Programación 5 ABB.

Aprender Linguaxe RAPID, poderemos programar desde RobotStudio, ou desde a FlexPendant.

  1. Control de Flujo FOR; Bucle For, este bucle conten unha variable que ira aumentando. Comézase nun valor de partida prefixado ata un valor final. O seu funcionamento é o seguinte: na primeira execución asígnase á variable o valor de partida, e execútase o código do seu interior. Unha vez executado volveremos ao principio deste bucle asignando así á variable o valor desta +1, ascendendo desta maneira o valor da variable en cada execución. Isto repetirase ata que a variable alcance o valor final.
  2. Control de Flujo FORFormato da mesma:
    VAR num NUMERO;  !Variable que usaremos para o bucle FOR
    
    FOR NUMERO FROM 1 TO 3 DO !Bucle For desde Numero = 1, ata que Numero = 3.
    
        !Instrucions a executar
    
    ENDFOR   !Final FOR
    
  3. Exemplo usando estas instrucións  TPWrite, TPErase & FOR; Se quere realizar o exemplo pode tomar como base o exercicio Programación 4 ABB:
    MODULE Module1
    	CONST robtarget Target_10:=[[547.330665099,0,451.64730631],[0.190808996,0,0.981627183,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	CONST robtarget Target_20_2:=[[580.004388386,-300.000173756,49.997538618],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	CONST robtarget Target_20:=[[579.997326386,-300.000184257,-0.002460883],[0.00007062,0.000000176,-0.999999998,0.000000105],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	CONST robtarget Target_30_2:=[[580.007086271,300.000028414,49.999940578],[0.000070808,0.000000206,-0.999999997,0.000000106],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	CONST robtarget Target_30:=[[580.000005471,300.000017813,-0.000058921],[0.000070808,0.000000206,-0.999999997,0.000000106],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    	VAR num NUMERO;
        PROC main()
    	    MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
            TPErase;
           FOR NUMERO FROM 1 TO 3 DO
               TPErase;
               TPWrite "Numero: " \ NUM:= NUMERO;
               TPWrite "Soldando Derecha";
               Secuencia_1;
               WaitTime 2;
               TPWrite "Soldando Izquierda";
               Secuencia_2;
               WaitTime 2;
               MoveJ Target_10,v1000,fine,MyTool\WObj:=wobj0;
           ENDFOR
    
    	ENDPROC
    	PROC Secuencia_1()
    	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
    	    MoveJ Target_20,v1000,fine,MyTool\WObj:=wobj0;
    	    MoveJ Target_20_2,v1000,fine,MyTool\WObj:=wobj0;
    	ENDPROC
    	PROC Secuencia_2()
    	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
    	    MoveJ Target_30,v1000,fine,MyTool\WObj:=wobj0;
    	    MoveJ Target_30_2,v1000,fine,MyTool\WObj:=wobj0;
    	ENDPROC
    ENDMODULE



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    Data Publicación: 10/02/2021