ABB程序注解.docx

1、ABB程序注解MODULE MainModule !数据定义 task PERS tooldata tGripperDR:=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; task PERS tooldata tGripperTP:=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; task PERS tooldata ch

2、angtool1:=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; TASK PERS tooldata tool1:=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; TASK PERS tooldata tool2:=TRUE,13.8406,-75.4038,254.692,0.791455,-0.003880

3、99,-0.00183895,0.611212,1,1,0,1,1,0,0,0,0,0,0; CONST robtarget pHome:=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; CONST robtarget pPickMTP:=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+

4、09,9E+09,9E+09; CONST robtarget pPickKTP:=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; CONST robtarget pPickDRBase1:=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; CONST robtar

5、get pPickDRBase12:=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; CONST robtarget pPickDRBase13:=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; CONST robtarget pPickDRBase14:=392.7

6、8,203.29,75.64,0.0180105,0.999724,-0.00497397,-0.0142325,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget pPickDRBase15:=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; CONST robtarget pPickDRBase16:=364.70,151.81,74.44,0.0180643

7、,0.999719,-0.00501422,-0.0145073,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget pPickDRBase17:=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; CONST robtarget pPickDRBase18:=364.70,186.47,74.44,0.0180643,0.999719,-0.00501504,-0.

8、0145111,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget pPickDRBase19:=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; CONST robtarget pPickDRBase110:=364.70,219.78,74.44,0.0180652,0.999719,-0.00501932,-0.0145159,0,0,1,0,9E+09,9

9、E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget pPlaceDR1:=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; CONST robtarget pPlaceDR2:=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;

10、 CONST robtarget pPlaceKTP:=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; CONST robtarget pPlaceMTP:=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; PERS robtarget pPickDR:=36

11、4.7,151.81,74.44,0.0180643,0.999719,-0.00501422,-0.0145073,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; PERS robtarget pgohome:=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; CONST robtarget csdtp:=380.5,255.34,33,0.0230188,0.893657,

12、0.448111,-0.00666406,0,-1,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget qltp:=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; CONST robtarget dr1ydpz:=524.37,-225.09,118.74,0.000127639,-0.499858,-0.866107,0.00043213,-1,-1,0,0,9E+09,9E+0

13、9,9E+09,9E+09,9E+09,9E+09; CONST robtarget dr2ydpz:=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; CONST robtarget dr1gdpz:=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; CO

14、NST robtarget dr2gdpz:=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; CONST robtarget tpydpz2:=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; CONST robtarget tpydpz1:=643.45,-14

15、6.34,76.18,0.0119854,-0.834466,-0.550738,0.0144886,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget qlwtpydpz1:=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; CONST robtarget qlwtpydpz2:=456.69,81.70,76.07,0.0120152,-0.834496,-0.

16、550691,0.0145494,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; pers robtarget tpgdpz1:=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; pers robtarget tpgdpz2:=416.11,-141.06,156.57,0.00295655,-0.998378,-0.0568575,0.000262504,-1,0,0,0,9E+09

17、,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget tocsdtpgdpz1:=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; CONST robtarget tocsdtpgdpz2:=385.50,-105.56,156.74,0.00019384,-0.677893,-0.735161,-0.000157128,-1,-1,-1,0,9E+09,9E+09,9E+0

18、9,9E+09,9E+09,9E+09; CONST robtarget toqltpgdpz1:=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; CONST robtarget toqltpgdpz2:=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

19、; CONST robtarget csddr1:=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; CONST robtarget csddr2:=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; pers robtarget tpmove1:=416.1,-80.97,156.56

20、,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; pers robtarget tpmove2:=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; pers robtarget drmovu:=414.082,-109.872,64.7,0.00284331,0.705821,-0.708024,-

21、0.0226268,-1,0,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; pers robtarget p1:=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; CONST robtarget mark1:=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

22、,9E+09; CONST robtarget mark2:=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; CONST robtarget mark3:=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; CONST robtarget mark4:=387.90,157.

23、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; CONST robtarget mark5:=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; CONST robtarget mark6:=383.17,152.51,28.46,0.00148657,0.921288,0.388855,0.004

24、26856,0,0,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget mark7:=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; CONST robtarget mark8:=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+09,9

25、E+09; CONST speeddata vsped:=300,80,50,50; PERS robtarget pcur:=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 PERS bool bPalletFull:=FALSE; PERS num nCount:=1; PERS num tpnum1:=0; PERS num i:=0; PERS num ii:=0; VAR string s; V

26、AR iodev comdev; VAR string ccd_date; VAR num px; VAR num py; VAR num pu; VAR num u; VAR string str1; VAR string str11; VAR string str2; VAR string str3; VAR string str4; VAR string strpx; VAR string strpy; VAR num index:=0; VAR num adr; VAR bool StrToValok; VAR num ccd_y_n; VAR num anglex; VAR num

27、angley; VAR num anglez; VAR num a1; VAR num a2; VAR num b1; VAR num b2; VAR num x1; VAR num y1; VAR num X_aquend; VAR num y_aquend; VAR num ct; VAR num drnum1; VAR num u90; TASK PERS tooldata tool3:=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; CONST

28、robtarget px1:=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; CONST robtarget px2:=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; CONST robtarget px3:=426.95,-109.76,175.68,0.004

29、00074,0.991493,0.130092,0.00140922,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09; CONST robtarget px4:=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; PROC Main() !主函数 !TESTPOS; !test232; rInitAll; !调用初始化函数 SpeedRefresh 50; !速度设置 AccSet 50, 5

30、0; !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 MoveL pgohome,vsped,z100,tool0; !移动到pgohome点 MoveJ pHome,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 WaitTime 0.5; !延时0.5秒 reset8421; !重置IO WHILE TRUE DO !进while入循环 FOR num1 FROM 1 TO 5 DO !进入for循环 waiti