Robótica CUrrestarazu

Simulación 4 ABB

Simulación 4 con RobotStudio ABB, FlexPendant.

Programación de robots industriais Off-Line.

  1. Aprender a coa un facer movementos programadora "FlexPendant".
  2. Para Aprender a Colocar o Robot, Solido, Ferramentas e saber engadir os primeiros Puntos, visite noso articulo: Simulación 4.0 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 0 805,00 Componente del robot 0 0 0
Mesa Formación 792 0 0 Componente Mesa Formación 0 0 90
Plantilla 0 0 0 Componente Plantilla ABB 0 0 0
MyTool (Unida automáticamente ao Robot) - - - Componente MyTool - - Rot Z = 90º
Estación Completa (Sin Programación) - - - Estación Completa - - -

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 RAPID:

MODULE MainModule
	CONST robtarget P10:=[[353.02,0.00,472.37],[0.259767,-0.00800538,-0.96518,-0.0297443],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20:=[[549.76,-147.95,63.67],[0.0260292,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P30:=[[549.76,-147.95,63.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P40:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50:=[[549.59,148.74,13.54],[0.0152304,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20_2:=[[549.76,-147.95,13.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50_2:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	PROC main()
		MoveJ P10, v1000, fine, tool1_Pen;
		MoveJ P20, v500, fine, tool1_Pen;
		MoveL P20_2, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P30, v500, fine, tool1_Pen;
		MoveL P40, v500, fine, tool1_Pen;
		MoveL P50, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P50_2, v500, fine, tool1_Pen;
		MoveJ P10, v1000, fine, tool1_Pen;
	ENDPROC
ENDMODULE

 Enlaces de Interese:

Data Publicación: 21/11/2020