ABB 喷涂机器人基础培训 7 编程与测试
2020-03-01 210浏览
- 1.CNAUS - 1 ABB DMRO/RS/PPA/GeorgeZheng
- 2.CNAUS - 2
- 3.CNAUS - 3 PTPU
- 4.CNAUS - 4 Edit Program
- 5.Edit Program CNAUS - 5 (Picklist)
- 6.CNAUS - 6
- 7.CNAUS - 7
- 8.CNAUS - 8 P20…
- 9.CNAUS - 9 :
- 10.PaintL : L ( TCP ) mm/s : tooldata : speeddata PaintL p1, v1000, z10, tool1; : robotarget : mm CNAUS - 10 : zonedata
- 11.PaintC ) L J : C mm/s : speeddata ( TCP ) : tooldata PaintC p1, p2, v100, z10, tool1; :robotarget : robotarget : mm CNAUS - 11 : zonedata
- 12.CNAUS - 12 MoveJ p3, v500, fine tool1
- 13.CNAUS - 13 MoveL Offs(p1,100,50,0), v100,……
- 14.CNAUS - 14 MoveL RelTool(p1,100,50,0\Rx:=30\Ry:=-60\Rz:=45),v100,……
- 15.100mm 50mm PaintL p1,v100,… PaintL p2,v100,… PaintL p3,v100,… PaintL p4,v100,… PaintL p1,v100,… p1 p2 p3 p4 CNAUS - 15 PaintL p1,v100,… PaintL Offs(p1,100,0,0),v100,… PaintL Offs(p1,100,-50,0),v100,… PaintL Offs(p1,0,-50,0),,v100,… PaintL p1,v100,…
- 16.MoveAbsJ ( Abs– absolute ( TCP ) : mm/s : tooldata : speeddata MoveAbsJ jpos1, v100, z10, tool1; :jointtarget : mm CNAUS - 16 : zonedata
- 17.DO DI / / –1 ( High ) –0 ( Low ) CNAUS - 17 / 24V
- 18.Set & Reset Set do1; Reset do1; CNAUS - 18 do1
- 19.WaitDI WaitDI di1, 1; [\MaxTime] ( num ) [\TimeFlag] ( bool ) CNAUS - 19 WaitDI di1, 1\MaxTime:=5\TimeFlag:=flag1;
- 20.IF Then 1. IFTHEN “Yes-part” ENDIF 2. IFTHEN “Yes-part” ELSE “Not-part” ENDIF CNAUS - 20 3. IFTHEN “Yes-part 1” ELSEIFTHEN “Yes-part 2” ELSE “Not-part” ENDIF “Yes-part” “Yes-part” “Not-part” 1 “Yes-part 1” 2 “Yes-part 2” “Not-part”
- 21.Stop & Exit Stop; Exit; CNAUS - 21 ( Soft Stop )
- 22.ClkReset ClkStart & ClkStop ClkReset clock1; clock1 ClkStart clock1; clock1 ClkStop clock1; CNAUS - 22 clock1 TPWrite “Last Cycle Time :” \Num:=ClkRead(clock1);
- 23.VelSet VelSet 105, 2000; mm/s CNAUS - 23 VelSet 110, 2000; PaintL p1, v500, z10, tool1; p1 PaintL p2, v1000, z10, tool1; p1 550 mm/s p2 1100 mm/s
- 24.AccSet AccSet 100, 100; CNAUS - 24 100 % 100 %
