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ÔÚʵѵÈÎÎñÖУ¬Ã¿¸ö³ÌÐò¶¼Óмì²â Home µãµÄÀýÐгÌÐò rCheckHomePos£¬ÒÔ¼°±È½Ï»úÆ÷È˵±Ç°Î»Öú͸ø ¶¨Î»ÖÃÊÇ·ñÏàͬµÄ¹¦ÄÜ CurrentPos£¬Æä³ÌÐòÄÚÈÝÈçÏ£¬ÔÚºóÐøµÄ´úÂëÖв»ÔÙÖØ¸´¡£ ³ÌÐò£ºrCheckHomePos¡¢CurrentPos

˵Ã÷£º¼ì²éÔ­µã³ÌÐò£¬Èç»úÆ÷È˲»ÔÚÔ­µãλÖÃÔò·µ»ØÔ­µã

PROCrCheckHomePos()

!¼ì²âÊÇ·ñÔÚHomeµã³ÌÐò

VARrobtargetpActualPos;

!¶¨ÒåÒ»¸öÄ¿±êµãÊý¾ÝpActualPos

IFNOTCurrentPos(pHome,tGripper) THEN

!µ÷Óù¦ÄܳÌÐòCurrentPos¡£´ËΪһ¸ö²¼¶ûÁ¿Ð͵ŦÄܳÌÐò£¬À¨ºÅÀïÃæµÄ²ÎÊý·Ö±ðÖ¸µÄÊÇËùÒª±È½ÏµÄÄ¿±êµãÒÔ ¼°Ê¹ÓõŤ¾ßÊý¾Ý¡£

!ÕâÀïдÈëµÄÊÇpHome£¬Êǽ«µ±Ç°»úÆ÷ÈËλÖÃÓëpHomeµã½øÐбȽϣ¬ÈôÔÚHomeµã£¬Ôò´Ë²¼¶ûÁ¿ÎªTrue£»Èô²» ÔÚHomeµã£¬ÔòΪFalse¡£

!Ôڴ˹¦ÄܳÌÐòµÄÇ°Ãæ¼ÓÉÏÒ»¸öNOT£¬Ôò±íʾµ±»úÆ÷È˲»ÔÚHomeµãʱ²Å»áÖ´ÐÐIFÅжÏÖлúÆ÷ÈË·µ»ØHomeµã µÄ¶¯×÷Ö¸Áî

pActualpos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0);

!ÀûÓÃCRobT¹¦ÄܶÁÈ¡µ±Ç°»úÆ÷ÈËÄ¿±êλÖò¢¸³Öµ¸øÄ¿±êµãÊý¾ÝpActualpos pActualpos.trans.z:=pHome.trans.z;

!½«pHomeµãµÄZÖµ¸³¸øpActualposµãµÄZÖµ MoveL pActualpos,v100,z10,tGripper; !ÒÆÖÁÒѱ»¸³ÖµµÄºóµÄpActualposµã

MoveL pHome,v100,fine,tGripper;

!ÒÆÖÁpHome£¬ÉÏÊöÖ¸ÁîµÄÄ¿µÄÊÇÐèÒªÏȽ«»úÆ÷ÈËÌáÉýÖÁÓëpHomeµãÒ»ÑùµÄ¸ß¶È£¬Ö®ºóÔÙÆ½ÒÆÖÁpHomeµã£¬ ÕâÑù¿ÉÒÔ¼òµ¥µØ¹æ»®Ò»Ìõ°²È«»ØHomeµãµÄ¹ì¼£

ENDIF ENDPROC

FUNCboolCurrentPos(robtargetComparePos,INOUTtooldata TCP)

!¼ì²âÄ¿±êµã¹¦ÄܳÌÐò£¬´øÓÐÁ½¸ö²ÎÊý£¬±È½ÏÄ¿±êµãºÍËùʹÓõŤ¾ßÊý¾Ý

VARnum Counter:=0;

!¶¨ÒåÊý×ÖÐÍÊý¾ÝCounter

VARrobtargetActualPos;

!¶¨ÒåÄ¿±êµãÊý¾ÝActualPos

ActualPos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0);

!ÀûÓÃCRobT¹¦ÄܶÁÈ¡µ±Ç°»úÆ÷ÈËÄ¿±êλÖò¢¸³Öµ¸øActualPos

IFActualPos.trans.x>ComparePos.trans.x-25 ANDActualPos.trans.xComparePos.trans.y-25 ANDActualPos.trans.yComparePos.trans.z-25 ANDActualPos.trans.zComparePos.rot.q1-0.1 AND ActualPos.rot.q1ComparePos.rot.q2-0.1 AND ActualPos.rot.q2ComparePos.rot.q3-0.1 AND ActualPos.rot.q3ComparePos.rot.q4-0.1 AND ActualPos.rot.q4

!½«µ±Ç°»úÆ÷ÈËËùÔÚÄ¿±êλÖÃÊý¾ÝÓë¸ø¶¨Ä¿±êµãλÖÃÊý¾Ý½øÐбȽϣ¬¹²ÆßÏîÊýÖµ£¬·Ö±ðÊÇX¡¢Y¡¢Z×ø±êÖµÒÔ ¼°¹¤¾ß×Ë̬Êý¾Ýq1¡¢q2¡¢q3¡¢q4ÀïÃæµÄÆ«²îÖµ£¬ÈçX¡¢Y¡¢Z×ø±êÆ«²îÖµ25¿É¸ù¾Ýʵ¼ÊÇé¿ö½øÐе÷Õû¡£Ã¿Ïî ±È½Ï½á¹û³ÉÁ¢£¬Ôò¼ÆÊýCounter¼Ó1£¬ÆßÏîÈ«²¿Âú×ãµÄ»°£¬ÔòCounterÊýֵΪ7

RETURN Counter=7;

!·µ»ØÅжÏʽ½á¹û£¬ÈôCounterΪ7£¬Ôò·µ»ØTRUE£¬Èô²»Îª7£¬Ôò·µ»ØFALSE ENDFUNC

9.4 ÈÎÎñʵʩ 9.4.1 ¹¤×÷Õ¾½â°ü

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ÖØÆôÀàÐͽéÉÜÈçÏ£º

? ÈÈÆô¶¯£ºÐÞ¸Äϵͳ²ÎÊý¼°ÅäÖúóʹÆäÉúЧ¡£ ? ¹Ø»ú£º¹Ø±Õµ±Ç°ÏµÍ³£¬Í¬Ê±¹Ø±ÕÖ÷»ú¡£

? B Æô¶¯£º³¢ÊÔ´Ó×î½üÒ»´ÎÎÞ´í״̬ÏÂÆô¶¯ÏµÍ³¡£

? P Æô¶¯£ºÖØÐÂÆô¶¯²¢É¾³ýÒѼÓÔØµÄ RAPID ³ÌÐò¡£

? I Æô¶¯£ºÖØÐÂÆô¶¯£¬»Ö¸´ÖÁ³ö³§ÉèÖá£

? C Æô¶¯£ºÖØÐÂÆô¶¯²¢É¾³ýµ±Ç°ÏµÍ³¡£

? X Æô¶¯£ºÖØÐÂÆô¶¯£¬×°ÔØÏµÍ³»òÑ¡ÔñÆäËûϵͳ£¬ÐÞ¸Ä IP µØÖ·¡£

9.4.3 ÅäÖÃ I/O µ¥Ôª

ÔÚÐéÄâʾ½ÌÆ÷ÖУ¬¸ù¾ÝÒÔϵIJÎÊýÅäÖà I/O µ¥Ôª¡£

Name Board10 Type of Unit D651 Connected to Bus DeviceNet1 DeviceNet address 10

9.4.4 ÅäÖà I/O ÐźÅ

ÔÚÐéÄâʾ½ÌÆ÷ÖУ¬¸ù¾ÝÒÔϵIJÎÊýÅäÖà I/O Ðźš£

Name di00_BufferReady di01_PanelInPickPos di02_VacuumOK di03_Start di04_Stop di05_StartAtMain Type of Signal Digitial Input Digitial Input Digitial Input Digitial Input Digitial Input Digitial Input Assigned to Unit Board10 Board10 Board10 Board10 Board10 Board10 Unit Mapping 0 1 2 3 4 5 I/O ÐźÅ×¢½â ÔÝ´æ×°Öõ½Î»ÐźŠ²úÆ·µ½Î»ÐÅºÅ Õæ¿Õ·´À¡ÐźŠÍâ½Ó¡°¿ªÊ¼¡± Íâ½Ó¡°Í£Ö¹¡± Íâ½Ó¡° ´ÓÖ÷³ÌÐò¿ª ʼ¡± di06_EstopReset di07_MotorOn do32_VacuumOpen do33_AutoOn do34_BufferFull Digitial Input Digitial Input Digitial Output Digitial Output Digitial Output Board10 Board10 Board10 Board10 Board10 6 7 32 33 34 Íâ½Ó¡°¼±Í£¸´Î»¡± Íâ½Ó¡°µç¶¯»úÉϵ硱 ´ò¿ªÕæ¿Õ ×Ô¶¯×´Ì¬Êä³öÐźŠÔÝ´æ×°ÖÃÂúÔØ 9.4.5 ÅäÖÃϵͳÊäÈë/Êä³ö

ÔÚÐéÄâʾ½ÌÆ÷ÖУ¬¸ù¾ÝÒÔϵIJÎÊýÅäÖÃϵͳÊäÈë/Êä³öÐźš£

Type System Input System Input System Input System Input System Input System Output Signal Name di03_Start di04_Stop di05_StartAtMain di06_EstopReset di07_MotorOn do33_AutoOn Action\\Status Start Stop StartMain ResetEstop MotorOn Auto On Argument1 Continuous ÎÞ ×¢ÊÍ ³ÌÐòÆô¶¯ ³ÌÐòÍ£Ö¹ ´ÓÖ÷³ÌÐòÆô¶¯ ¼±Í£×´Ì¬»Ö¸´ µç¶¯»úÉϵç ×Ô¶¯×´Ì¬Êä³ö Continuous ÎÞ ÎÞ ÎÞ 9.4.6 ´´½¨¹¤¾ßÊý¾Ý

ÔÚÐéÄâʾ½ÌÆ÷ÖУ¬¸ù¾ÝÒÔϵIJÎÊýÉ趨¹¤¾ßÊý¾Ý tGripper¡£

²ÎÊýÃû³Æ ²ÎÊýÊýÖµ robothold TRUE

trans X Y Z 0 0 115 rot q1 q2 q3 q4 mass 1 0 0 0 1 cog X Y Z ÆäÓà²ÎÊý¾ùΪĬÈÏÖµ 0 0 100

9.4.7 ´´½¨¹¤¼þ×ø±êϵÊý¾Ý

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¹¤¼þ×ø±êϵ WobjBuffer£º

9.4.8 ´´½¨ÔغÉÊý¾Ý

ÔÚÐéÄâʾ½ÌÆ÷ÖУ¬¸ù¾ÝÒÔϵIJÎÊýÉè¶¨ÔØºÉÊý¾Ý LoadFull¡£

²ÎÊýÃû³Æ ²ÎÊýÊýÖµ mass 0.5 cog X Y Z ÆäÓà²ÎÊý¾ùΪĬÈÏÖµ 0 0 3

9.4.9 ³ÌÐò×¢½â

±¾¹¤×÷վҪʵÏֵ͝×÷ʱ»úÆ÷ÈËÔÚÁ÷Ë®ÏßÉÏʰȡ̫ÑôÄܱ¡°å¹¤¼þ£¬½«Æä°áÔËÖÁÔÝ´æºÐÖУ¬ÒÔ±ãÖÜתÖÁ ÏÂÒ»¹¤Î»½øÐд¦Àí¡£

ÔÚÊìϤÁË´Ë RAPID ³ÌÐòºó£¬¿ÉÒÔ¸ù¾Ýʵ¼ÊµÄÐèÒªÔڴ˳ÌÐòµÄ»ù´¡ÉÏ×öÊÊÓÃÐÔµÄÐ޸ģ¬ÒÔÂú×ãʵ¼ÊÂß¼­

Ó붯×÷µÄ¿ØÖÆ¡£

ÒÔÏÂÊÇʵÏÖ»úÆ÷ÈËÂß¼­ºÍ¶¯×÷¿ØÖÆµÄ RAPID ³ÌÐò£º Êý¾Ý¶¨Ò壺

CONSTrobtarget

pPick:=[[394.997607159,132.703199388,12.734872184],[0.005862588,-0.00300065,0.999966662,0.004827206],[ 0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; CONSTrobtarget

pHome:=[[-548.424175962,-238.61219249,801.420966892],[-0.000000012,-0.707106781,0.707106781,-0.000000 012],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; CONSTrobtarget

pPlaceBase:=[[100.088594059,77.835146221,158.046135973],[0.00000004,-0.000623424,0.999999806,-0.000000 001],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

!ÐèҪʾ½ÌµÄÄ¿±êµãÊý¾Ý£¬×¥È¡µãpPick£¬HOMEµãpHome¡¢·ÅÖûù×¼µãpPlaceBase

PERSrobtargetpPlace;

!·ÅÖÃÄ¿±êµã£¬ÀàÐÍΪPERS£¬ÔÚ³ÌÐòÖб»¸³Ó費ͬµÄÊýÖµ£¬ÓÃÒÔʵÏÖ¶àµãλ·ÅÖÃ

CONSTjointtargetjposHome:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; !¹Ø½ÚÄ¿±êµãÊý¾Ý£¬¸÷¹Ø½ÚÖá¶ÈÊýΪ0£¬¼´»úÆ÷È˻ص½¸÷¹Ø½ÚÖá»úе¿Ì¶ÈÁãλ CONSTspeeddatavLoadMax:=[3000,300,5000,1000]; CONSTspeeddatavLoadMin:=[500,200,5000,1000]; CONSTspeeddatavEmptyMax:=[5000,500,5000,1000]; CONSTspeeddatavEmptyMin:=[1000,200,5000,1000];

!ËÙ¶ÈÊý¾Ý£¬¸ù¾Ýʵ¼ÊÐèÇó¶¨Òå¶àÖÖËÙ¶ÈÊý¾Ý£¬ÒÔ±ãÓÚ¿ØÖÆ»úÆ÷È˸÷¶¯×÷µÄËÙ¶È

PERSnumnCount:=1;

!Êý×ÖÐͱäÁ¿nCount£¬´ËÊý¾ÝÓÃÓÚÌ«ÑôÄܱ¡°å¼ÆÊý£¬¸ù¾Ý´ËÊý¾ÝµÄÊýÖµ¸³Óè·ÅÖÃÄ¿±êµãpPlace²»Í¬µÄλÖÃÊý ¾Ý£¬ÒÔʵÏÖ¶àµãλ·ÅÖÃ

PERSnumnXoffset:=145; PERSnumnYoffset:=148;

!Êý×ÖÐͱäÁ¿£¬ÓÃ×ö·ÅÖÃλÖÃÆ«ÒÆÊýÖµ£¬¼´Ì«ÑôÄܱ¡°å°Ú·ÅλÖÃÖ®¼äÔÚX¡¢Y·½ÏòµÄµ¥¸ö¼ä¸ô¾àÀë VARboolbPickOK:=False;

!²¼¶ûÁ¿£¬µ±Ê°È¡¶¯×÷Íê³Éºó½«ÆäÖÃΪTrue£¬·ÅÖÃÍê³Éºó½«ÆäÖÃΪFalse£¬ÒÔ×÷Âß¼­¿ØÖÆÖ®ÓÃ

TASKPERStooldata tGripper:=[TRUE,[[0,0,115],[1,0,0,0]],[1,[0,0,100],[0,1,0,0],0,0,0]];

!¶¨Ò幤¾ß×ø±êϵÊý¾ÝtGripper

TASKPERSwobjdata

WobjBuffer:=[FALSE,TRUE,\,[[-350.365,-355.079,418.761],[0.707547,0,0,0.706666]],[[0,0,0],[1,0,0,0]]]; !¶¨ÒåÔÝ´æºÐ¹¤¼þ×ø±êϵWobjBuffer

TASKPERSwobjdata

WobjCNV:=[FALSE,TRUE,\,[[-726.207,-645.04,600.015],[0.709205,-0.0075588,0.000732113,0.704961]],[[0,0,0 ],[1,0,0,0]]];

!¶¨ÒåÊäËÍ´ø¹¤¼þ×ø±êϵWobjCNV

TASKPERSloaddataLoadFull:=[0.5,[0,0,3],[1,0,0,0],0,0,0];

!¶¨ÒåÓÐÐ§ÔØºÉÊý¾Ý LoadFull

Ö÷³ÌÐòÔËÐгÌÐò£º

PROC Main()

!Ö÷³ÌÐò

rInitialize;

!µ÷Óóõʼ»¯³ÌÐò

WHILETRUEDO

!ÀûÓÃWHILEÑ­»·½«³õʼ»¯³ÌÐò¸ô¿ª

rPickPanel;

!µ÷ÓÃʰȡ³ÌÐò

rPlaceInBuffer;

!µ÷Ó÷ÅÖóÌÐò

Waittime 0.3;

!Ñ­»·µÈ´ýʱ¼ä£¬·ÀÖ¹²»Âú×ã»úÆ÷È˶¯×÷Çé¿öϳÌÐòɨÃè¹ý¿ì£¬Ôì³ÉCPU¹ý¸ººÉ

ENDWHILE ENDPROC

PROCrInitialize()

!³õʼ»¯³ÌÐò

rCheckHomePos;

!»úÆ÷ÈËλÖóõʼ»¯£¬µ÷Óüì²âÊÇ·ñÔÚHomeλÖõã³ÌÐò£¬¼ì²âµ±Ç°»úÆ÷ÈËλÖÃÊÇ·ñÔÚHOMEµã£¬ÈôÔÚHOME

µãµÄ»°Ôò¼ÌÐøÖ´ÐÐÖ®ºóµÄ³õʼ»¯Ïà¹ØÖ¸ÁÈô²»ÔÚHOMEµã£¬ÔòÏÈ·µ»ØÖÁHOMEµã

nCount:=1;

!¼ÆÊý³õʼ»¯£¬½«ÓÃÓÚÌ«ÑôÄܱ¡°åµÄ¼ÆÊýÊýÖµÉèÖÃΪ1£¬¼´´Ó·ÅÖõĵÚÒ»¸öλÖÿªÊ¼°Ú·Å

reset do32_VacuumOpen;

!Ðźųõʼ»¯£¬¸´Î»Õæ¿ÕÐźţ¬¹Ø±ÕÕæ¿Õ

bPickOK:=False;

!²¼¶ûÁ¿³õʼ»¯£¬½«Ê°È¡²¼¶ûÁ¿ÖÃΪFalse

ENDPROC

PROCrPickPanel()

!ʰȡ̫ÑôÄܱ¡°å³ÌÐò

IFbPickOK=FalseTHEN

!µ±Ê°È¡²¼¶ûÁ¿bPickOKΪFalseʱ£¬ÔòÖ´ÐÐIFÌõ¼þϵÄʰȡ¶¯×÷Ö¸Á·ñÔòÖ´ÐÐELSEÖгö´í´¦ÀíµÄÖ¸ÁÒò Ϊµ±»úÆ÷ÈËȥʰȡ̫ÑôÄܱ¡°åʱ£¬Ðè±£Ö¤ÆäÕæ¿Õ¼Ð¾ßÉÏÃæÃ»ÓÐÌ«ÑôÄܱ¡°å MoveJoffs(pPick,0,0,100),vEmptyMax,z20,tGripper\\WObj:=WobjCNV; !ÀûÓÃMoveJÖ¸ÁîÒÆÖÁʰȡλÖÃpPickµãÕýÉÏ·½ZÖáÕý·½Ïò100mm´¦

WaitDI di01_PanelInPickPos,1;

!µÈ´ý²úÆ·µ½Î»ÐźÅdi01_PanelInPickPos±äΪ1£¬¼´Ì«ÑôÄܱ¡°åÒѵ½Î»

MoveLpPick,vEmptyMin,fine,tGripper\\WObj:=WobjCNV;

!²úÆ·µ½Î»ºó£¬ÀûÓÃMoveLÒÆÖÁʰȡλÖÃpPickµã

Set do32_VacuumOpen;

!½«Õæ¿ÕÐźÅÖÃΪ1£¬¿ØÖÆÕæ¿ÕÎüÅ̲úÉúÕæ¿Õ£¬½«Ì«ÑôÄܱ¡°åʰÆð WaitDI di02_VacuumOK,1;

!µÈ´ýÕæ¿Õ·´À¡ÐźÅΪ1£¬¼´Õæ¿Õ¼Ð¾ß²úÉúµÄÕæ¿Õ¶È´ïµ½ÐèÇóºó²ÅÈÏΪÒѽ«²úÆ·ÍêȫʰÆð¡£ÈôÕæ¿Õ¼Ð¾ßÉÏÃæÃ» ÓÐÕæ¿Õ·´À¡Ðźţ¬Ôò¿ÉÒÔʹÓù̶¨µÈ´ýʱ¼ä£¬ÈçWaittime 0.3

bPickOK:=TRUE;

!Õæ¿Õ½¨Á¢ºó£¬½«Ê°È¡µÄ²¼¶ûÁ¿ÖÃΪTRUE£¬±íʾ»úÆ÷È˼оßÉÏÃæÒÑʰȡһ¸ö²úÆ·£¬ÒÔ±ãÔÚ·ÅÖóÌÐòÖÐÅÐ¶Ï ¼Ð¾ßµÄµ±Ç°×´Ì¬

GripLoadLoadFull;

!¼ÓÔØÔØºÉÊý¾ÝLoadFull

MoveLoffs(pPick,0,0,100),vLoadMin,z10,tGripper\\WObj:=WobjCNV;

!ÀûÓÃMoveLÒÆÖÁʰȡλÖÃpPickµãÕýÉÏ·½100mm´¦

ELSE TPERASE;

TPWRITE\;

TPWRITE\;

TPWRITE\; stop;

!Èç¹ûÔÚʰȡ¿ªÊ¼Ö®Ç°Ê°È¡²¼¶ûÁ¿ÒѾ­ÎªTRUE£¬Ôò±íʾ¼Ð¾ßÉÏÃæÒÑÓвúÆ·£¬´ËÖÖÇé¿öÏ»úÆ÷È˲»ÄÜÔÙȥʰ È¡ÁíÒ»¸ö²úÆ·¡£´Ëʱͨ¹ýдÆÁÖ¸ÁîÃèÊöµ±Ç°´íÎó״̬£¬²¢Ìáʾ²Ù×÷Ô±¼ì²éµ±Ç°¼Ð¾ß״̬£¬Åųý´íÎó״̬ºó ÔÙ¿ªÊ¼ÏÂÒ»¸öÑ­»·¡£Í¬Ê±ÀûÓÃStopÖ¸Áֹͣ³ÌÐòÔËÐÐ

ENDIF ENDPROC

PROCrPlaceInBuffer() !·ÅÖóÌÐò

IFbPickOK=TRUETHEN rCalculatePos;

!µ÷ÓüÆËã·ÅÖÃλÖóÌÐò¡£´Ë³ÌÐòÖлáͨ¹ýÅжϵ±Ç°¼ÆÊýnCountµÄÖµ£¬´Ó¶ø¶Ô·ÅÖõãpPlace¸³Ó費ͬµÄ·ÅÖÃ

λÖÃÊý¾Ý

WaitDI di00_BufferReady,1;

!µÈ´ýÔÝ´æºÐ×¼±¸Íê³ÉÐźÅdi00_BufferReady±äΪ1

MoveJoffs(pPlace,0,0,100),vLoadMax,z50,tGripper\\WObj:=WobjBuffer;

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