Programación 11 V2 ABB

RAPID ABB

Programación 11 V2 ABB.

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

Exemplo usando estas instrucións MoveL Offs, WaitTime & FOR; Se quere realizar o exemplo pode tomar como base a estación Estación PROG_11 V2 Vacía:

MODULE Module1
	CONST robtarget Primera_Pos:=[[-0.222935967,0.000098037,49.999436079],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR num NSec := 0;
    CONST jointtarget Home_Abs:=[[0,0,0,0,30,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    
    VAR num X;
    VAR num Y;
    VAR num Z;
    
	PROC main()
        
        X := 0;
        Y := 0;
        
        MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            MoveL Offs(Primera_Pos,X,0,0),v200,fine,MyTool\WObj:=W_Soldar;
            X := X + 100;
            
        ENDFOR
        
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
            Y := Y + 100;
            
        ENDFOR
        
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            X := X - 100;
            MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
            
            
        ENDFOR
        
	    Soldar;
        
        MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
        
	ENDPROC
    
    PROC Soldar()
    
        MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
        MoveL Offs(Primera_Pos,X,Y,-50),v200,fine,MyTool\WObj:=W_Soldar;
        SetDo Q1,1;
        WaitTime 2;
        SetDo Q1,0;
        MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
        
    ENDPROC
ENDMODULE

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Data Publicación: 03/03/2021