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        報名人數298782
        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。


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