東莞工業(yè)機(jī)器人培訓(xùn)哪家好？IRB360并聯(lián)機(jī)器人程序注釋和仿真運行

一、程序注釋

1.1   主程序注釋,東莞工業(yè)機(jī)器人培訓(xùn)哪家好？

PROC main()
  inital1l;
  WHILE TRUE DO
  rPick1;
  rPut1;
  WaitTime 0.2;
  ENDWHILE
ENDPROC

1.2  初始化注釋

PROC inital1l()
  count := 1;
  count_all := 0;
  Reset do1_xipan;
  Reset do2_shangliao;
  Reset do3_xialiao1;
  Reset do4_xialiao2;
  WaitDI di1_xipan, 0;
  MoveJ pHome, v1000, z20, MyToolWObj:=wobj0;
ENDPROC

1.3  取料動作注釋

PROC rPick1()
  WaitDI di2_shangliao, 1;
  MoveJ Offs(pPick1,0,0,100), v1000, z10, MyToolWObj:=wobj_pick1;
  MoveL pPick1, v1000, fine, MyToolWObj:=wobj_pick1;
  Set do1_xipan;
  WaitTime 0.2;
  WaitDI di1_xipan, 1;
  GripLoad load1;
  MoveL Offs(pPick1,0,0,100), v1000, z10, MyToolWObj:=wobj_pick1;
  ENDPROC
1.4  放料計算注釋

PROC PutCal1()
  TEST count
  CASE 1:
  pPut1 := Offs(pPutbase1,0,0,0);
  CASE 2:
  pPut1 := Offs(pPutbase1,202,0,0);
  CASE 3:
  pPut1 := Offs(pPutbase1,404,0,0);
  CASE 4:
  pPut1 := Offs(pPutbase1,606,0,0);

CASE 5:
  pPut1 := Offs(pPutbase1,0,0,42);
  CASE 6:
  pPut1 := Offs(pPutbase1,202,0,42);
  CASE 7:
  pPut1 := Offs(pPutbase1,404,0,42);
  CASE 8:
  pPut1 := Offs(pPutbase1,606,0,42);
  ENDTEST
  ENDPROC

1.5   放料動作程序注釋

PROC rPut1()
  WaitDI di3_xialiao1, 1;
  PutCal1;
  MoveJ pGUODU, v1000, z50, MyToolWObj:=wobj0;
  MoveJ Offs(pPut1,0,0,100), v1000, z50, MyToolWObj:=wobj_put1;
  MoveL pPut1, v1000, fine, MyToolWObj:=wobj_put1;
  Reset do1_xipan;
  WaitTime 0.2;
  WaitDI di1_xipan, 0;
  GripLoad load0;
  MoveL Offs(pPut1,0,0,100), v1000, z50, MyToolWObj:=wobj_put1;
  MoveJ pGUODU, v1000, z50, MyToolWObj:=wobj0;
                count := count + 1;

  IF count > 8 THEN
  count := 1;
  count_all := count_all + 4;
  Set do5;
  PulseDOPLength:=0.6, do4_xialiao2;
  WaitTime 0.8;
  PulseDOPLength:=0.6, do4_xialiao2;
  TPErase;
  TPWrite "robot has working products number is count = "Num:=count_all;
  WaitDI di2_shangliao, 1;
  Reset do5;
  ENDIF
  ENDPROC

1.6  仿真圖片
二、仿真運行

2.1  仿真設(shè)定
2.2  仿真運行

三、課程總結(jié)

3.1 總結(jié)

本文工業(yè)機(jī)器人培訓(xùn)專家?guī)懔私饬薎RB360并聯(lián)機(jī)器人程序注釋和仿真運行。


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