESTENDPROCPROC rAngle()!TEST di16_giBCD!CASE 1:TEST nCountCASE1,2,3,4,5,11,12,13,14,15,21,22,23,24,25,31,32,33,34,35nAngle:=0;CASE 6,7,8,9,10,16,17,18,19,2

35、0,26,27,28,29,30,36,37,38,39,40:【最新整理，下载后即可编辑】:nAngle:=180;ENDTEST!ENDTESTENDPROCPROC rZhanban()nTotalPalletHigh:=nTotalPalletHigh+nPalletHigh;TEST nCountZCASE 1:PZhanban:=PZhanbanUp;nPalletHigh:=nPalletHighUp;CASE 2:PZhanban:=PZhanbanDown;nPalletHigh:=nPalletHighDown;DEFAULT:TPErase;TPWrite The nCo

36、untZ have a trouble,Please checkit;ENDTESTMoveJOffs(PZhanban,0,0,300),vBigMaxEmpty,fine,tGripper WObj:=WobjCompressor;Set do02_BigJaws1;WaitTime 0.6;Set do03_BigJaws2;WaitDI di08_BigJawsInOpen,1;MoveL PZhanban,vMinEmpty,fine,tGripperWObj:=WobjCompressor;WaitTime 0.5;Reset do02_BigJaws1;Reset do03_Bi

37、gJaws2;【最新整理，下载后即可编辑】WaitTime 0.3;WaitDI di08_BigJawsInOpen,1;pActualpos:=CRobT(Tool:=tGripperWObj:=WobjCompressor1);pActualpos.trans.z:=2000;MoveLpActualpos,vMinEmpty,z20,tGripperWObj:=WobjCompressor1;!MoveLOffs(PZhanban,0,0,400),vMinEmpty,z20,tGripperWObj:=WobjCompressor;WaitDI di05_PalletInPos,1;

38、IF nInpos=2 THENMoveJ PZhanbanSafe,vMinEmpty,z20,tGripperWObj:=WobjCompressor;ENDIFpActualpos:=PlaceZhanban;pActualpos.trans.z:=2000;MoveJpActualpos,vMinLoad,z20,tGripperWObj:=WobjCompressor1;!MoveJOffs(PlaceZhanban,0,0,nTotalPalletHigh+700),v500,z5,tGripperWObj:=WobjCompressor;MoveLOffs(PlaceZhanba

39、n,0,0,nTotalPalletHigh),vMinLoad,fine,tGripperWObj:=WobjCompressor;WaitTime 0.5;Set do02_BigJaws1;Set do03_BigJaws2;WaitDI di08_BigJawsInOpen,1;MoveLOffs(PlaceZhanban,0,0,nTotalPalletHigh+700),vMaxEmpty,fine,tGripperWObj:=WobjCompressor;【最新整理，下载后即可编辑】Reset do03_BigJaws2;WaitTime 0.6;Reset do02_BigJa

40、ws1;WaitDI di07_BigJawsInClose,1;rCompressorOutPos;IF nTotalPalletHigh1200 THENset do06_PalletEmpty;waittime 1;reset do06_PalletEmpty;nTotalPalletHigh:=0;nPalletHigh:=0;ENDIFENDPROCPROC rCompressorInPos()!bInpos:=TRUE;!WHILE bInpos=TRUE DO!IF di03_Compressor1InPos=1THENWobjCompressor:=WobjCompressor

41、1;bInpos:=FALSE;nInpos:=2;!ELSEIF di04_Compressor2InPos=1THEN!WobjCompressor:=WobjCompressor2;!bInpos:=FALSE;!nInpos:=3;!ELSE!bInpos:=TRUE;!ENDIF!WaitTime 0.3;!ENDWHILEENDPROC【最新整理，下载后即可编辑】PROC rCompressorOutPos()IF WobjCompressor=WobjCompressor1THENSet do04_Compressor1Empty;WaitTime 1;Reset do04_Co

42、mpressor1Empty;ELSEIF WobjCompressor=WobjCompressor1THENSet do05_Compressor2Empty;WaitTime 1;Reset do05_Compressor2Empty;ENDIFENDPROCFUNC bool CurrentPos(robtarget ComparePos,INOUT tooldataTCP)VAR num Counter:=0;VAR robtarget ActualPos;ActualPos:=CRobT(Tool:=TCPWObj:=wobj0);IF ActualPos.trans.xCompa

43、rePos.trans.x-25 ANDActualPos.trans.xComparePos.trans.y-25 ANDActualPos.trans.yComparePos.trans.z-25 ANDActualPos.trans.zComparePos.rot.q1-0.1 ANDActualPos.rot.q1ComparePos.rot.q2-0.1 ANDActualPos.rot.q2ComparePos.rot.q3-0.1 ANDActualPos.rot.q3ComparePos.rot.q4-0.1 AND【最新整理，下载后即可编辑】ActualPos.rot.q4C

44、omparePos.rot.q4+0.1 Counter:=Counter+1;RETURN Counter=7;ENDFUNCPROC rCheckHomePos()IF NOT CurrentPos(pHome,tGripper)THENpActualpos:=CRobT(Tool:=tGripperWObj:=wobj0);pActualpos.trans.z:=pHome.trans.z;MoveL pActualpos,v300,z30,tGripper;MoveJ pHome,v500,fine,tGripper;ENDIFENDPROCPROC rKindChoose()!IF

45、di16_giBCD=1 THENCompensation:=CompensationA;nPalletHighUp:=nPalletHighUpA;nPalletHighDown:=nPalletHighDownA;Pick:=PickA;Vision:=VisionA;Place:=PlaceA;PZhanbanUp:=PZhanbanUpA;PZhanbanDown:=PZhanbanDownA;PlaceZhanban:=PlaceZhanbanA;!ELSEIF di16_giBCD=2 THEN!Compensation:=CompensationB;!nPalletHighUp:

46、=nPalletHighUpB;!nPalletHighDown:=nPalletHighDownB;!Pick:=PickB;!Vision:=VisionB;【最新整理，下载后即可编辑】!Place:=PlaceB;!PZhanbanUp:=PZhanbanUpB;!PZhanbanDown:=PZhanbanDownB;!PlaceZhanban:=PlaceZhanbanB;!ELSE!TPErase;!TPWrite Please select product type in the PLC;!ENDIFENDPROCPROC rModPos()MoveJ pHome,v1000,f

47、ine,tGripperWObj:=Wobj0;MoveJ PZhanbanSafe,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PickA,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ VisionA,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PlaceA,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PZhanbanUpA,v1000,fine,tGripperWObj:=WobjCompres

48、sor1;MoveJ PZhanbanDownA,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PlaceZhanbanA,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PickB,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ VisionB,v1000,fine,【最新整理，下载后即可编辑】tGripperWObj:=WobjCompressor1;MoveJ PlaceB,v1000,fine,tGripperWObj:=WobjCompresso

49、r1;MoveJ PZhanbanUpB,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PZhanbanDownB,v1000,fine,tGripperWObj:=WobjCompressor1;MoveJ PlaceZhanbanB,v1000,fine,tGripperWObj:=WobjCompressor1;ENDPROCPROC rMoveAbsj()MoveAbsJ jposHome,v1000,fine,tGripperWObj:=wobj0;ENDPROCPROC rServer()SocketClose server_sock

50、et;SocketClose client_socket;SocketCreate server_socket;SocketBind server_socket,192.168.125.1,3001;SocketListen server_socket;SocketAccept server_socket,client_socketClientAddress:=client_ip;ENDPROCPROC rClient()SocketClose client_socket;SocketCreate client_socket;SocketConnect client_socket,192.16