Ejercicio 4 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
	!Comienzo Puntos Letra A;
	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:=[[412.48,-67.39,54.71],[0.00106795,-3.26644E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p30:=[[412.48,-67.39,14.71],[0.00106834,-3.27218E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p40:=[[476.76,-90.20,14.71],[0.00106949,-3.27749E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p50:=[[476.76,-74.42,14.71],[0.00106965,-3.27406E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p60:=[[463.35,-69.57,14.71],[0.00106895,-3.27153E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p70:=[[463.35,-47.31,14.71],[0.00106896,-3.27258E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p80:=[[476.77,-42.45,14.71],[0.00106952,-3.2726E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p90:=[[476.77,-26.67,14.71],[0.00106929,-3.26953E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p100:=[[412.48,-49.49,14.71],[0.00106853,-3.26923E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	!Final Puntos Letra A;
	!Comienzo Puntos Letra B;
	CONST robtarget p110:=[[412.59,-20.14,54.71],[0.00106848,-3.26906E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p120:=[[412.59,-20.14,14.71],[0.00106845,-3.27231E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p130:=[[476.77,-20.24,14.71],[0.00106865,-3.27223E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p140:=[[476.77,7.68,14.71],[0.00106825,-3.26992E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p160:=[[437.30,13.47,14.71],[0.00106808,-3.2685E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p150:=[[458.82,25.14,14.71],[0.00106802,-3.26942E-5,-0.999525,-0.0308026],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p170:=[[476.77,7.68,14.71],[0.00106821,-3.26974E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p180:=[[476.77,7.68,14.71],[0.00106821,-3.26974E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p190:=[[424.76,19.59,14.71],[0.00106801,-3.26791E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p200:=[[412.51,8.75,14.71],[0.00106752,-3.2657E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	!Final Puntos Letra B;
	!Comienzo Puntos Letra B_2;
	CONST robtarget p210:=[[412.59,32.22,54.71],[0.00106836,-3.27228E-5,-0.999525,-0.0308027],[-1,-1,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p220:=[[412.59,32.22,14.71],[0.00106831,-3.27155E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p230:=[[476.77,32.12,14.71],[0.00106865,-3.27209E-5,-0.999525,-0.0308027],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p240:=[[476.77,60.04,14.71],[0.00106821,-3.26974E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p250:=[[459.16,77.45,14.71],[0.00106806,-3.26874E-5,-0.999525,-0.0308026],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p260:=[[437.30,65.83,14.71],[0.00106806,-3.26844E-5,-0.999525,-0.0308027],[0,0,-1,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p280:=[[412.51,61.11,14.71],[0.00106746,-3.26556E-5,-0.999525,-0.0308027],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	CONST robtarget p270:=[[423.33,71.76,14.71],[0.00106774,-3.26728E-5,-0.999525,-0.0308025],[0,0,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
	!Final Puntos Letra B_2;
	PROC main()
		MoveJ p10, v1000, fine, tool1_Pen;
		Sub_A;
		Sub_B;
		Sub_B_2;
		MoveJ p10, v1000, fine, tool1_Pen;
	ENDPROC
	PROC Sub_A()
		MoveJ p20, v1000, fine, tool1_Pen;
		MoveL p30, v500, fine, tool1_Pen;
		MoveL p40, v500, fine, tool1_Pen;
		MoveL p50, v500, fine, tool1_Pen;
		MoveL p60, v500, fine, tool1_Pen;
		MoveL p70, v500, fine, tool1_Pen;
		MoveL p80, v500, fine, tool1_Pen;
		MoveL p90, v500, fine, tool1_Pen;
		MoveL p100, v500, fine, tool1_Pen;
		MoveL p30, v500, fine, tool1_Pen;
		MoveJ p20, v1000, fine, tool1_Pen;
	ENDPROC
	PROC Sub_B()
		MoveL p110, v500, fine, tool1_Pen;
		MoveL p120, v500, fine, tool1_Pen;
		MoveL p130, v500, fine, tool1_Pen;
		MoveL p140, v500, fine, tool1_Pen;
		MoveC p150, p160, v500, fine, tool1_Pen;
		MoveC p190, p200, v500, fine, tool1_Pen;
		MoveL p120, v500, fine, tool1_Pen;
		MoveL p110, v500, fine, tool1_Pen;
	ENDPROC
	PROC Sub_B_2()
		MoveL p210, v500, fine, tool1_Pen;
		MoveL p220, v500, fine, tool1_Pen;
		MoveL p230, v500, fine, tool1_Pen;
		MoveL p240, v500, fine, tool1_Pen;
		MoveC p250, p260, v500, fine, tool1_Pen;
		MoveC p270, p280, v500, fine, tool1_Pen;
		MoveL p220, v500, fine, tool1_Pen;
		MoveL p210, v500, fine, tool1_Pen;
	ENDPROC
ENDMODULE

 Enlaces de Interés:


Fecha Publicación: 20/01/2021