IEPAS02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 DSQC224 YB560103BE SERVO ROBOT I/O YB560103BE /2 ABB DSQC236F 3HAA3563-A?JA SERVO ROBOT 3HAA3563AJ?A ABB YTE102C YT213001-A?C/4 ROBOT SERVO AMP YT213001AC?4 ABB YB560103-CF ABB, B12-30-01 4 Pole Contactor, 21 Amp ABB f364-63/0.03 Residual Current Oper. Circuit Breaker ABB Arc Monitor 1SFA663001R1001 60-240 VAC 50-60Hz NIB NEW ABB ALTERNATING RELAY M/N APR43S N919 New GE 453AC2ABB Definite Purpose Contactor 30A 2P 120V ABB MODEL MS325-0.4HK20 3PH MANUAL STARTER 2 NO NEW ABB VIZ-75 Transformer w/ GE Fuse 9F60BHH905 120V ABB 57086785 DI86-M8/8 AB Stromberg ABB ACS 800 HARDWARE MANUAL, NOVEMBER 7, 2002 ABB MODEL C1500200STD TEMPERATURE CONTROLLER NEW NEW FITS ABB/ASEA REPLACEMEN TCONTACT KITS KZ800 EH800 ABB S261-B32 1P, 32A, Circuit Breaker **NIB** ASEA BROWN BOVERI ABB S262 K10A din rail New ABB ACS401600615 AC DRIVE 5HP/3HP 230VAC ABB AC DRIVE 601-0009-5 ASEA BROWN BOVERI ABB S283 k 8A din rail ABB MODEL S1N090TL CIRCUIT BREAKER 90A 3 POLE 480V NEW ABB S272-K2 2 AMP 2 POLE-NEW-MINI CIRCUIT BREAKER ABB CBK-MPIR1W10 PUSHBUTTON WHITE ILLUMINATED 120V NEW ABB CBK-M2BML 2-POS SELECTOR SWITCH MAINTAINED ABB SOLID STATE TIMER TSA141300 TIME DELAY 5 MIN 120VAC ABB C106.02-110 CONTROL UNIT THERMISTOR 110V NEW NEW SURPLUS ABB EH175C-1 120V coil MAGNETIC CONTACTOR NEW ABB Circuit Breaker S282UC K6A 2 Pole 500VDC 6A TRANE/ABB RLY00857/TAC141?0.5 SOLID STATE TIMER TAC14105 New ABB VBC7-30-10 mini contactors 5HP; Coil 24VDC In-line TVSS ABB Entrelec 25 002 18 ABB Contactor COIL ZA300 88 240V 50HZ 260v 60HZ NEW ABB 2 AC Drive 240 VAC AC150-03U-01A2-?4 240 VAC NEW ABB VDE-0435-C250 CONTROL UNIT THERMISTOR NEW ABB, A26-30-01 4 Pole Contactor, 45 Amp ABB WeldingIsolatio?n Contactor # EHW-250W ABB DO890 Digital Output w/ Intrinsic Safety Interface ABB 3E031709 EMU-01 BOARD NEW ABB GME PC Board DSQC 236G YB560103-CD/24 56M009G ABB CA5-22E contact block 2NO + 2NC ABB FL4000 Swedrive AB Gearmotor (GEA1640) SattControl, Satt Control, ABB, 492894301 200-RACN ABB Welding Contactor Cat# EHW Size W5 Used 120 V Coil ABB Inventory Contactors,Over?loads, and Accesories ABB, A9-30-01 4 Pole Contactor, 26 Amp ABB COMPACT FUSIBLE SWITCH OESA-CF30J65W ABB Quick Change Cable 6' 836-346/S 836346/S New TAYLOR ABB MOD 300 DIGITAL CONTROLLER BD 6050NA10424 NIB ABB N40E-81 10A CONTACTOR RELAY 4NO 24VAC N739 ABB Contactor COIL ZA300 84 110V 50HZ 120v 60HZ NEW ABB Parajust G006, G00600A00 AC DRIVE ABB S271 Type Miniature Circuit Breakers TAYLOR ABB MOD 300 CONTROLLER BOARD 6051NA10424 ABB, A30-30-01 4 Pole Contactor, 65 Amp ABB ACS601-0020-6-0?00B1200901 600VAC 20HP ABB NLON-01 Lonworks adapter ABB ACS601-0016-2-0?00B1200801 240V 10HP CKT BREAKER FLANGE OPERATED HANDLE MECH, ABB, FHJ-22S12 SattControl, Satt Control, ABB, 940-128-102 i/o card SattControl, Satt Control, ABB, 940-176-103 i/o card ABB 10 HP ITT PUMP SMART VARIABLE FREQUENCY DRIVE VFD ABB Board - Type DSQC 236G, P/N: YB560103-CD/23 ABB White Lamp Actuator W/ Lamp Block CBK-LF6W (NIB) ABB/RANSBURG HV CONTROLLER RDH 611 SattControl, Satt Control, ABB, 4925717-01 PSBDE ABB Circuit Breaker 50Amp 3 Pole SattControl, Satt Control, ABB, 940-151-111 i/o card ABB Min Din Rail Breaker S271-K4A 277/480V 1Pole (NEW) SattControl, Satt Control, ABB, 492838402 i/o card 400:5 Ratio ABB bar type current transformers unused SattControl, Satt Control, ABB, 492837901 i/o card ABB 20hp Motor Control Box +VFD variable speed inverter ABB 02 314 218 TAYLOR ABB MOD 300 D/M MODULE 6009BZ10000 SattControl, Satt Control, ABB, Alfa Laval, 940151121 MS325-16,0 ABB MOTOR STARTER 12,5 TO 16 AMP ABB CP-24/20A ADJ. POWER SUPPLY 1SVR423415R1000 ABB SERVO DRIVE ACC600 DRIVE ABB 2 pole 480VAC circuit breaker ESB42060L ABB S271 K16A 240/415V 16A 1 POLE CIRCUIT ABB Breaker 480V Type ES ESB43050L 50 AMP ABB RPBA-01 Profibus Adapter ABB, A12-30-01 4 Pole Contactor, 28 Amp AB 1326AB-B720F-21 1326ABB720F21 SERVO MOTOR 460V ABB S271 K13A 240/415V 13A 1 POLE CIRCUIT BREAKER AB 1326AB-B410G-21 1326ABB410G21 SERVO MOTOR 460V NIB ABB K40-2 10A CONTACTOR RELAY K40E 4NO 240V N737 。
