ABB 喷涂机器人基础培训 9 输送链跟踪的设定和编程

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2019/11/20 发布于 教育 分类

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1. CNAUS - 1 ABB DMRO/RS/PPA/GeorgeZheng
2. CNAUS - 2 Conveyor Tracking
3. CNAUS - 3
4. CNAUS - 4
5. CNAUS - 5
6. CNAUS - 6 Encoder
7. CNAUS - 7 -Encoder Installation
8. CNAUS - 8 2
9. CNAUS - 9
10. CNAUS - 10
11. CNAUS - 11
12. CNAUS - 12 Sync. Offset
13. CNAUS - 13 Sync. Filter
14. CNAUS - 14 Start Window
15. CNAUS - 15 Min. Max. Distance
16. CNAUS - 16 -Conveyor Parameter Menu
17. CNAUS - 17
18. CNAUS - 18 -Conveyor Parameter Menu
19. CNAUS - 19 Counts per meter
20. CNAUS - 20
21. CNAUS - 21
22. CNAUS - 22
23. CNAUS - 23
24. Work Object CNAUS - 24 IRC5P
25. CNAUS - 25 1
26. CNAUS - 26 2
27. MoveAbsj jWait, v1000, fine, tool1\Wobj := wobj0; WaitWobj wobjtrack; ! (C1Connected=1) PaintL p10, v600, z50, tool1 \Wobj := wobjtrack; PaintL p20, v600, fine, tool1\Wobj:=wobjtrack;'>Wobj:=wobjtrack; WaitWobj wobjtrack\reldist=500; ! PaintL p30, v600, z50, tool1\Wobj:=wobjtrack;'>Wobj:=wobjtrack; PaintL p40, v600, z50, tool1 \Wobj :=wobjtrack; PaintL p50, v600, fine, tool1 \Wobj :=wobj0 DropWobj wobjtrack; CNAUS - 27 PaintL pWait, v1000, fine, tool1\Wobj := wobj0;
28. SyncWWobj MoveAbsJ jHomePos,v1500,fine,tcp1\WObj:=wobj0; WaitWObj wobjtrack; SyncWWObj 300,p10,tcp1,wobjtrack; 0 300mm PaintL p15,v600,z100,tcp1\Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:= wobjtrack; PaintL p20,v600,z100,tcp1\Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:= wobjtrack; Setbrush 3\X=446.5; PaintL p30,v600,z100,tcp1\Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:= wobjtrack; Setbrush 2\X=2937.5; PaintL p40,v1500,z100,tcp1\Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:= wobjtrack; CNAUS - 28 SyncWWObj 1300,p50,tcp1,wobjtrack; 0 PaintL p55,v1500,z100,tcp1\Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:='>Wobj:= wobjtrack; ... 1300mm
29. CNAUS - 29 ConfL :
30. CNAUS - 30 IRC5P
31. CNAUS - 31
32. CNAUS - 32
33. CNAUS - 33
34. CNAUS - 34
35. CNAUS - 35 -- Conveyor Synchronizing
36. -- Conveyor Synchronizing Pers num ConvRampUp :=20; Pers num ConvRampDown :=20; PaintL p1 ! Exterior painting, use retract distance CnvSync \On, \Retract:=50; PaintL p2 \ Reldist:=100; PaintL p3, ! Interior painting; Assume no room for retracting CnvSync \On, \Retract:=0; PaintL p4; PaintL p5; CnvSync Off; CNAUS - 36 PaintL p6 PaintL p7. 50mm
37. CNAUS - 37 -Repos
38. CNAUS - 38 -Repos