abb机器人简单练习(博途v17，记事本程序，机器人视频)

最新推荐文章于 2024-10-08 11:22:28 发布

正义的牛蛙

最新推荐文章于 2024-10-08 11:22:28 发布

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文章标签：机器人

本文链接：https://blog.csdn.net/2301_79725574/article/details/142346742

版权

机器人视频下次附上

型号：ABBIRB120

软件：博途v17，记事本

博途v17程序：
伺服轴：

轴启动
原点
工作位置自动
轴暂停
轴配置复位
手动移动

3.物料运作：

4.记事本程序：主要使用了offs偏移，少了很多点(30多点到7，8个点大大减少了描点时间)

module wsy
proc main()
phome;
qjz;
jdl;
fdl;
fjz;
qxp;
xxl;
fxl;
fxp;
qjz;
zh;
fjz;
hydl;
endproc

proc ml(num a)
movel p{a},v100,fine,tool0;
endproc

proc mj(num b)
movej p{b},v100,fine,tool0;
endproc

proc mlpy(num a,num x,num y,num z)
movel offs(p{a},x,y,z),v100,fine,tool0;
endproc

proc mjpy(num b,num x,num y,num z)
movej offs(p{b},x,y,z),v100,fine,tool0;
endproc

proc gzl()
set do2;
t 2;
reset do2;
waitdi di1,1;
endproc

proc hydl()
set do1;
t 2;
reset do1;
waitdi di2,1;
endproc

proc t(num t)
waittime t;
endproc

proc phome()
moveabsj home,v200,fine,tool0;
endproc

proc qjz()
gzl;
mjpy 1,0,0,200;
mlpy 1,0,0,100;
set do11;
t 1;
reset do11;
ml 1;
set do9;
t 1;
reset do9;
mlpy 1,0,0,10;
mlpy 1,0,-85,10;
mlpy 1,0,-85,200;
phome;
endproc

proc fjz()
gzl;
home;
mjpy 1,0,0,200;
mlpy 1,0,-85,100;
mlpy 1,0,-85,10;
mlpy 1,0,0,10;
ml 1;
set do11;
t 1;
reset do11;
mlpy 1,0,0,100;
mjpy 1,0,0,200;
phome;
endproc

proc jdl()
mjpy 3,0,-20,200;
mlpy 3,0,0,200;
mlpy 3,0,0,80;
set do8;
t 1;
reset do8;
ml 3;
set do10;
t 1;
reset do10;
mlpy 3,0,0,80;
mlpy 3,0,0,200;
mjpy 3,0,-20,200;
phome;
endproc

proc qxp()
gzl;
mjpy 1,0,0,200;
mlpy 1,0,0,100;
set do11;
t 1;
reset do11;
mlpy 2,0,0,100;
ml 2;
set do9;
t 1;
reset do9;
ml 2,0,0,10;
ml 2,0,-90,10;
ml 2,0,-90,200;
phome;
endproc

proc fxp()
gzl;
mjpy 1,0,0,200;
mlpy 2,0,-90,100;
mlpy 2,0,-90,10;
mlpy 2,0,0,10;
ml 2;
set do11;
t 1;
reset do11;
mlpy 2,0,0,200;
home;
endproc

proc xxl()
mjpy 4,0,0,150;
mlpy 4,0,0,50;
t 1;
set do12;
ml 4;
mlpy 4,0,0,120;
mjpy 4,0,0,150;
phome;
endproc

proc fdl()
hydl;
mjpy 5,0,0,200;
mlpy 5,0,0,50;
ml 5;
set do8;
t 1;
reset do8;
mlpy 5,0,0,50;
mlpy 5,0,0,150;
phome;
endproc

proc fxl()
hydl;
mjpy 6,0,0,200;
mlpy 6,0,0,50;
ml 6;
t 1;
reset do12;
mlpy 6,0,0,50;
mlpy 6,0,0,150;
phome;
endproc

proc zh()
hydl;
mjpy 5,0,0,200;
mlpy 5,0,0,50;
set do8;
t 1;
reset do8;
ml 5;
set do10;
t 1;
reset do10;
mlpy 5,0,0,50;
mlpy 5,0,0,200;
mjpy 7,0,0,200;
mlpy 7,0,0,150;
mlpy 7,0,0,50;
ml 7;
set do8;
t 2;
reset do8;
mlpy 7,0,0,50;
mlpy 7,0,0,150;
mjpy 7,0,0,200;
phome;
endproc

endmodule