Article catalogue:
- 1 、How to realize sequentially palletizing with abb120
- 2 、How to write palletizing program for ABB industrial robot?
- 3 、How to realize palletizing according to color order by abb120
- 4 、Palletizing programming method of Industrial Robot
How to realize sequentially palletizing with abb120
Establish a virtual work scene. Abb120 can palletize sequentially by establishing a virtual work scene. Palletizing: a machine for stacking objects. Palletizing manipulator is a new type of machine developed with stable quality and high performance-to-price ratio. There are only two points that need to be located in the program of the palletizing manipulator, one is to grasp the starting point, and the other is the placement point. The tracks outside these two points are all controlled by the computer, and the computer itself will find the most reasonable track to move these two points. so the teaching method is very simple.
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)
How to realize palletizing according to color order by abb120
How to realize the method of palletizing in color order by abb120.
1. Try to establish a RAPID program to allow the industrial robot to place two workpieces on workbench An in the specified position of workbench B.
2. sort alternately according to color to create an array and record the product information of the current location.
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.
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