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    資訊中心 > 課程相關資訊 > 機器人培訓 > 機器人培訓 >?東莞工業機器人培訓哪家好?IRB360并聯機器人程序注釋和仿真運行

    東莞工業機器人培訓哪家好?IRB360并聯機器人程序注釋和仿真運行

    時間:2022-08-09 17:22 來源:

    一、程序注釋

    1.1   主程序注釋,東莞工業機器人培訓哪家好?

    PROC main()
      inital1l;
      WHILE TRUE DO
      rPick1;
      rPut1;
      WaitTime 0.2;
      ENDWHILE
    ENDPROC

    1.2  初始化注釋

    PROC inital1l()
      count := 1;
      count_all := 0;
      Reset do1_xipan;
      Reset do2_shangliao;
      Reset do3_xialiao1;
      Reset do4_xialiao2;
      WaitDI di1_xipan, 0;
      MoveJ pHome, v1000, z20, MyToolWObj:=wobj0;
    ENDPROC

    1.3  取料動作注釋

    PROC rPick1()
      WaitDI di2_shangliao, 1;
      MoveJ Offs(pPick1,0,0,100), v1000, z10, MyToolWObj:=wobj_pick1;
      MoveL pPick1, v1000, fine, MyToolWObj:=wobj_pick1;
      Set do1_xipan;
      WaitTime 0.2;
      WaitDI di1_xipan, 1;
      GripLoad load1;
      MoveL Offs(pPick1,0,0,100), v1000, z10, MyToolWObj:=wobj_pick1;
      ENDPROC

    1.4  放料計算注釋

    PROC PutCal1()
      TEST count
      CASE 1:
      pPut1 := Offs(pPutbase1,0,0,0);
      CASE 2:
      pPut1 := Offs(pPutbase1,202,0,0);
      CASE 3:
      pPut1 := Offs(pPutbase1,404,0,0);
      CASE 4:
      pPut1 := Offs(pPutbase1,606,0,0);

    CASE 5:
      pPut1 := Offs(pPutbase1,0,0,42);
      CASE 6:
      pPut1 := Offs(pPutbase1,202,0,42);
      CASE 7:
      pPut1 := Offs(pPutbase1,404,0,42);
      CASE 8:
      pPut1 := Offs(pPutbase1,606,0,42);
      ENDTEST
      ENDPROC

    1.5   放料動作程序注釋

    PROC rPut1()
      WaitDI di3_xialiao1, 1;
      PutCal1;
      MoveJ pGUODU, v1000, z50, MyToolWObj:=wobj0;
      MoveJ Offs(pPut1,0,0,100), v1000, z50, MyToolWObj:=wobj_put1;
      MoveL pPut1, v1000, fine, MyToolWObj:=wobj_put1;
      Reset do1_xipan;
      WaitTime 0.2;
      WaitDI di1_xipan, 0;
      GripLoad load0;
      MoveL Offs(pPut1,0,0,100), v1000, z50, MyToolWObj:=wobj_put1;
      MoveJ pGUODU, v1000, z50, MyToolWObj:=wobj0;
                    count := count + 1;

      IF count > 8 THEN
      count := 1;
      count_all := count_all + 4;
      Set do5;
      PulseDOPLength:=0.6, do4_xialiao2;
      WaitTime 0.8;
      PulseDOPLength:=0.6, do4_xialiao2;
      TPErase;
      TPWrite "robot has working products number is count = "Num:=count_all;
      WaitDI di2_shangliao, 1;
      Reset do5;
      ENDIF
      ENDPROC

    1.6  仿真圖片

    二、仿真運行

    2.1  仿真設定

    2.2  仿真運行

    三、課程總結

    3.1 總結

    本文工業機器人培訓專家帶你了解了IRB360并聯機器人程序注釋和仿真運行。


    想了解更多東莞工業機器人培訓資訊?智通教育20年致力于東莞工業機器人培訓、PLC培訓、電工培訓等培訓項目,詳情聯系:0769-8707-8535.
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