SPASO11产品介绍 ABB 模块卡件 DCS控制器
SPASO11由厦门雄霸电子商务有限公司供应,我司是一家从事全球工控产品的贸易商 ,优势供应大型DCS系统备件、进口工业机器人备件、大型伺服系统电机驱动器、变频器、电机等各类PLC、DCS工控备件。 主营：A-B罗克韦尔,ABB，美国Foxboro福克斯波罗,TRICONEX英维思,美国GE通用电气,力士乐Rexroth,科尔摩根Kollmorgen,霍尼韦尔Honeywell,罗克韦尔ICS TRIPLEX(ROCKWELL),ELAU,ZYGO,施耐德，本特利BENTLY NEVADA,艾默生Emerson,黑马HIMA,摩托罗拉Motorola，EPRO,ProSoft普罗索夫特,伍德沃德WOODWARD,NI等等。我们以优惠的诚信价格、稳定可靠的进口产品,为您企业的飞速发展献上抱诚守真的服务。
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。 。
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