Article catalogue:
- 1 、Palletizing programming method of Industrial Robot
- 2 、How to program abb robot language?
- 3 、How to write palletizing program for ABB industrial robot?
Palletizing programming method of Industrial Robot
Palletizing programming of industrial robots:
1) what is palletizing?
Regular mobile robots for grasping and placement
2) how to simplify the palletizing program
Set the workpiece coordinate system and the tool to teach the first palletizing placement point, and the spacing and number of xyz directions can be set.
3) how to create palletizing programming
Write the program with the instructor, the procedure is as follows:
1RJ PR [1] 100% FINE; move to standby position P1
2:LBL [1]; label 1
3RJ PR [2] 100% FINE; move to standby position P2
4:WAIT RI [12] = ON; wait for the grab position to have material.
5RV L PR [3] 100mm/sec FINE; move to grab position P3
6:WAIT 1.00 (sec); wait for 1s
7:RO [11] = ON; grip closure valve ON
8:WAIT RI [11] = ON; wait for the handle closure switch ON
9:RO [11] = OFF; grip closure valve OFF
10:PALLETIZING-B_1
11RV J PAL_1 [Aq1] 80% FINE; move to approach point
12L PAL_1 [BTM] 100mm/sec FINE; move to the stack point
13:RO [10] = ON; handle opening valve ON
14:WAIT RI [10] = ON; wait for the grip to open the switch ON
15:RO [10] = OFF; handle opening valve OFF
16L PAL_1 [Rang1] 100mm/sec FINE; move to fallback point
17:PALLETIZING-END_1
18:JUMP LBL [1]; Jump to label 1
4) precautions
The main results are as follows: (1) in order to improve the action accuracy of palletizing, it is necessary to set TCP correctly.
(2) palletizing registers should avoid using other pallets with the same number at the same time.
(3) the palletizing function plays a role when the three instructions, namely palletizing instruction, palletizing action instruction and palletizing end instruction exist in one program. Even if only one instruction is copied into the subroutine for teaching, the function will not work properly and should be noted. (4) the palletizing number is automatically written together with the palletizing instruction, the palletizing action instruction and the palletizing end instruction after teaching the stacking data. There is no need to care whether the palletizing number is used repeatedly in other programs (each program has the data of the palletizing number).
(5) in the palletizing action instruction, you may not set “C” (circular motion) in the action type.
How to program abb robot language?
First of all, understand the abb programming language, ABB programming language called RAPID, is a sports-level programming language, sports-level language, can not be separated from the relevant motion instructions, I will first list four, moveJ,moveL,moveC,moveAbsJ
The basic motion instruction format of ABB industrial robot is divided into five parts: motion mode, target position, running speed, turning radius and tool center point.
MoveL p10,v1000,z50,tool0
The first motion instruction is: joint motion instruction MoveJ
Its motion characteristics are: the robot moves to the target point in the fastest way, the motion state of the robot is not completely controllable, but the motion path is unique, so it is often used for the robot to move in a large range of space. MoveJp10,V1000,fine, tool0
The second kind of motion instruction is: linear motion instruction MoveL
Its motion characteristics are as follows: the robot moves linearly to the target point, and the motion path determines a straight line between the current point and the target point, and the motion path is unique, which is often used for the robot to move in the working state. MoveLp10,V1000,fine, tool0
The third kind of motion instruction is: arc motion instruction MoveC
The characteristic of its motion is that the robot moves in a circle.
Instruction example: the robot moves to the target point in the way of arc movement through the center point, it needs to have the current point, the middle point and the target point to determine a section of arc, the motion path is unique, and there may be a dead point, which is often used for the robot to move in the working state. MoveL p10,V1000,fine,tool0
MoveC p20,p30,V1000,fine, tool0
The third motion instruction is: absolute position motion instruction MoveAbsJ
The characteristic of its motion is that it moves the manipulator to the absolute position. The robot moves to the target point in the way of uniaxial motion, there is no dead point, and the motion state is completely uncontrollable, which can generally be used as a robot to return to zero. Try to avoid using it in normal production.
Instruction example: MoveAbsJ p50rec v1000jcr z50tool1
The above are four kinds of motion instructions for industrial robots, hoping to be helpful to beginners. Welcome to reprint and discuss interaction!
How to write palletizing program for ABB industrial robot?
ABB robot creates palletizing program
1) what is palletizing?
Regular mobile robots for grasping and placement
2) how to simplify the palletizing program
Set the workpiece coordinate system and the tool to teach the first palletizing placement point, and the spacing and number of xyz directions can be set.
3) how to create
Create a m_pallet module
Set up two routine
In the init program, set the number and spacing of xyz directions
In the p_main program, create the robot to move to the pHome point, the pPick position (grab position), and the first placement point pPlace_ini
Palletizing is carried out through a three-layer for loop. The example program is first x direction, then y direction, then z direction.
The offset is as follows:
PPlace:=offs (pPlace_ini, (iMel 1) * dis_x, (JMUI 1) * dis_y, (KMUI 1) * dis_z)
This is the end of the detailed programming tutorial for abb robot palletizing and how to write the abb industrial robot palletizing program. I wonder if you have found the information you need. If you want to know more about this, remember to collect and follow this site.