点焊作业工业机器人离线编程与虚拟仿真.docx

点焊作业工业机器人离线编程与虚拟仿真.docx

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点焊作业工业机器人离线编程与虚拟仿真

（封面）

XXXXXXX学院

点焊作业工业机器人离线编程与虚拟仿真

题目:

院（系）:

专业班级:

学生姓名:

指导老师:

1点焊作业机器人工作站构成2

1.1实训任务实施3

1.1.1解压并初始化3

2.I/O配置6

3.程序模板导入7

4.坐标系标定16

5.录制机器人虚拟仿真视频20

参考文献20

1点焊作业机器人工作站构成

本工作站为机电一体化训练平台模拟工作站，综合了码垛应用，压铸机取件，轨迹类应用，TCP标定等教学模板，一机多用，具有丰富的训练素材，机器人工作站布局如图1-1所示。

图1.1

1.1实训任务实施

1.1.1解压并初始化

双击圧缩包文件"ST_Platform.rspagn，如图1-2所示，根据解压向导的提示解压该工作站。

09.ST.PIatform

图1-2

解压完成后可进行仿真运行，如图1・3所示。

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仿真启动后，机器人执行初始化操作，若机器人无法自动回至工作原位，可手动将机器

人调整至机械原点，再重新执行仿真播放，如图1-4所示。

单击

人

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单击“机器

本工作站分Z向上”

图g“回到机

分别是可自动运行的码垛，圧铸机取件，轨迹应用以及一个手

动模板TCP标定。

仿真启动后，需要手动选择当前激活的是哪一个自动运行的功能模板,

可通过工作站信号进行选择，如图1-5所示。

Foundry为压铸机取件应用，Pallet为码垛应用，Practise为轨迹类应用，手动执行模

板TCP标定使用的工具与Practise—致，无需执行仿真播放，直接激活Practise,切换为TCP标定的工具，进行手动TCP标定练习。

激活对应的功能模板后，即可查看到机器人对应的执行任务，依次进行激活，当仿真结束后，可单击仿真“停止”，若需回复至初始状态，可以通过重置下拉菜单中的保存状态进行工作站初始化。

初始化操作如图1-6所示。

初始化机器人的步骤是：

将机器人恢复为出厂设置，然后在此工作站基础上依次完成I/O配置，程序导入，坐标系标定，H标点示教等操作，最终将机器人工作站复原至之前可正常运行的状态。

初始化前，先做好机器人备份，以备后面使用，在“控制器”菜单中可进行备份

图1-7

完成备份后，在“控制器”菜单的“重启”中单击“1-启动”,初始化机器人，如图

1-8所示。

出现提示框，单击“确定”即可，等待机器人重新启动，机器人初始化结束。

图1-8

2.I/O配置

在“控制器”菜单中打开虚拟“示教器”，先将界面语言改为中文，之后依次单击“ABB菜单”-“配置”，进入“I/O主题”，配置I/O信号。

此工作站配置了1个DSQC652通信板卡（数字量16进16出），则需要在Unit中设置此I/O的相关参数，配置见表l-lo

Name

TypeofUnit

Connectedto

Bus

DeviceNet

Address

BoardlO

D652

DeviceNetl

10

需要配置的I/O信号见表1-2.

Name

Typeof

Signal

AssignedtoUnit

Unit

Mapping

信号用途说明

diPallet

Dignal

Input

BoardlO

0

码垛模式激活信号

diFoundr

y

Dignal

Input

BoardlO

1

压铸取件模式激活

信号

diPracti

se

Dignal

Input

BoardlO

2

轨迹练习模式激活信号

diPallet

InPosl

Dignal

Input

BoardlO

3

码垛1号线产品到位信号

diPallet

InPosl

Dignal

Input

BoardlO

4

码垛2号线产品到位信号

diFoundr

yDone

Dignal

Input

BoardlO

5

压铸完成信号

diCheckO

K

Dignal

Input

BoardlO

6

压铸检测正常信号

doCheck

Dignal

Output

BoardlO

0

铸件检测信号

doVaccum

Dignal

Output

BoardlO

1

吸盘真空信号

doGrip

Dignal

Output

BoardlO

2

夹爪拾取信号

doPikDon

e

Dignal

Output

BoardlO

3

压铸取件完成信号

3.程序模板导入

I/O配置完成后，将程序模板导入该机器人系统中。

通过示教器的程序编辑器进行程序模块的加载，依次单击“ABB菜单”-“程序编辑器”，若出现加载程序提示框，暂时单击“取消”，然后在程序模块界面进行加载，如图1-9所示。

浏览至之前做的备份文件，路径一般为：

・・・・/备份文件名/RAPID/TASKI/PROGMOD,如图1-10所示。

加载完成后，选中该模板，单击“显示例行程序”，看到对应的程序。

程序注解如下:

MODULEMainModule

PERStooldatatServoGun:

=

[TRUE,[[315.617,-546.323,311.783],[0,0.707107,0.707107,0]],[80,[23.1,-94.9,285.6],[1,0,0,0],0,0,8.383]];

CONSTrobtargetpHome:

=

[[372.05,-568.49,1258.93],[0.712795,-0.0315415,-0.0295508,0.700039],[-l,-l,-l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtarget

pTipDress:

=[[132&6&105&85,1549.61],[0.549848,0.473897,0.487383,-0.485332],[0,1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VARintnumintnol:

=0;

VARintnumintno2:

=0;

PERSnumnTipCount:

=l;

PERSforcedataforce3:

=[1500J.5];

CONSTspeeddatavSmall:

=[500,500,50,50];

CONSTspeeddatavBig:

=[2000,500,5000,1000];

CONSTspeeddatavMid:

=[1000,500,5000,1000];

CONSTrobtarget

pHome10:

=[[733.50,-657.73,1290.56],[0.47355,-0.0388763,-0.0188857,0.879707],[-1,-1,-1,0],[99.9896,9E+09,9E+09,9E+09,9E+09,9E+09]];

VARboolbStartl:

=FALSE;

TASKPERSspotdataspot2:

=[2,5];

TASKPERSspotdataspot3:

=[3,5];

TASKPERSspotdataspot4:

=[4,5];

TASKPERSspotdataspot5:

=[5,5];

TASKPERSspotdataspot6:

=[6,5];

PROCmain（）

InitAll;

WHILETRUEDO

IFdi_StartPro=1THEN

ClkResetTimer;

ClkStartTimer;

SpotCar;

ClkStopTimer;

nCount:

=nCount+1;

nCycleTime1:

=ClkRead（Timer）;

ENDIF

CycleCheck;

ENDWHILE

ENDPROC

PROCInitAll（）

AccSet50,50;

VelSet80,1000;

Setgl_reset_fault;

WaitTime1;

Resetgl_reset_fault;

lOunOpen;

MoveHome;

ClkResetTimer;

ENDPROC

PROCSpotCar（）

!

addinstnictions;

JActUnitSERVOGUN;

MoveJpHome,vMid.fine,tServoGun\WObj:

=wobj0;

First:

MoveJ

[[843.70,303.73,299.87],[0.531401,0.45793&-0.483967,0.523146],卜1,0,・l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z50,tServoGun\WObj:

=wobjO;

MoveL

[[1702.79,303.73,299.87],[0.531401,0.457937,・0.483967,0.523146],卜1,0,・l,0],[9E+09,9E+09,9E+09,9E+09、9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveL

[[1702.79,353.25,299.87],[0.531401,0.457937,・0.483967,0.523147],卜1,0,・l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,z5,tServoGun\WObj:

=wobjO;

SpotL

[[1702.79,353.25,299.87],[0.531401,0.457937,4）.483967,0.523147],卜1,0,-1,0],[9E+09,9E+09，9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGun\WObj:

=wobjO;

rGun;

SpotL

[[1702.79,353.25,333.51],[0.531401,0.457937,-0.483967,0.523147],卜1,0,-1,0],[9E+09,9E+09，9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot2,tServoGun\WObj:

=wobjO;

rGun;

SpotL

[[1702.79,353.25,419.95],[0.531401,0.457937,・0.483967,0.523147],[-l,0,-l,0],[9E+09,9E+09

9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGunXWObj:

=wobj0;

rGun;

MoveL

[[1702.79,287.05,419.95],[0.531401,0.457937,-0.483967,0.523147],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09.9E+09,9E+09]],vSmall,z5,tServoGun\WObj:

=wobjO;

MoveJ

[[1015.64,286.77,420.64],[0.531416,0.457922,・0.48395&0.523153],卜l,0,-l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

Second:

MoveL

[[1015.64,286.77,420.64],[0.594919,0.275335,-0.287024,0.698484],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveL

[[1001.67,-46.86,986.24],[0.663614,-0.0271593,-0.0240759,0.747194],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveL

[[1730.13,-407.96,1039.25],[0.663614,-0.0271592,-0.0240758,0.747194],[0,-1,・1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,z5,tServoGun\WObj:

=wobjO;

SpotL

[[1735.28,-407.97,968.43],[0.663614,-0.0271592,-0.0240757,0.747194],[0,-l,-l,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmalLgunl,spot1,tServoGun\WObj:

=wobjO;

i

SpotL

[[1739.40,-442.72,968.74],[0.663614,-0.0271592,-0.0240757,0.747194],[0,-l，-1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGunXWObj:

=wobj0;

i

SpotL

[[1742.27,-458.49,96&95],[0.663614,-0.0271592,-0.0240757,0.747194],[0,-1，-1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmalLgunl,spot1,tServoGun\WObj:

=wobj0:

rGun;

SpotL

[[1745.33,-484.31,969.17],[0.663614,-0.0271592,-0.0240758,0.747194],[0,-1，-1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmalLgunl,spot1,tServoGun\WObj:

=wobj0:

rGun;

MoveL

[[1739.82,-484.31,1044.97],[0.663614,-0.0271592,-0.0240758,0.747194],[0,-1，-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveL

[[1347.63,-531.06J016.45],[0.663614,-0.0271592,-0.0240758,0.747194],[0,-1,-l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveJ

[[1333.58,-1140.99,1015.47],[0.663614,-0.0271592,-0.0240758,0.747194],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveJ

[[1333.58,-1140.99,1015.47],[0.663614,-0.0271592,-0.0240758,0.747194],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z5,tServoGun\WObj:

=wobjO;

MoveJ

[[1333.58,140.99,1015.47],[0.663614,4）.0271592,-0.024075&0.747194],卜1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z50,tServoGun\WObj:

=wobjO;

Third:

MoveL

[[1752.46,-1187.12,1045.94],[0.663614,-0.0271591,-0.0240757,0.747194],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,zl,tServoGun\WObj:

=wobjO;

MoveL

[[1756.80,-1187.12,986.29],[0.663614,-0.027159,-0.0240757,0.747194],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,zl,tServoGun\WObj:

=wobjO;

MoveL

[[1756.80,-1187.12,986.29],[0.663614,-0.027159,-0.0240757,0.747194],[-l,0,・1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,zl,tServoGun\WObj:

=wobjO;

SpotL

[[1756.80,-1187.12,986.29],[0.663614,-0.027159,-0.0240757,0.747194],[-l,0,-1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGun\WObj:

=wobjO;

rGun;

SpotL

[[1758.10,-1198.05,986.38],[0.663614,-0.027159,-0.0240757,0.747194],[-1,0,-1,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGun\WObj:

=wobjO;

rGun;

MoveL

[[1755.92,"213.93,1042.37],[0.663614,-0.027159,-0.0240757,0.747194],卜1,0,・l,0],[9E+09,9

E+09,9E+09,9E+09,9E+09,9E+09]],vSmall,zl,tServoGun\WObj:

=wobjO;

MoveL[[126&55,J272.03,1006.93],[0.663614厂0.027159厂0.0240757,0.747194],卜l,0,-l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,zl,tServoGun\WObj:

=wobjO;

MoveL

[[1268.55,-1272.03,1006.93],[0.663614,-0.027159,-0.0240757,0.747194],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,zl,tServoGun\WObj:

=wobjO;

MoveJ

[[1268.55,-1272.03,1006.93],[0.551606,-0.437362,0.202392,0.680796],[-1,・2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z50,tServoGun\WObj:

=wobjO;

Fourth:

MoveJ

[[1245.49,-1225.06,1532.43],[0.551606,-0.437362,0.202392,0.680796],[-1,-l,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z50,tServoGun\WObj:

=wobjO;

MoveJ

[[1571.63,-1320.78,1532.43],[0.551606,-0.437362,0.202392,0.680796],[-1,-l,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],vMid,z50,tServoGun\WObj:

=wobjO;

MoveL

[[1593.54,“466.09,1532.43],[0.551606,・0.437362,0.202392,0.680796],卜1,・1,0,0],[9E+09,9E+09、9E+09,9E+09,9E+09,9E+09]],vSmall,zl,tServoGun\WObj:

=wobjO;

SpotL

[[1593.54,“466.09,1532.43],[0.551606,4）.437362,0.202392,0.680796],卜1,・1,0,0],[9E+09,9E

+09,9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGun\WObj:

=wobj0:

rGun;

SpotL

[[1593.54,-1466.09,1574.67],[0.551606,-0.437362,0.202392,0.680796],[-1，-1,0,0],[9E+09,9E+09、9E+09,9E+09,9E+09,9E+09]],vSmall,gunl,spot1,tServoGun\WObj:

=wobj0:

lOun;

SpotL

[[1593.54,-1466.09,1553.67],[0.551606,-0.437362,0.202392,0.680796],[-1，-1,0,0],[9E+09,