Kuka机器人设计通用码垛程序

假设需要一个码垛程序, 从输送线抓到托盘, 托盘每层4个, 需要码5层, 可以用以下程序架构设计:

在config中定义层数cengshu , 每层码垛的个数(码垛的次数)cishu , 每层的高度levelHeight , 码垛放置点的集合putPoint[,] ,预放点1集合prePut1[,], 预放点2集合prePut2[,]

vbnet
DECL INT cengshu = 0

DECL INT cishu = 0

DECL INT levelHeight = 200

DECL FRAME putPoint[10,10]

DECL FRAME prePut1[10,10]

DECL FRAME prePut2[10,10]

码垛放件程序

注意,

1,

if false then

SPTP putbase Vel=100 % PDAT6 Tool[1] Base[0];

endif

是定义放件最下面层的基准点, 因为条件是if false, 所以机器人永远不会走这个点.

2,

在putbase 前加上x, 编程xputBase, 就可以将机器人的点位putbase 赋值给 用户定义的frame
putPoint[cengshu,cishu]

3, 走用户定义的点 putPoint[cengshu,cishu] 不能用机器人点位, 应该用命令

slin putPoint[cengshu,cishu] c_dis

&ACCESS RVO1
&REL 61
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program\test
DEF put( )
INI
if false then

SPTP putbase Vel=100 % PDAT6 Tool[1] Base[0];
endif

PTP p20 Vel=100 % PDAT7 Tool[1] Base[0];

WAIT SEC 1

if (cengshu<6) then
if cishu == 1 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight

endif
if cishu == 2 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].x = putPoint[cengshu,cishu].x+100

putPoint[cengshu,cishu].a = putPoint[cengshu,cishu].a+90

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif

if cishu == 3 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].x = putPoint[cengshu,cishu].x+100

putPoint[cengshu,cishu].y = putPoint[cengshu,cishu].y+100

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif


if cishu == 4 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].y = putPoint[cengshu,cishu].y+100

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif

endif

slin putPoint[cengshu,cishu] c_dis
END

主程序:

DEF test10( )
INI;

PTP P1 Vel=100 % PDAT1 Tool[1] Base[0]

for cengshu = 1 to 5
for cishu = 1 to 4
put()
endfor
endfor


PTP P2 Vel=100 % PDAT2 Tool[1] Base[0]

END