ABB程序注解.docx
《ABB程序注解.docx》由会员分享，可在线阅读，更多相关《ABB程序注解.docx（28页珍藏版）》请在冰豆网上搜索。
ABB程序注解
MODULEMainModule
!
数据定义
taskPERStooldatatGripperDR:
=[TRUE,[[30.7877,-78.1147,207.323],[0.98105,-0.0150306,-0.0171399,0.19241]],[1,[1,0,1],[1,0,0,0],0,0,0]];
taskPERStooldatatGripperTP:
=[TRUE,[[-83.7443,16.0226,243.049],[0.791455,-0.00388099,-0.00183895,0.611212]],[1,[1,0,1],[1,0,0,0],0,0,0]];
taskPERStooldatachangtool1:
=[TRUE,[[23.6425,-81.2941,207.064],[0.791455,-0.00388099,-0.00183895,0.611212]],[1,[1,0,1],[1,0,0,0],0,0,0]];
TASKPERStooldatatool1:
=[TRUE,[[10.7246,-84.3645,251.773],[0.791455,-0.00388099,-0.00183895,0.611212]],[1,[1,0,1],[1,0,0,0],0,0,0]];
TASKPERStooldatatool2:
=[TRUE,[[13.8406,-75.4038,254.692],[0.791455,-0.00388099,-0.00183895,0.611212]],[1,[1,0,1],[1,0,0,0],0,0,0]];
CONSTrobtargetpHome:
=[[475.09,-17.99,470.40],[0.000128506,-0.894112,-0.447844,1.15482E-05],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickMTP:
=[[595.42,-5.15,5.18],[0.000361934,-0.663743,-0.74796,-3.51523E-05],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickKTP:
=[[382.06,185.38,2.99],[0.000188335,-0.99862,-0.0525144,-0.000426906],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase1:
=[[392.83,152.16,75.69],[0.0179892,0.999725,-0.00505366,-0.0141899],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase12:
=[[392.81,168.95,75.67],[0.0179938,0.999725,-0.00502571,-0.0142096],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase13:
=[[392.79,186.07,75.66],[0.0180044,0.999724,-0.00499658,-0.0142308],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase14:
=[[392.78,203.29,75.64],[0.0180105,0.999724,-0.00497397,-0.0142325],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase15:
=[[392.77,219.90,75.63],[0.0180178,0.999725,-0.00490777,-0.0142333],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase16:
=[[364.70,151.81,74.44],[0.0180643,0.999719,-0.00501422,-0.0145073],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase17:
=[[364.70,168.99,74.44],[0.0180642,0.999719,-0.00501641,-0.014508],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase18:
=[[364.70,186.47,74.44],[0.0180643,0.999719,-0.00501504,-0.0145111],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase19:
=[[364.70,203.31,74.44],[0.0180646,0.999719,-0.00501856,-0.0145162],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickDRBase110:
=[[364.70,219.78,74.44],[0.0180652,0.999719,-0.00501932,-0.0145159],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceDR1:
=[[600.46,-89.97,64.70],[0.00374254,0.705103,-0.708733,-0.0226534],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceDR2:
=[[600.46,-62.37,64.70],[0.00374951,0.705097,-0.70874,-0.0226605],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceKTP:
=[[595.55,-6.20,5.68],[0.000236672,-0.665508,-0.746391,-0.000122641],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceMTP:
=[[382.06,185.38,2.99],[0.000188335,-0.99862,-0.0525144,-0.000426906],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERSrobtargetpPickDR:
=[[364.7,151.81,74.44],[0.0180643,0.999719,-0.00501422,-0.0145073],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERSrobtargetpgohome:
=[[475.109,-17.9941,480.4],[0.000110804,-0.894132,-0.447804,-1.44142E-05],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetcsdtp:
=[[380.5,255.34,33],[0.0230188,0.893657,0.448111,-0.00666406],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetqltp:
=[[596.58,56.37,34],[0.0161413,0.310515,0.950401,0.00762888],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetdr1ydpz:
=[[524.37,-225.09,118.74],[0.000127639,-0.499858,-0.866107,0.00043213],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetdr2ydpz:
=[[524.33,-196.45,118.71],[0.000184955,-0.499845,-0.866115,0.00045435],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetdr1gdpz:
=[[414.09,-109.89,210.87],[0.0183062,0.999558,0.0190756,-0.0135989],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetdr2gdpz:
=[[414.08,-109.87,210.85],[0.0182963,0.999558,0.0190899,-0.0136193],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettpydpz2:
=[[702.94,-146.33,76.10],[0.0120121,-0.834483,-0.550711,0.0145099],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettpydpz1:
=[[643.45,-146.34,76.18],[0.0119854,-0.834466,-0.550738,0.0144886],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetqlwtpydpz1:
=[[456.70,21.36,76.08],[0.0120237,-0.834515,-0.550662,0.0145349],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetqlwtpydpz2:
=[[456.69,81.70,76.07],[0.0120152,-0.834496,-0.550691,0.0145494],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargettpgdpz1:
=[[416.1,-80.97,156.56],[0.00296082,-0.998368,-0.0570211,8.35999E-05],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargettpgdpz2:
=[[416.11,-141.06,156.57],[0.00295655,-0.998378,-0.0568575,0.000262504],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettocsdtpgdpz1:
=[[443.50,-105.56,156.76],[0.000189861,-0.677888,-0.735165,-0.000160509],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettocsdtpgdpz2:
=[[385.50,-105.56,156.74],[0.00019384,-0.677893,-0.735161,-0.000157128],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettoqltpgdpz1:
=[[416.10,-80.97,156.56],[0.00296082,-0.998368,-0.0570211,8.35999E-05],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargettoqltpgdpz2:
=[[416.11,-141.06,156.57],[0.00295655,-0.998378,-0.0568575,0.000262504],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetcsddr1:
=[[591.7,-17.16,40],[0.00331585,0.964709,0.263293,-0.00141111],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetcsddr2:
=[[591.68,11.29,40],[0.00330762,0.964706,0.263302,-0.00143864],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargettpmove1:
=[[416.1,-80.97,156.56],[0.00296082,-0.998377,-0.056873,8.31597E-05],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargettpmove2:
=[[416.112,-141.057,2.99],[0.0029579,-0.998386,-0.056707,0.000261324],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargetdrmovu:
=[[414.082,-109.872,64.7],[0.00284331,0.705821,-0.708024,-0.0226268],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
persrobtargetp1:
=[[591.68,11.29,40],[0.00330762,0.964706,0.263302,-0.00143864],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark1:
=[[388.30,148.70,28.44],[0.00197834,-0.923792,0.382867,-0.00401309],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark2:
=[[383.50,152.70,28.64],[0.00198228,-0.923791,0.38287,-0.00402058],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark3:
=[[392.70,153.30,28.63],[0.00198229,-0.923791,0.38287,-0.00402212],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark4:
=[[387.90,157.50,28.63],[0.00198226,-0.923792,0.382867,-0.0040246],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark5:
=[[387.97,148.31,28.46],[0.00148406,0.921285,0.388861,0.00425995],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark6:
=[[383.17,152.51,28.46],[0.00148657,0.921288,0.388855,0.00426856],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark7:
=[[392.37,152.91,28.45],[0.00148884,0.92129,0.388848,0.00427444],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetmark8:
=[[387.38,157.31,28.85],[0.00149068,0.921291,0.388848,0.00427772],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTspeeddatavsped:
=[300,80,50,50];
PERSrobtargetpcur:
=[[330.117,-110.622,418.175],[3.83326E-05,-0.829102,0.559097,1.51729E-05],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
!
变量定义
PERSboolbPalletFull:
=FALSE;
PERSnumnCount:
=1;
PERSnumtpnum1:
=0;
PERSnumi:
=0;
PERSnumii:
=0;
VARstrings;
VARiodevcomdev;
VARstringccd_date;
VARnumpx;
VARnumpy;
VARnumpu;
VARnumu;
VARstringstr1;
VARstringstr11;
VARstringstr2;
VARstringstr3;
VARstringstr4;
VARstringstrpx;
VARstringstrpy;
VARnumindex:
=0;
VARnumadr;
VARboolStrToValok;
VARnumccd_y_n;
VARnumanglex;
VARnumangley;
VARnumanglez;
VARnuma1;
VARnuma2;
VARnumb1;
VARnumb2;
VARnumx1;
VARnumy1;
VARnumX_aquend;
VARnumy_aquend;
VARnumct;
VARnumdrnum1;
VARnumu90;
TASKPERStooldatatool3:
=[TRUE,[[-90.0823,11.7426,211.178],[0.791455,-0.00388099,-0.00183895,0.611212]],[1,[1,0,1],[1,0,0,0],0,0,0]];
CONSTrobtargetpx1:
=[[416.76,-118.59,175.68],[0.00400035,0.991492,0.130094,0.00140531],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpx2:
=[[426.46,-118.10,175.68],[0.00400264,0.991493,0.130092,0.00140965],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpx3:
=[[426.95,-109.76,175.68],[0.00400074,0.991493,0.130092,0.00140922],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpx4:
=[[415.22,-109.06,175.68],[0.00400111,0.991493,0.13009,0.00141005],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROCMain（）!
主函数
!
TESTPOS;
!
test232;
rInitAll;!
调用初始化函数
SpeedRefresh50;!
速度设置
AccSet50,50;!
加速度设置
pgohome:
=CRobT（\tool:
=tool0）;!
获取当前点数据
pgohome.trans.z:
=pHome.trans.z+10;!
将home点的高度赋值
MoveLpgohome,vsped,z100,tool0;!
移动到pgohome点
MoveJpHome,vsped,z100,tool0;!
移动到phome点
out8421
（1）;!
IO以8421形式输出，告诉PLC复位已完成
WaitTime0.5;!
延时0.5秒
reset8421;!
重置IO
WHILETRUEDO!
进while入循环
FORnum1FROM1TO5DO!
进入for循环
waiti
升级会员 