ABB机器人中级培训.ppt

ABB机器人中级培训单位:开发部 讲师:课时:日期:目录讲师:1RAPID基础入门1LoadIdentify的设定2SystemInput/output3讲师:3一、RAPID基础入门讲师:4RAPID程序框架包括程序模块和数据模块两部分讲师:5讲师:6数据类型MODULETESTPERStooldatatPen:=[TRUE,[[200,0,30],[…]],[…]];CONSTrobtargetp10:=[[600,-100,800],[...],[…],[…]];CONSTrobtargetp20:=[[600,100,800],[…],[…],[…]];CONSTrobtargetp30:=[[800,100,800],[…],[…],[…]];CONSTrobtargetp40:=[[800,-100,800],[…],[...],[…]];PROCmain()MoveLp10,v200,fine,tPen;MoveLp20,v200,fine,tPen;MoveLp30,v200,fine,tPen;MoveLp40,v200,fine,tPen;MoveLp10,v200,fine,tPen;ENDPROCENDMODULE讲师:7简单编程示例1讲师:8简单编程示例2MODULETESTPERStooldatatPen:=[TRUE,[[200,0,30],[…]],[…];CONSTrobtargetp10:=[[600,-100,800],[...],[…],[…]];CONSTrobtargetp20:=[[600,100,800],[…],[…],[…]];CONSTrobtargetp30:=[[800,100,800],[…],[…],[…]];CONSTrobtargetp40:=[[800,-100,800],[…],[...],[…]];PROCmain()MoveLp10,v200,fine,tPen;MoveLp20,v200,Z20,tPen;MoveLp30,v200,fine,tPen;MoveLp40,v200,Z50,tPen;MoveLp10,v200,fine,tPen;ENDPROCENDMODULE讲师:9简单编程示例3MoveLp10,v200,fine,tPen;MoveCp20,p30,V100,fine,tPen;MoveLp40,v200,fine,tPen;讲师:10IO信号使用的简单示例