Robótica CUrrestarazu

Programación 11 V2 ABB.

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

  1. 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

Programación 11 ABB.

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

  1. Exemplo usando estas instrucións  MoveL Tras, WaitTime, FOR & ReTool; Se quere realizar o exemplo pode tomar como base a estación Estación PROG_11 Vacía: 
    MODULE Module1
	VAR 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]];

    
	PROC main()
        
        Primera_Pos.trans.x := -0.222935967;
        Primera_Pos.trans.y := 0.000098037;
        Primera_Pos.trans.z := 49.999436079;
        
        MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            Primera_Pos.trans.x := Primera_Pos.trans.x  + 100;
            MoveL Primera_Pos,v200,fine,MyTool\WObj:=W_Soldar;
            
        ENDFOR
        
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            Primera_Pos.trans.y :=  Primera_Pos.trans.y + 100;
            MoveL Primera_Pos,v200,fine,MyTool\WObj:=W_Soldar;
            
        ENDFOR
        
        FOR NSec FROM 0 to 2 DO
            
            Soldar;
            
            Primera_Pos.trans.x :=  Primera_Pos.trans.x - 100;
            MoveL Primera_Pos,v200,fine,MyTool\WObj:=W_Soldar;
            
        ENDFOR
        
	    Soldar;
        
        MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
        
	ENDPROC
    
    PROC Soldar()
    
        MoveL RelTool(Primera_Pos,0,0,0),v200,fine,MyTool\WObj:=W_Soldar;
        MoveL RelTool(Primera_Pos,0,0,50),v200,fine,MyTool\WObj:=W_Soldar;
        SetDo Q1,1;
        WaitTime 2;
        SetDo Q1,0;
        MoveL RelTool(Primera_Pos,0,0,0),v200,fine,MyTool\WObj:=W_Soldar;
        
    ENDPROC
ENDMODULE

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    Data Publicación: 12/02/2021

  1. Programación 10 ABB