rInitial; rMoveHome; While True Do Velset 100,3000; AccSet 70, 70; rpickworkpiece; rplaceworkpiece; endwhile
proc rpickworkpiece; if workpiece=false
MoveJ pickup, v2000, z5, too10; A: TPErase;
IF DI10_pickup=1 THEN (pickup为PLC发来拾取信号) WaitTime 0;
ELSEIF DI10_pickup=0 THEN TPWrite \ GOTO A; ENDIF
MoveJ Offs(pickup,0,0,300), v500, z200, too10; SetDo DO10_pickup1,1; wait time 1; workpiece=ture endif endproc
proc rplaceworkpiece; if workpiece=ture
MoveJ placemiddle, v2000, z5, too10; MoveJ placeworkpiece, v2000, z5, too10;
MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10; SetDo DO10_pickup1,0; A: TPErase;
IF DI10_pickon=1 THEN (pickon为PLC检测已放好信号) WaitTime 0;
ELSEIF DI10_pickup=0 THEN TPWrite \ GOTO A; workpiece=false ENDIF
endproc
PROC rInitial()
TpReadFk nInput,\机器是否准备好） If nInput=4 Then bReady:=False; stop;
ElseIF nInput=5 then bReady:=True; ENDIF
bFirstPickBoard:=True;
TpReadFk nInput,\（机器人抓头是否工件） If nInput=4 Then workpiece:=False; ElseIF nInput=5 then workpiece:=True; ENDPROC
PROC rMoveHome() (定义原点） 此例行程序可以方便地回到等待位置 MoveJ pHome, v500, z50, tGripper; ENDPROC
ABB机器人编程05
程序解析：
1、此程序是典型的ABB机器人官方编程思路与方法。 2、思路清晰，结构编排明确，方便使用者阅读。
3、此程序共分了3个程序模块，清楚地将不同用途的语句分开，方便阅读，这种编程在进行一些复杂系统的编程是非常有用的。
4、里面编程中运用了很多编程技巧，节省了机器人示教的时间，如使用OFFS功能。 5、在写屏信息提示方面也非常丰富。
6、此程序非常适合大家的参考与提高。
7、有一个小问题，缺少搬运重要的负荷重量设定数据。
MODULE Data 此模块专门用于存放程序数据的 !target
CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget delta_pos := [ [ 2, 2, 2, 2, 2, 2], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget jhome := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PERS robtarget roFetch:=[[2000,0,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERS robtarget
roDeFetch:=[[2000,1000,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; VAR wzstationary home; VAR shapedata joint_space; VAR num nu_inhome; VAR bool flag1:=FALSE; ENDMODULE %%% VERSION: 1
LANGUAGE: ENGLISH %%%
MODULE CalibData 此模块用于存放需要设定的程序数据
TASK PERS tooldata Tooldata_1:=[TRUE,[[0,0,1000],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]]; TASK PERS wobjdata Workobject_1:=[FALSE,TRUE,\
ENDMODULE
MODULE MainModule PROC main() CheckHome; CheckGriper; Production; ENDPROC PROC CheckHome()
IF DOutput(do_inhome) = 1 THEN nu_inhome := 1; ELSE
nu_inhome :=0; ENDIF
TEST nu_inhome CASE 0 : GoHome; CASE 1 : RETURN; DEFAULT : TPWrite \ Stop; ENDTEST ENDPROC
PROC CheckGriper() IF di_griperclosed = 1 THEN ControlGriper; ELSE RETURN; ENDIF ENDPROC PROC Production() WHILE TRUE DO WaitUntil di_plc=1;
MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; 利用OFFS此功能，减少示教
MoveL roFetch,v1000,fine,Tooldata_1\\WObj:=Workobject_1; CloseGriper;
MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; MoveL roDeFetch,v1000,fine,Tooldata_1\\WObj:=Workobject_1; OpenGriper;
MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; ENDWHILE ENDPROC PROC CloseGriper() flag1:=FALSE; Reset do_opengriper; Set do_closegriper;
WaitDI di_griperclosed, 1\\MaxTime:=3\\TimeFlag:=flag1; WHILE flag1=TRUE DO
TPWrite\ Stop\\NoRegain; ENDWHILE ENDPROC PROC OpenGriper() flag1:=FALSE; Set do_opengriper;
Reset do_closegriper;
WaitDI di_griperopend, 1\\MaxTime:=3\\TimeFlag:=flag1; WHILE flag1=TRUE DO
TPWrite\ Stop\\NoRegain; ENDWHILE ENDPROC
PROC DEF_Zone() 对机器人是否在等待位进行检测 WZHomeJointDef \\Inside, joint_space, home_pos, delta_pos; WZDOSet\\Stat, home\\Inside, joint_space, do_inhome, 1; !RETURN; ENDPROC
PROC GoHome() VAR btnres answer;
VAR string my_message{2}:= [\
CONST string my_buttons{2}:=[\丰富的写屏指令 my_message{1}:=\
my_message{2}:=\ answer:= UIMessageBox (
\\Header:=\ \\MsgArray:=my_message \\BtnArray:=my_buttons \\Icon:=iconWarning); IF answer=2 THEN EXIT;
!Stop\\NoRegain; ELSE
MoveAbsJ jhome\\NoEOffs, v100, z5, Tooldata_1; ENDIF ENDPROC
PROC ControlGriper() VAR btnres answer;
VAR string my_message{2}:= [\
CONST string my_buttons{2}:=[\丰富的写屏指令 my_message{1}:=\ my_message{2}:=\ answer:= UIMessageBox ( \\Header:=\ \\MsgArray:=my_message \\BtnArray:=my_buttons \\Icon:=iconWarning); IF answer=2 THEN EXIT;
!Stop\\NoRegain;
ELSE OpenGriper; ENDIF ENDPROC ENDMODULE
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