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1、职业教育机电一体化专业教学资源库课程案例工业机器人调试王晓勇2014630课程名称: 编制人: 邮 箱: 电 话: 编制时间：编制单位：南京工业职业技术学院案例23说明：功能：工件体积过于庞大，机器人自身被固定，无法完成指定的加工任务，因 此选用变位机帮助机器人进行焊接，提高工作效率；运动轨迹编程过程：1、规划运动路径；2、此案例共定义了 14个TCP目标点，通过示教器示教并保存在程序数据中;3、设置机器人启动信号diO1 ；4、编写程序；5、调试程序；程序及注释：案例23机器人工作站示意图案例23机器人程序：MODULE Mai nM oduleCONST robtargetp10:=137
2、6.26,0.00,1436.90,0.642144,1.80854E-07,0.766584,1.55557E-07,0,-3,2 ,0,0,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetp20:=1376.26,0.00,1436.90,0.642144,1.00331E-06,0.766584,8.44503E-07,0,-3,2 ,0,-360,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p30:=1204.15,-0.00,1526.80,0.642143,1.66723E-09,0.7665
3、84,-1.9323E-09,0,-5, 4,0,-360,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p40:=1356.38,-19.96,1885.77,0.840243,-1.09086E-06,0.54221,-1.22148E-06,-1, -3,2,0,-360,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p50:=1354.05,-19.96,1200.51,0.840243,9.5165E-07,0.54221,5.14407E-07,-1,-3, 2,0,-360,9E+09,9
4、E+09,9E+09,9E+09,9E+09;CONST robtarget p60:=891.65,-19.95,1948.10,0.840243,5.39231E-07,0.54221,9.49827E-07,-1,-3, 2,0,-360,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p70:=891.65,-19.95,1948.10,0.840243,3.8174E-07,0.54221,9.22892E-07,-1,-3,2, 0,-270,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p1
5、10:=891.65,-19.95,1948.10,0.840243,3.80192E-07,0.54221,9.23891E-07,-1,-3 ,2,0,-180,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p150:=891.65,-19.95,1948.10,0.840243,3.80192E-07,0.54221,9.23891E-07,-1,-3 ,2,0,-90.0001,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p190:=891.65,-19.95,1948.10,0.840243
6、,3.80192E-07,0.54221,9.23891E-07,-1,-3 ,2,0,-0.000384297,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p200:=72.37,0.12,2720.99,0.990835,-0.008731,0.134677,-0.00563313,-1,-3,2,0, 9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p210:=976.50,0.00,1844.83,0.642145,3.8267E-07,0.766583,3.20551E-07,0,
7、0,0,0 ,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p220:=1376.26,0.00,1436.90,0.642144,1.09469E-06,0.766584,9.21053E-07,0,-3, 2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p230:=72.37,0.12,2720.99,0.990835,-0.00873101,0.134677,-0.00563313,-1,-3,2, 0,9E+09,9E+09,9E+09,9E+09,9E+09,9E
8、+09;PROC main()WHILE TRUE DOWaitDI di01,1;WaitTime 0.3;ENDWHILEMoveJ Offs(p10,-100,0,100), v300, z50, tWeldGun WObj:=wobj1;MoveJ p10, v300, z50, tWeldGun WObj:=wobj1;ActUnit M7DM1 ;(激活变位机)MoveJ p20, v5, z1, tWeldGun WObj:=wobj1;DeactUnit M7DM1 ;MoveJ p30, v500, z1, tWeldGun WObj:=wobj1;MoveJ p40, v5
9、00, z1, tWeldGun WObj:=wobj1;MoveL p50, v500, z1, tWeldGun WObj:=wobj1;MoveL p60, v500, z1, tWeldGun WObj:=wobj1;ActUnit M7DM1 ;MoveJ p70, v5, z1, tWeldGun WObj:=wobj1;DeactUnit M7DM1 ;MoveJ p40, v400, z1, tWeldGun WObj:=wobj1;MoveL p50, v500, z1, tWeldGun WObj:=wobj1;MoveL p60, v500, z1, tWeldGun W
10、Obj:=wobj1;ActUnit M7DM1 ;MoveJ p110, v5, z1, tWeldGun WObj:=wobj1;DeactUnit M7DM1 ;MoveJ p40, v500, z1, tWeldGun WObj:=wobj1;MoveL p50, v300, z1, tWeldGun WObj:=wobj1;MoveL p60, v500, z1, tWeldGun WObj:=wobj1;ActUnit M7DM1 ;MoveJ p150, v5, z1, tWeldGun WObj:=wobj1;DeactUnit M7DM1 ;MoveJ p40, v300, z1, tWeldGun WObj:=wobj1;MoveL p50, v300, z1, tWeldGun WObj:=wobj1;MoveL p60, v300, z1, tWeldGun WObj:=wobj1;ActUnit M7DM1 ;MoveJ p190, v5, z1, tWeldGun WObj:=wobj1;DeactUnit M7DM1 ;MoveJ p200, v800, z1, tWeldGun WObj:=wobj1;ENDPROCENDMODULE