Robótica CUrrestarazu

Exercicio 2 con FelxPendant ABB.

Programación de robots industriais On-Line.

  1. Aprender a como facer movementos coa programadora " FlexPendant" de maneira " fisica".

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 RAPID:

MODULE MainModule
	CONST robtarget P10:=[[353.02,0.00,472.37],[0.259767,-0.00800538,-0.96518,-0.0297443],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20:=[[444.65,-147.66,63.35],[0.00188819,-0.159758,-0.986651,-0.0315146],[-1,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P30:=[[549.76,-147.95,13.67],[0.0260292,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P40:=[[549.59,148.74,13.55],[0.0152301,-0.130504,0.990377,0.0434863],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50:=[[444.75,148.87,13.64],[0.0111599,0.160531,-0.98653,-0.0293972],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P60:=[[444.65,-147.66,13.35],[0.00188906,-0.159758,-0.986651,-0.0315147],[-1,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20_2:=[[444.65,-147.66,13.35],[0.00188906,-0.159758,-0.986651,-0.0315147],[-1,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50_2:=[[444.75,148.87,63.35],[0.0111599,0.160531,-0.98653,-0.0293972],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	PROC main()
		MoveJ P10, v1000, fine, tool1_Pen;
		MoveJ P20, v500, fine, tool1_Pen;
		MoveL P20_2, v500, fine, tool1_Pen;
		MoveL P30, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P40, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P50, v500, fine, tool1_Pen;
		MoveL P50_2, v500, fine, tool1_Pen;
		MoveJ P10, v1000, fine, tool1_Pen;
	ENDPROC
ENDMODULE

 Enlaces de Interese:

Data Publicación: 28/01/2020 

Exercicio 1 con FelxPendant ABB.

Programación de robots industriais On-Line.

  1. Aprender a como facer movementos coa programadora " FlexPendant" de maneira " fisica".

Download
 

Loading...

 RAPID:

MODULE MainModule
	CONST robtarget P10:=[[353.02,0.00,472.37],[0.259767,-0.00800538,-0.96518,-0.0297443],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20:=[[549.76,-147.95,63.67],[0.0260292,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P30:=[[549.76,-147.95,63.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P40:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50:=[[549.59,148.74,13.54],[0.0152304,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20_2:=[[549.76,-147.95,13.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50_2:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	PROC main()
		MoveJ P10, v1000, fine, tool1_Pen;
		MoveJ P20, v500, fine, tool1_Pen;
		MoveL P20_2, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P30, v500, fine, tool1_Pen;
		MoveL P40, v500, fine, tool1_Pen;
		MoveL P50, v500, fine, tool1_Pen;
		WaitTime 2;
		MoveL P50_2, v500, fine, tool1_Pen;
		MoveJ P10, v1000, fine, tool1_Pen;
	ENDPROC
ENDMODULE

 Enlaces de Interese:

Data Publicación: 02/11/2020