Robótica CUrrestarazu

Programación 6 ABB.

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

  1. Control de Flujo WHILE; Bucle While, este repetirá a instrucións do seu interior mentres o valor da variable cumpra a condición programada.
  2. Control de Flujo WHILE; Formato da mesma: 
    WHILE IN1 = 1 DO !O Bucle executarase sempre que se cumpra esta condición
          
  !Instrucions a realizar mentras se cumpre a condición

ENDWHILE
  3. Exemplo usando estas instrucións  TPWrite, TPErase, IF & WHIL; Se quere realizar o exemplo pode tomar como base o exercicio Programación 4 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]];
	CONST robtarget Target_20_2:=[[580.004388386,-300.000173756,49.997538618],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_20:=[[579.997326386,-300.000184257,-0.002460883],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-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_30:=[[580.000005471,300.000017813,-0.000058921],[0.000070808,0.000000206,-0.999999997,0.000000106],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	VAR num Contador := 1;
    PROC main()
	    MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
        TPErase;
       WHILE IN1 = 1 DO
          
           TPErase;
           TPWrite "Numero: " \ NUM:= Contador;
           TPWrite "Soldando Derecha";
           Secuencia_1;
           TPWrite "Soldando Izquierda";
           Secuencia_2;
           MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
           Contador := Contador + 1;
           
           IF IN2 = 1 THEN !Resetar Contador
            Contador := 1;  
           ENDIF
       
       ENDWHILE
        MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
        
       IF IN2 = 1 THEN    !Resetar Contador
          Contador := 1;  
       ENDIF
        
	ENDPROC
	PROC Secuencia_1()
	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_20,v1000,fine,MyTool\WObj:=wobj0;
        WaitTime 2;
	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
	ENDPROC
	PROC Secuencia_2()
	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_30,v1000,fine,MyTool\WObj:=wobj0;
        WaitTime 2;
	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
	ENDPROC
ENDMODULE


     Links de Interese:

    Data Publicación: 10/02/2021

Programación 5 ABB.

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

  1. Control de Flujo FOR; Bucle For, este bucle conten unha variable que ira aumentando. Comézase nun valor de partida prefixado ata un valor final. O seu funcionamento é o seguinte: na primeira execución asígnase á variable o valor de partida, e execútase o código do seu interior. Unha vez executado volveremos ao principio deste bucle asignando así á variable o valor desta +1, ascendendo desta maneira o valor da variable en cada execución. Isto repetirase ata que a variable alcance o valor final.
  2. Control de Flujo FOR; Formato da mesma: 
    VAR num NUMERO;  !Variable que usaremos para o bucle FOR

FOR NUMERO FROM 1 TO 3 DO !Bucle For desde Numero = 1, ata que Numero = 3.

    !Instrucions a executar

ENDFOR   !Final FOR
  3. Exemplo usando estas instrucións  TPWrite, TPErase & FOR; Se quere realizar o exemplo pode tomar como base o exercicio Programación 4 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]];
	CONST robtarget Target_20_2:=[[580.004388386,-300.000173756,49.997538618],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_20:=[[579.997326386,-300.000184257,-0.002460883],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-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_30:=[[580.000005471,300.000017813,-0.000058921],[0.000070808,0.000000206,-0.999999997,0.000000106],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	VAR num NUMERO;
    PROC main()
	    MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
        TPErase;
       FOR NUMERO FROM 1 TO 3 DO
           TPErase;
           TPWrite "Numero: " \ NUM:= NUMERO;
           TPWrite "Soldando Derecha";
           Secuencia_1;
           WaitTime 2;
           TPWrite "Soldando Izquierda";
           Secuencia_2;
           WaitTime 2;
           MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
       ENDFOR

	ENDPROC
	PROC Secuencia_1()
	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_20,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
	ENDPROC
	PROC Secuencia_2()
	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_30,v1000,fine,MyTool\WObj:=wobj0;
	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
	ENDPROC
ENDMODULE


     Links de Interese:

    Data Publicación: 10/02/2021

  1. Programación 4 ABB