Programación 10 ABB.

Aprender Linguaxe RAPID, poderemos programar desde RobotStudio, ou desde a FlexPendant.

  1. Exemplo usando estas instrucións  MoveL Tras, WaitTime & FOR; Se quere realizar o exemplo pode tomar como base o exercicio Programación 9 ABB:
    MODULE Module1
    	CONST robtarget Target_10:=[[547.330665099,0,451.64730631],[0.190808996,0,0.981627183,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
        VAR robtarget Avance:=[[506.304350475,0,671.647255958],[0.19080893,0,0.981627196,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	VAR num Contador;
        PROC main()
    	    MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
            
            Avance.trans.x := 360;
            Avance.trans.y := 20;
            Avance.trans.z := 400;
            
            MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
            MoveJ Avance,v1000,fine,MyTool\WObj:=wobj0;
            FOR Contador From 0 TO 5 DO
                
                MoveL Avance,v1000,fine,MyTool\WObj:=wobj0;
                Avance.trans.x := Avance.trans.x + 25;
                WaitTime 0.5;
                
            ENDFOR
            
            FOR Contador From 0 TO 5 DO
                
                MoveL Avance,v1000,fine,MyTool\WObj:=wobj0;
                Avance.trans.y := Avance.trans.y + 25;
                WaitTime 0.5;
                
            ENDFOR
            
            FOR Contador From 0 TO 5 DO
                
                MoveL Avance,v1000,fine,MyTool\WObj:=wobj0;
                Avance.trans.z := Avance.trans.z + 25;
                WaitTime 0.5;
                
            ENDFOR
            
            Avance.trans.x := 360;
            Avance.trans.y := 20;
            Avance.trans.z := 400;
            
            FOR Contador From 0 TO 5 DO
                
                MoveL Avance,v1000,fine,MyTool\WObj:=wobj0;
                Avance.trans.x := Avance.trans.x + 25;
                Avance.trans.y := Avance.trans.y + 25;
                Avance.trans.z := Avance.trans.z + 25;
                WaitTime 0.5;
                
            ENDFOR
            
            MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
    	ENDPROC
    ENDMODULE



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    Data Publicación: 11/02/2021