Ejercicio 3 con RobotStudio ABB, FlexPendant y Programación Fisica con IRB-120.

Programación de robots industriales Off-Line.

  1. Aprender a como hacer movimientos con la programadora "FlexPendant".
  2. Para Aprender a Colocar el Robot, Solido, Herramientas y saber añadir los primeros Puntos, visite nuestro articulo: Simulación 4.0 ABB

Posición, y Rotación de los objetos:
-Tomando como referencia Mundo.
 
Objeto X Y  Z  Descargar Componentes  A   B  C 
Robot 0 0 805,00 Robot componente 0 0 0
Mesa Formación 792 0 0 Componente Mesa Formación 0 0 90
Plantilla 0 0 0 Componente Plantilla ABB 0 0 0
MyTool (Unida automáticamente al Robot) - - - Componente MyTool - - Rot Z = 90º
Estación Completa (Sin Programación) - - - Estación Completa - - -


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 RAPID:

MODULE MainModule
	CONST robtarget P10:=[[353.02,0.00,472.37],[0.259767,-0.00800538,-0.96518,-0.0297443],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P20:=[[344.76,0.50,53.70],[0.00107618,-3.32278E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P30:=[[344.76,0.50,13.70],[0.00107623,-3.32292E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P40:=[[344.76,-95.00,13.70],[0.00107612,-3.32319E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P50:=[[358.91,-128.86,13.70],[0.00107622,-3.32353E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P60:=[[392.76,-143.00,13.70],[0.001076,-3.32098E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P70:=[[496.76,-143.00,13.70],[0.00107596,-3.32182E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P90:=[[544.76,-95.00,13.70],[0.00107599,-3.32084E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P80:=[[530.61,-128.86,13.70],[0.00107594,-3.32064E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P100:=[[544.76,96.00,13.70],[0.00107592,-3.32087E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P120:=[[496.76,144.00,13.70],[0.00107588,-3.32161E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P110:=[[530.62,129.86,13.70],[0.00107589,-3.32067E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P130:=[[392.76,144.00,13.70],[0.00107592,-3.3212E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P150:=[[344.76,96.00,13.70],[0.00107623,-3.32275E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P140:=[[358.91,129.86,13.70],[0.00107597,-3.32141E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P160:=[[396.81,0.50,13.70],[0.00107556,-3.32074E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P160_1:=[[396.81,0.50,53.70],[0.00107547,-3.32047E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P180:=[[492.13,0.12,13.70],[0.00107491,-3.31304E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P170:=[[444.44,-47.85,13.70],[0.00107513,-3.31805E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P200:=[[397.08,0.50,13.70],[0.00107705,-3.32624E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget P190:=[[444.73,48.47,13.70],[0.00107566,-3.30401E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	PROC main()
		MoveJ P10, v1000, fine, tool1_Pen;
		MoveJ P20, v500, fine, tool1_Pen\WObj:=wobj0;
		MoveL P30, v500, fine, tool1_Pen;
		MoveL P40, v500, fine, tool1_Pen;
		MoveC P50, P60, v500, fine, tool1_Pen;
		MoveL P70, v500, fine, tool1_Pen;
		MoveC P80, P90, v500, fine, tool1_Pen;
		MoveL P100, v500, fine, tool1_Pen;
		MoveC P110, P120, v500, fine, tool1_Pen;
		MoveL P130, v500, fine, tool1_Pen;
		MoveC P140, P150, v500, fine, tool1_Pen;
		MoveL P30, v500, fine, tool1_Pen;
		MoveL P20, v500, fine, tool1_Pen;
		MoveL P160_1, v500, fine, tool1_Pen;
		MoveL P160, v500, fine, tool1_Pen;
		MoveC P170, P180, v500, fine, tool1_Pen;
		MoveC P190, P200, v500, fine, tool1_Pen;
		MoveL P160_1, v500, fine, tool1_Pen;
		MoveJ P10, v1000, fine, tool1_Pen;
	ENDPROC
ENDMODULE

 Enlaces de Interés:


Fecha Publicación: 20/01/2021