ABB 喷涂机器人基础培训 7 编程与测试

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2019/11/20 发布于 教育 分类

文字内容
1. CNAUS - 1 ABB DMRO/RS/PPA/GeorgeZheng
2. CNAUS - 2
3. CNAUS - 3 PTPU
4. CNAUS - 4 Edit Program
5. Edit Program CNAUS - 5 (Picklist)
6. CNAUS - 6
7. CNAUS - 7
8. CNAUS - 8 P20…
9. CNAUS - 9 :
10. PaintL : L ( TCP ) mm/s : tooldata : speeddata PaintL p1, v1000, z10, tool1; : robotarget : mm CNAUS - 10 : zonedata
11. PaintC ) L J : C mm/s : speeddata ( TCP ) : tooldata PaintC p1, p2, v100, z10, tool1; :robotarget : robotarget : mm CNAUS - 11 : zonedata
12. CNAUS - 12 MoveJ p3, v500, fine tool1
13. CNAUS - 13 MoveL Offs(p1,100,50,0), v100,……
14. CNAUS - 14 MoveL RelTool(p1,100,50,0\Rx:=30 \Ry:=-60\Rz:=45), v100,……
15. 100mm 50mm PaintL p1,v100,… PaintL p2,v100,… PaintL p3,v100,… PaintL p4,v100,… PaintL p1,v100,… p1 p2 p3 p4 CNAUS - 15 PaintL p1,v100,… PaintL Offs(p1,100,0,0),v100,… PaintL Offs(p1,100,-50,0),v100,… PaintL Offs(p1,0,-50,0),,v100,… PaintL p1,v100,…
16. MoveAbsJ ( Abs– absolute ( TCP ) : mm/s : tooldata : speeddata MoveAbsJ jpos1, v100, z10, tool1; :jointtarget : mm CNAUS - 16 : zonedata
17. DO DI / / –1 ( High ) –0 ( Low ) CNAUS - 17 / 24V
18. Set & Reset Set do1; Reset do1; CNAUS - 18 do1
19. WaitDI WaitDI di1, 1; [\MaxTime] ( num ) [\TimeFlag] ( bool ) CNAUS - 19 WaitDI di1, 1\MaxTime:=5\TimeFlag:=flag1;
20. IF Then 1. IF THEN “Yes-part” ENDIF 2. IF THEN “Yes-part” ELSE “Not-part” ENDIF CNAUS - 20 3. IF THEN “Yes-part 1” ELSEIF THEN “Yes-part 2” ELSE “Not-part” ENDIF “Yes-part” “Yes-part” “Not-part” 1 “Yes-part 1” 2 “Yes-part 2” “Not-part”
21. Stop & Exit Stop; Exit; CNAUS - 21 ( Soft Stop )
22. ClkReset ClkStart & ClkStop ClkReset clock1; clock1 ClkStart clock1; clock1 ClkStop clock1; CNAUS - 22 clock1 TPWrite “Last Cycle Time :” \Num:=ClkRead(clock1);
23. VelSet VelSet 105, 2000; mm/s CNAUS - 23 VelSet 110, 2000; PaintL p1, v500, z10, tool1; p1 PaintL p2, v1000, z10, tool1; p1 550 mm/s p2 1100 mm/s
24. AccSet AccSet 100, 100; CNAUS - 24 100 % 100 %