3BHB003154R0101 5SGX2645L0004产品介绍 ABB 模块卡件 DCS控制器
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下面通过三则示例演示指令开发。 如何实现码垛指令 码垛是机器人*常用的功能，与其他多数机器人不同，ABB没有码垛包，但实现起来也很简单，也甚至可以实现复杂码垛情况。下面以简单的码垛为例。pBase为基准示教点，partColumns为列数，partWidth为列宽，PartHeight为单层码垛高度，numCounter已经存在的工件数量，返回robtarget机器人应该放置或抓取的位置。 FUNC robtarget pStack（robtarget pBase，num partColumns，num partWidth，num PartHeight，num numCounter） VAR num Columns; VAR num Rows; Columns：=（ numCounter -1） MOD partColumns; Rows：=（ numCounter -1-Columns）/partColumns; RETURN Offs（pBase，0，Columns*（PartWidth），Rows*PartHeight）; ENDFUNC 如何实现机器人在任意路径上可自动回原点 多数项目机器人直接自动回原点可能会导致撞机，只能通过增加过渡点的方式实现，有的时候过渡点可以设置成机器人当前位置在坐标系中往方向偏移位移的位置，如果需要更加严格保证安全，可以根据位置和旋转方向来判定机器人需要往何种方向偏移，这里不做深究。 FUNC robtarget getRobT（switch Rel，num x，num y，num z，inout tooldata tool，wobjdata wobj） VAR robtarget pCurrent; pCurrent：=crobT（tool：=toolwobj：=wobj）; IF Present（Rel） THEN IF Present（x） THEN pCurrent.trans.x：=pCurrent.trans.x+x; ENDIF IF Present（y） THEN pCurrent.trans.y：=pCurrent.trans.y+y; ENDIF IF Present（z） THEN pCurrent.trans.z：=pCurrent.trans.z+z; ENDIF ELSE IF Present（x） THEN pCurrent.trans.x：=x; ENDIF IF Present（y） THEN pCurrent.trans.y：=y; ENDIF IF Present（z） THEN pCurrent.trans.z：=z; ENDIF ENDIF RETURN pCurrent; tENDFUNC 其中实现了有开关型参数Rel情况下，实现增量偏移，无Rel时实现*偏移，也可以根据可选参数x，y，z实现方向偏移，返回robtarget目标位置（过渡点）。下面是指令的使用示例，调用形式上与RAPID内置Offs等指令有些相识。 。
ABB DSQC 223 3HAB 2214-8/4 I/O BOARD * ABB DSQC 249A 3HAA3563-AGA/1 SERVO RECTIFIER BOARD ABB DSQC314B REMAN. DSQC 314B ABB 3HAB-2207-1 BOARD 3HAB22071 DSQC-236D ABB DSQC 258 3HAA 3563-AUA/1 POWER SUPPLY * ABB DSQC 266C 3HAB8798-1/2B ROBOT AXIS DRIVE BOARD NEW ABB DSQC 324 16MB Memory Board 3HAB 5957-1/3 NEW ABB 3HAB-2211-1/1 BOARD DSQC-256-A ABB3HAB221111 New ABB Memory Board DSQC 317 #28968 ABB DSQC266T 3HAB8802-1/2B ROBOT SERVO 3HAB880212B ABB DSQC 325 main computer board 3HAB2241-1 ABB DSQC 504 3HAC5689-1 S4C+ Robot Base Connection Unit ABB 3HAB2236-1 BOARD DSQC-321 3HAB22361 ABB DSQC 336 Ethernet board 3HNE 00001-1 ABB DSQC 317 6MB Memory Board 3HAB2220-1 ABB 3HAB-2214-8/4 DSQC 223 I/O MODULE ~ Used ABB #DSQC-328-3HAB-?7229-1 P/C I/O Board 7/3 ABB 3HAB-2211-1-1 BOARD DSQC-256-A ABB3HAB221111 ABB DSQC 509 3HAC5687-1 S4C+ M2000 Robot Panel Unit ABB 3HAB2211-1-1 BOARD DSQC-256A 3HAB221111 ABB 3HAB2211-1-1 BOARD DSQC-256A 3HAB221111 ABB DSQC 266G Servo Control DSQC266G USED Free Ship ABB SVC401A DSQC 239 2668 165-14/3 I/O Board USED ABB DSQC 236G Servo Control DSQC236G USED Free Ship ABB 3HAB8801-1/2 ROBOTIC SERVO AMPLIFIER DSQC 266G ABB (ASEA DSQC 140) POWER SUPPLY GOOD TAKEOUT! ABB DSQC 239 I/O BOARD ABB 3HAB6182-1 CPU BOARD DSQC-335 3HAB61821 NEW ABB (ASEA DSQC 103) YB161102-AD/1 GOOD TAKEOUT! ASEA Brown Boveri, ABB DSQC 123B with DSQC 130 ASEA Brown Boveri, ABB DSQC 123B with DSQC 130 ASEA Brown Boveri, ABB DSQC 123B with DSQC 130 ASEA Brown Boveri, ABB DSQC 123B with DSQC 130 ABB SENSOR MODULE DSQC-256A 3HAB2211-1-1 ABB SENSOR MODULE DSQC-256A 3HAB2211-1-1 Warranty ABB YB560103-CF/1 Circuit Board DSQC 237 402-165 ABB DSQC315 / 3HAB2214-1/2 CARD ABB DSQC 243 Serial Measurement Board 3HAA 0001 ABB Robotics Servo Amplifier DSQC2498 3HAA3563-AHA ABB DSQC 252 Safety Board ABB3HAA 3563-ALG/2 DSQC252 NEW ABB DSQC 266G 3HAB8801-1/2B ROBOT CONTROL BOARD ABB SERVO DRIVE UNIT DSQC 346G 3HAB8101-8 /14A ABB DSQC 355 Analog I/O board 3HNE 00554-1 ABB 3HAB 2211-1 SYSTEM BOARD DSQC 256A ~ Used Surplus ABB Robotics Sensor Module DSQC-256A DSQC256A ABB DSQC 202 Computer board YB 560 103-AC ABB Robotics Control DSQC230 DSQC-230 ABB Robotics I/O Module DSQC-239 DSQC239 ABB DSQC325 3HAB2241 SERVO ROBOT I/O 3HAB2241-1 ABB Robotics Digital I/O Module DSQC-223 DSQC223 ABB ROBOTIC DRIVE 3HAB-5845-1/2-D?SQC334 ABB DSQC 258 POWER SUPPLY UNIT 3HAA 3536-AUA/1 Used ABB 3HAB2211-1/1 SENSOR MODULE DSQC-256A 3HAB221111 ABB DSQC 3HAA3563-AGA/2 Rectifier Module ABB 3HAA3563-AHA S3 DSQC249B RECTIFIER BOARD ABB DSQC 245 Serial Measurement Board 3HAA3563 ABB, ABB Power supply, DSQC 334, 3HAB 5845-1, S4C, ABB DSQC 224 Combination I/O Board ABB DSQC 331 3HAB7215-1/08 ASEA Brown Boveri, ABB DSQC 103 ASEA Brown Boveri, ABB DSQC 103 ABB DSQC 223 Digital I/O Board DSQC223 NEW-NO BOX ABB DSQC 369 3HAB 2424-1 ABB DSQC 103 CIRCUIT BOARD YB161102-AD/1 DSQC 103 ABB ASEA YB161102-AD/1 DSQC 103 CONTROL BOARD ABB ASEA YB161102-AD/1 DSQC 103 8F CONTROL BOARD ABB DSQC 346G 3HAB8101-8/12B Robotic Drive S4C plus ABB DSQC-249B SERVO AMPLIFIER, tested, warranty ABB DSQC-249B SERVO AMPLIFIER, tested, warranty ABB DSQC 236C System Control Drive Unit DSQC236C ABB YB 560 103 BD/3 I/O BOARD DSQC 223 YB560103BD3 ABB SERVO DRIVE UNIT R3HAB8802 DSQC 266T ~ Used ABB DIGITAL I/O BOARD 3HAB2214-8/4 DSQC 223 ~ Used ABB DSQC 504 3HAC5689-1 INTERFACE BOARD * NEW ABB 3HAC2424-1 DSQC369 BACK PLANE BOARD NEW ABB, ABB Robot, DSQC 346G, 3HAB 8101-8, ABB Servo Drive ABB S4C servo drive, ABB S4C+ servo drive ABB DSQC303 3HAA3573-ADA ROBOT 3HAA3573ADA DSQC 303 。
