Programación 12 ABB.

Aprender Linguaxe RAPID, poderemos programar desde RobotStudio, ou desde a FlexPendant.

1. Exemplo usando estas instrucións  MoveL Offs & FOR; Se quere realizar o exemplo pode tomar como base a estación: Estación ABB 1 Ventosa:

   MODULE Module1
       CONST robtarget Target_10:=[[24.000115009,23.999900721,78.0403562],[0.70710679,0.000000031,0.707106772,-0.000000006],[-1,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
       VAR num DesY := 0;
       VAR num AX := 0;
       VAR num AY := 0;
       VAR num AZ := 1;
       CONST jointtarget JointTarget_1:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
       
   	PROC main()
           
           SetDO D652_10_DO1,0;
           SetDO D652_10_DO2,1;
                           
           FOR Z FROM 1 TO 0 DO
               FOR Y FROM 1 TO 0 DO
                   FOR X FROM 1 TO 0 DO   
                       
                   MoveJ Offs(Target_10,0,0,0),v200,fine,tool2_Ventosa\WObj:=wobj1_Base_A;
                   Coger;
                   MoveJ Offs(Target_10,(X*42),(Y*42),60),v200,fine,tool2_Ventosa\WObj:=wobj2_Base_B;
                   AX := X;
                   AY := Y;
                   AZ := Z;
                   
                   Dejar;
                   
                   ENDFOR
               ENDFOR
           ENDFOR
   
           MoveAbsJ JointTarget_1,v200,z100,tool2_Ventosa\WObj:=wobj1_Base_A;
           
   	ENDPROC
       
       	PROC coger()
                      
                       MoveL Offs(Target_10,0,0,(-40.04)),v200,fine,tool2_Ventosa\WObj:=wobj1_Base_A;
                           SetDO D652_10_DO2,0;
                           SetDO D652_10_DO1,1;
                           WaitDI D652_10_DI4, 1;
                       MoveL Offs(Target_10,0,0,0),v200,fine,tool2_Ventosa\WObj:=wobj1_Base_A;
           ENDPROC
           
           PROC dejar()
                 
                       MoveL Offs(Target_10,(AX*42),(AY*42),(AZ*(-40.04))),v200,fine,tool2_Ventosa\WObj:=wobj2_Base_B;
                           SetDO D652_10_DO1,0;
                           SetDO D652_10_DO2,1;
                           WaitDI D652_10_DI4, 0;
                       MoveL Offs(Target_10,(AX*42),(AY*42),60),v200,fine,tool2_Ventosa\WObj:=wobj2_Base_B;    
                 
   	    ENDPROC
       
   ENDMODULE

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   Data Publicación: 03/03/2021