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课程名称：工业机器人调试编制人：王晓勇邮箱：电话：编制时间：2014．5.13编制单位：南京工业职业技术学院案例10说明：功能：此案例利用机器人拾取工件，机器人将工件拾取后放置到暂存盒中，机器人快速有效的完成，极大地提高了生产效率，降低成本；运动轨迹编程过程：1、规划运动路径；2、此案例共定义了3个TCP目标点，pHome、pPick、pPlace，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di01；4、编写程序；5、调试程序；程序及注释：案例10机器人工作站案例10机器人程序MODULEMainModuleMODULEMainModuleCONSTrobtargetpHome:=[[1261.21,0.00,1395.00],[0.5,-5.73546E-09,0.866025,-3.31137E-09],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPick:=[[905.52,-774.64,824.76],[0.00261044,-0.355316,-0.934743,0.000263676],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPlace:=[[884.40,564.28,795.44],[0.00193859,0.271839,-0.962339,0.00176762],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];VARnumnCount:=1;VARnumnPosition{9,3}:=[[200,200,0],[200,0,0],[200,-200,0],[0,-200,0],[0,0,0],[0,200,0],[-200,200,0],[-200,0,0],[-200,-200,0]];PROCmain()MoveJpHome,v1000,z50,tool0\WObj:=wobj0;p1:IFnCount=10THENGOTOp2;ENDIFMoveJOffs(pPick,0,0,-100),v1000,z50,tool0\WObj:=wobj0;Setdo1;MoveLpPick,v300,fine,tool0\WObj:=wobj0;RSetdo1;WaitDIdi02,1;MovelOffs(pPick,0,0,-100),v1000,z50,tool0\WObj:=wobj0;IFnCount<10THENMoveJRelTool(offs(pPlace,0,0,-100),nPosition{nCount,1},nPosition{nCount,2},nPosition{nCount,3}),v1000,z50,tool0\WObj:=wobj0;MovelRelTool(pPlace,nPosition{nCount,1},nPosition{nCount,2},nPosition{nCount,3}),v1000,fine,tool0\WObj:=wobj0;Setdo1;WaitTime1;RSetdo1;MovelRelTool(offs(pPlace,0,0,-100),nPosition{nCount,1},nPosition{nCount,2},nPosition{nCount,3}),v1000,z50,tool0\WObj:=wobj0;nCount:=nCount+1;GOTOp1;ENDIFp2:MoveJpHome,v1000,z50,tool0\WObj:=wobj0;ENDPROCENDMODULE
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