Simulación 3 ABB

Simulación ABB.

Simulación 3 con RobotStudio ABB, MoveL.

Programación de robots industriais Off-Line.

Aprender a facer movementos coa instrución " MoveL".
Para Aprender a Colocar o Robot, Solido, Ferramentas e saber engadir os primeiros Puntos, visite noso articulo: Simulación 1 ABB

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Posición, e Rotación dos obxectos:

-Tomando como referencia Mundo.

Obxecto	X	Y	Z	Descargar Componentes	A	B	C
Robot	0	0	620	Componente Robot	0	0	0
Solido (Bancada)	-220	-300	0	Creación en RobotStudio	0	0	0
MyTool (Unida automáticamente ao Robot)	3	0	1214	Componente MyTool	180	60	180

RAPID:

MODULE Module1
	CONST robtarget Target_10:=[[557.330665099,0,451.64730631],[0.190808996,0,0.981627183,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_20:=[[339.99,-300,50],[0,0,1,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_30:=[[590.000005926,-300.000019535,-0.00003766],[0.006593682,0.246993298,0.968993297,-0.001680705],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_20_2:=[[339.99,-300,0],[0,0,1,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_30_2:=[[580.007086271,300.000028414,49.999940578],[0.000070808,0.000000206,-0.999999997,0.000000106],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_50:=[[339.99,300,0],[0.014306426,0.021153167,0.999670738,0.002507023],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_50_2:=[[339.99,300,50],[0.014306426,0.021153167,0.999670738,0.002507023],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_40:=[[589.999996765,300.000000063,-0.000079507],[0.014305147,0.021155022,0.999670717,0.002507207],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    !***********************************************************
    !
    ! Módulo:  Module1
    !
    ! Descripción:
    !   <Introduzca la descripción aquí>
    !
    ! Autor: Carlos Urrestarazu
    !
    ! Versión: 1.0
    !
    !***********************************************************
    
    
    !***********************************************************
    !
    ! Procedimiento Main
    !
    !   Este es el punto de entrada de su programa
    !
    !***********************************************************
    PROC main()
		MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
		MoveJ Target_20,v1000,fine,MyTool\WObj:=wobj0;
		MoveL Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
		MoveL Target_30,v1000,fine,MyTool\WObj:=wobj0;
		WaitTime 2;
		MoveL Target_40,v1000,fine,MyTool\WObj:=wobj0;
        WaitTime 2;
		MoveL Target_50,v1000,fine,MyTool\WObj:=wobj0;
		MoveL Target_50_2,v1000,fine,MyTool\WObj:=wobj0;
		MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
        !Añada aquí su código
    ENDPROC
ENDMODULE

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Data Publicación: 10/11/2020