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1、 職業(yè)教育機(jī)電一體化專業(yè)教學(xué)資源庫(kù) 課程案例 工業(yè)機(jī)器人調(diào)試 王曉勇 201469 課程名稱: 編制人: 郵 箱: 電 話: 編制時(shí)間： 編制單位：南京工業(yè)職業(yè)技術(shù)學(xué)院 案例13說(shuō)明： 功能：三角式機(jī)器人動(dòng)作快速，反應(yīng)靈敏，與視覺(jué)技術(shù)應(yīng)用的一起，能夠快速 完成工件的擺放及入庫(kù)等動(dòng)作，效率極高； 運(yùn)動(dòng)軌跡編程過(guò)程： 1、規(guī)劃運(yùn)動(dòng)路徑；（為了提高機(jī)器人工作效率，必須盡量簡(jiǎn)短機(jī)器人工作路徑） 2、定義4個(gè)TCP目標(biāo)點(diǎn)，pHome pPick、p10、p20，通過(guò)示教器示教并保存 在程序數(shù)據(jù)中； 3、 設(shè)置機(jī)器人啟動(dòng)信號(hào)di01，控制信號(hào)do1 （真空吸盤(pán)打開(kāi)信號(hào)）、di2 （真 空反饋信號(hào)）； 4、

2、編寫(xiě)程序； 5、調(diào)試程序； 程序及注釋： 案例13三角式機(jī)器人工作站示意圖 三角式機(jī)器人程序： MODULE MainModule CONST robtarget p10:=-144.82,724.44,1316.05,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+09, 9E+09,9E+09; CONST robtarget pHome:=-0.00,0.00,1254.37,0.999997,0,0,0.00245943,0,0,0,0,9E+09,9E+09,9E+09,9E+09, 9E+09,9E+09; CONST rob

3、target p20:=-144.82,-720.07,1316.04,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+0 9,9E+09,9E+09; CONST robtarget pPick:=-41.63,0.00,1316.05,0.999997,0,0,0.0024595,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09; VAR signaldo diGripper; PROC main() WHILE TRUE DO WaitDI di01,1; WaitTime 0.3; ENDW

4、HILE MoveJ Offs (pPick,-143,143,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (pPick,-143,143,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; Set diGripper; MoveL Offs (pPick,-143,143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (p10,0,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveL p10, v1500 , z

5、1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p10,0,0,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,-143,0,-100), v1500 , z1, tool0 WObj:=wobj0; MoveL Offs (pPick,-143,0,0), v1500, z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (pPick,-143,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (

6、p20,0,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveL p20, v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p20,0,0,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,-143,-143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveL Offs (pPick,-143,-143,0), v1500, z1, tool0 ; WaitTime 1; MoveL Offs (pP

7、ick,-143,-143,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (p10,0,-150,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (p10,0,-150,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p10,0,-150,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,0,143,-100), v1500, z1, tool0 WObj:=wobj

8、0; MoveL Offs (pPick,0,143,0), v1500, z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (pPick,0,143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (p20,0,150,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (p20,0,150,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p20,0,150,-100), v1500, z

9、1, tool0 WObj:=wobj0; MoveJ Offs (pPick,0,0,-100), v1500 , z1, tool0 WObj:=wobj0; MoveL pPick, v1500, z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (pPick,0,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (p10,150,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (p10,150,0,0), v1500 , z1, tool0 W

10、Obj:=wobj0; WaitTime 1; MoveL Offs (p10,150,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,0,-143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveL Offs (pPick,0,-143,0), v1500, z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (pPick,0,-143,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (p20,150,0

11、,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (p20,150,0,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p20,150,0,-100), v1500, z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,143,143,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (pPick,143,143,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1

12、; MoveL Offs (pPick,143,143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (p10,150,-150,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (p10,150,-150,0), v1500, z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (p10,150,-150,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (pPick,143,-143,-100), v1500, z1, tool0 WObj:=wobj0; MoveL Offs (pPick,143,-143,0), v1500 , z1, tool0 WObj:=wobj0; WaitTime 1; MoveL Offs (pPick,143,-143,-100), v1500 , z1, tool0 WObj:=wobj0; MoveJ Offs (p20,150,150,-100), v1500 , z1,

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