ABB机器人添加外部轴(变位机或导轨) |
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ABB机器人添加外部轴(变位机或导轨)
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1.ABB机器人添加外部轴(变位机或导轨)
以下内容是：转载+原创 1.系统key要有外部轴选项，并且用该key做好系统，如下（下图示例可以添加3个外部轴）打开系统信息System Info
2.打开RobotStudio找到如下界面
3.找到路径 ...\ABB.RobotWare-6.08.0134\RobotPackages\RobotWare_RPK_6.08.0134\utility\AdditionalAxis\Track
4.打开任意一个DM1(驱动柜)，复制M7L1B1T_DM1.cfg文件到U盘
4.1.把刚才复制的文件粘贴到系统的HOME文件夹里面，我的是在： ..\irb2400-1\Solution4\Virtual Controllers\IRB2400_10_150\HOME5.示教器控制面板Control Panel-配置Configuration，选择加载参数Load Parameters，点击确定
6.找到之前复制的那个文件，确定 然后重启
7. 打开手动操纵，可以看到状态栏增加了一个外部轴图标
7.1.设置运动配置
8. 切换到外轴，然后点击启动，即可用运动外轴
9. 在控制面板-配置，主题选择motion里，arm下可以修改外轴上下限，导轨的单位是米
10. Mechanical Unit里可以修改外轴名字 11. 在控制面板-配置，主题选择motion里，找到motor，可以修改选择的motor-type 12. 在控制面板-配置，主题选择motion里，找到transmission，可以修改减速比 2.实例2.1.大概流程
2.2.添加IO信号
3.主程序 MODULE Module1 CONST robtarget p10:=[[928.61,0.00,1412.50],[0.5,-4.21658E-9,0.866025,-2.43445E-9],[0,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p20:=[[1121.52,-482.29,1412.50],[0.5,1.05526E-8,0.866025,9.58614E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p30:=[[992.10,-118.96,655.14],[0.233562,0.0589606,0.970513,-0.00877652],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p40:=[[997.30,-61.68,655.14],[0.233718,0.0310037,0.971808,-0.00205069],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p50:=[[1146.83,-71.06,560.31],[0.233718,0.0310037,0.971808,-0.00205069],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p1:=[[744.75,-657.03,906.15],[0.504158,0.128506,0.850594,-0.0761711],[-1,1,-2,0],[0,0,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p2:=[[917.94,-590.46,906.15],[0.504158,0.128507,0.850593,-0.0761708],[-1,1,-2,0],[0,0,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p3:=[[744.75,-590.46,906.15],[0.504158,0.128507,0.850593,-0.076171],[-1,1,-2,0],[0,0,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p4:=[[744.75,-438.20,906.15],[0.504158,0.128507,0.850593,-0.076171],[-1,1,-2,0],[0,0,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p100:=[[928.61,0.00,1412.50],[0.5,-4.21658E-9,0.866025,-2.43445E-9],[0,0,-1,0],[0,300.152,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget p110:=[[928.61,0.00,1412.50],[0.5,-4.21658E-9,0.866025,-2.43445E-9],[0,0,-1,0],[0,0,9E+9,9E+9,9E+9,9E+9]]; VAR num regint1:=0; VAR num product1:=0; VAR num product2:=0; VAR num product3:=0; VAR num time1:=1; PROC main() MoveAbsJ [[0,0,0,0,30,-5.57934E-7],[0,0,9E+9,9E+9,9E+9,9E+9]]\NoEOffs, v1000, z50, tool0; product1:=1; WHILE TRUE DO IF IN10=1 AND product1=1 THEN ActUnit M8DM1; MoveL p100,v2000,fine,tool0; MoveL p110,v2000,fine,tool0; InvertDO DO10; WaitTime 1; Reset OUT10; DeactUnit M8DM1; product1:=0; product2:=1; ELSEIF IN10=1 AND product2=1 THEN ActUnit M8DM1; MoveL p100,v2000,fine,tool0; MoveL p110,v2000,fine,tool0; InvertDO DO10; WaitTime 1; Reset OUT10; DeactUnit M8DM1; product2:=0; product3:=1; ELSEIF IN10=1 AND product3=1 THEN ActUnit M8DM1; MoveL p100,v2000,fine,tool0; MoveL p110,v2000,fine,tool0; InvertDO DO10; WaitTime 2; Reset OUT10; DeactUnit M8DM1; product3:=0; regint1:=1; ELSEIF IN20=1 AND regint1=1 THEN WaitTime time1; MoveL p10, v2000, fine, tool0; MoveL p20,v2000,fine,tool0; MoveL p30,v2000,fine,tool0; MoveL p40,v2000,fine,tool0; MoveL p50,v2000,fine,tool0; MoveL p10,v2000,fine,tool0; regint1:=0; ELSEIF IN10=1 AND regint1=0 THEN WaitTime time1; ActUnit M8DM1; MoveL p100,v2000,fine,tool0; MoveL p110,v2000,fine,tool0; InvertDO DO10; WaitTime 1; Reset OUT10; DeactUnit M8DM1; regint1:=1; ENDIF ENDWHILE ENDPROC ENDMODULE |
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