6026BZ10300

6026BZ10300产品介绍 ABB   模块卡件 DCS控制器

6026BZ10300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。 。

ABB 3HAA-3563 ALA/2 DSQC 252 PC BOARD ABB Robotics Axis Board DSQC236T YB560103-CE/23 ABB Robotics Axis Board DSQC236T YB560103-CE/23 ABB DSQC-223 DIGITAL I/O BOARD FOR IRB300 ROBOT ABB DSQC-223 DIGITAL I/O BOARD FOR IRB300 ROBOT ABB DSQC-223 DIGITAL I/O BOARD FOR IRB300 ROBOT ABB DSQC 236C Drive Unit YB560103-CC ABB DSQC-223 DIGITAL I/O BOARD FOR IRB300 ROBOT ABB DSQC 236G YB560103-CD/26 AXIS DRIVE BOARD REMANNED ABB YB560103 BE/2 DSQC 224 PCB NEW / 1 YEAR WARRANTY ABB YB560103-BD S3/S4 DSQC223 DIGITAL I/O BOARD ABB YB560103-BN S3 DSQC230 COMPUTER CONTROL BOARD ABB DSQC 223 ABB DSQC 230 Board - Communication ABB Circuit Board DSQC 103 YB161102-AD/1 used ABB DSQC 224 I/O Board ABB DSQC230 YB560103-BN/2 YB560103BN/2 ROBOT ABB Typ DSQC 236C GME Robot System Control Board *Test ABB DSQC 223 I/O Board ABB 2668180-107/1 POWER UNIT BOARD DSQC102 YB161103 NEW ABB MODEL DSQC129 YB161102-BV/1 CONVERTER CARD NEW ABB DSQC224 YB560103BE SERVO ROBOT I/O YB560103BE /2 ABB YB-560-103-BD/4 BOARD DSQC 223 YB560103BD4 VERY NICE ABB DSQC235A ROBOT SERVO CARD DSQC-235A ABB PC BOARD DSQC 236T ABB Circuit Board DSQC 129 YB161102-BV Used ABB DSQC-239 YB560103-CH/10 REMOTE I/O BOARD DSQC239 ABB DSQC209 YB560103-AL ROBOT SERVO AMP YB560103AL ABB DSQC-236G YB560103-CD/22 DRIVE BOARD DSQC236G ABB YB-560-103-BE/2 DSQC 224 ABB YB-560-103-BE/2 DSQC 224 PC BOARD ABB DSQC236C AXIS DRIVE BOARD YB560103-CC ABB YB560103-CH DSQC239 REMOTE I/O BOARD ABB DSQC236G AXIS DRIVE BOARD YB560103-CD ABB, ABB Robot, DSQC 223, S4 NEW ABB Robotics Axis Board DSQC236T YB560103-CE/24 ABB, ABB Robot, DSQC 239, S4 ABB DSQC104 YB161102-AE/7 RESOLVER DIGITAL BOARD ABB MODEL YB560103-BD/4 DIGITAL I/O BOARD DSQC223 ABB DSQC 236T Board; P/N: YB560103-CE/28 ABB DSQC236T AXIS DRIVE BOARD YB560103-CE ABB YB560103-CC DSQC-236C PCB / 1 YEAR WARRANTY ABB Robotic Computer Board DSQC 230 H66 ABB Robot DSQC 223 16x2 Analog I/O Board YB560103-AL ABB Circuit Board DSQC 223 YB 560103-BD Refurbished ABB GME PC Board DSQC 236G YB560103-CD/24 56M009G ABB Board - Type DSQC 236G, P/N: YB560103-CD/23 ABB DSQC236A YB560103-CA8 SERVO ROBOT YB560103CA /9 ABB DSQC236A YB560103-CA8 SERVO ROBOT YB560103CA /7 ABB DSQC236A YB560103-CA8 SERVO ROBOT YB560103CA ABB Robotics Axis Board DSQC236T YB560103-CE/26 4 ABB DSQC230 ROBOT COMPUTER CONTROL BOARD YB560103-BN ABB DSQC 236G YB560103-CD/24 AXIS DRIVE BOARD ABB DSQC 236G YB560103-CD/22 AXIS DRIVE BOARD ABB DSQC 236G YB560103-CD/22 AXIS DRIVE BOARD ABB DSQC 236T YB560103-CE/23 AXIS DRIVE BOARD ABB DSQC 236T YB560103-CE/23 AXIS DRIVE BOARD ABB Drive Controller Board DSQC 236T ! WOW ! ABB DSQC 504 3HAC5689-1 Interface Board ! WOW ! ABB Servo Amplifier Module Drive DSQC 249B ! WOW ! ABB DSQC 323 3HAB 5956-1 ABB DSQC 320 3HAB 7231-1 ABB DSQC 259 3HAB 2205-1 ABB DSQC 236G YB 560103-CD ABB YTE102B YT213001-B?B ROBOT SERVO AMP YT213001BB ABB YTE102C YT213001-B?C ROBOT SERVO AMP YT213001BC /1 ABB DSQC266T 3HAB8802-1?/2B ROBOT SERVO 3HAB880212?B ABB DSQC325 3HAB2241 SERVO ROBOT I/O 3HAB2241-1 ABB DSQC326 3HAB2242-1 SERVO ROBOT I/O 3HAB2242-1 ABB DSQC303 3HAA3573-A?DA ROBOT 3HAA3573AD?A DSQC 303 ABB DSQC209 YB560103-A?L ROBOT SERVO AMP YB560103AL ABB DSQC236A YB560103-C?A8 SERVO ROBOT YB560103CA /9 ABB DSQC236A YB560103-C?A8 SERVO ROBOT YB560103CA /7 ABB DSQC236A YB560103-C?A8 SERVO ROBOT YB560103CA ABB YTE102C YT213001-A?C/2 ROBOT SERVO AMP YT213001AC?2 。