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RAPID/ c ?/ c ?/ c ?/ c ? S S S S %%% VERSION:1 LANGUAGE:ENGLISH %%% MODULE mainprg / c ? + ? , D B CONST robtarget pHome:=[[517.87,-0.01,708.53],[0.506292,-0.4935,0.509881,-0.490049],[-1,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PROC main() / c !************************************* ! Main program for !************************************* Initall; A * Initall $/ c WHILE TRUE DO / c ~) ;> IF DI011=1 THEN V pDI01=1 ;> rP1 $/ c rP1; ELSEIF DI02=1 THEN V pDI02=1 ;> rP2 $/ c rP2; ENDIF WaitTime 0.3; ?K¨1 Y ? ENDWHILE ENDPROC PROC Initall() $/ c ¨* b ? ? D B ‘( AccSet 100,100; tE zA n ? VelSet 100, 2000; E zA n ? rCheckHOMEPos; A * rCheckHOMEPos $/ c ENDPROC PROC rCheckHOMEPos() $/ c ¨* b ? < ? 1 Y !5B IF NOT CurrentPos(pHome,tool0) THEN TPErase; TPWrite "Robot is not in the Wait-Position"; TPWrite "Please jog the robot around the Wait position in manual"; TPWrite "And execute the aHome routine."; WaitTime 0.5; EXIT; ENDIF ENDPROC 29 FUNC bool CurrentPos( robtarget ComparePos, INOUT tooldata TCP) s6 s6 s6 s6 ¨ ¨ ¨ ¨* b # < ? ? !5B * b # < ? ? !5B * b # < ? ? !5B * b # ComparePos.trans.x-25 AND ActualPos.trans.xComparePos.trans.y-25 AND ActualPos.trans.yComparePos.trans.z-25 AND ActualPos.trans.zComparePos.rot.q1-0.1 AND ActualPos.rot.q1ComparePos.rot.q2-0.1 AND ActualPos.rot.q2ComparePos.rot.q3-0.1 AND ActualPos.rot.q3ComparePos.rot.q4-0.1 AND ActualPos.rot.q4
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