[PDF] Manuel dutilisation - RobotStudio

C:\User\ name>\Documents\RobotStudio\Projects

SyncMoveon/Off

WaitSyncTask

[0-121] PROC myProcedure(\switch doThis | switch doThat, INOUT num numRepeats, PERS num dataList{*})

ENDPROC

MoveAbsJ \NoEOffs,v1000,z50,tool0\WObj:=wobj0; PROC MyMoveL(robtarget ToPoint, PERS tooldata Tool,\wobjdata Wobj)

MoveL ToPoint,v100,fine,Tool,\Wobj:=wobj0;

ENDPROC

PROC MyMoveJ(robtarget ToPoint, PERS tooldata Tool,\wobjdata Wobj)

MoveJ ToPoint,v100,fine,Tool,\Wobj:=wobj0;

ENDPROC

.rslib

Procedure 1

Procedure 2Procedure 3

CONST

MODULE Module1

CONST robtarget

[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; ! Procedure main ! Smart Component example, Pick and Place application.

PROC main()

WHILE TRUE DO

PickPart;

ENDWHILE

ENDPROC

PROC PickPart()

!** The robot moves to a wait position 200 mm above the pick position. ** MoveJ Offs(pPick,0,0,200),v500,z1,tVacuum\WObj:=wobjInFeeder; !** The robot waits for a box to pick at the infeeder stop.

WaitDI diBoxInPos,1;

!** The robot goes to the pick position. **

MoveL pPick,v100,fine,tVacuum\WObj:=wobjInFeeder;

!** To attach the box, the robot turns on the digital output signal "doVacuum" which is connected to the

Smart Component "SC_VacuumTool". **

SetDO doVacuum,1;

!** The robot waits for the digital input signal "diVacuum" to go high, which comes from "SC_VacuumTool" and indicates that the box is attached. **

WaitDI diVacuum,1;

!** The robot moves up from the infeeder. ** MoveL Offs(pPick,0,0,200),v500,z1,tVacuum\WObj:=wobjInFeeder; !** The robot moves to the drop position above the pallet. ** MoveL !** To detach the box, the robot turns off the digital output signal "doVacuum" which is connected to the

Smart Component "SC_VacuumTool". **

SetDO doVacuum,0;

!** The robot waits for the digital input signal "diVacuum" to goes low, which comes from "SC_VacuumTool" and indicates that the box is detached. **

WaitDI diVacuum,0;

!** The wait time simulates the time it takes for a real vacuum gripper to loose the vacuum. **

WaitTime 0.5;

ENDPROC

ENDMODULE

C:\Users\\Pictures

Module xxx.zzz has failed. Do you want to continue? ...\MySystem\SYSPAR\

C:\Users\

C:\Users\ C:\Users\\Documents\RobotStudio\Projects\\SignalAnalyzer

Task/Module/Data

Task/Data T_ROB1/Module1/myToolData

T_ROB1/myToolData

DOMAIN/TYPE/InstanceName/AttributeName

MOC/ARM_LOAD/r1_load_4/mass

EIO/EIO_SIGNAL/diMySignal/access

C:\Users\\Documents\RobotStudio\JobTemplates "C:\Program Files (x86)\ABB\RobotStudio YYYY\Bin\Addins\FleetManagement\runjob.exe" "C:\Users\/password: espace de nommage SMDotNetMethods classe publique Methods /// /// Permet d"inverser une valeur booléenne /// /// valeur booléenne d"entrée /// valeur booléenne inversée valeur booléenne InvertBool (valeur publique statique) return (value == false); /// /// Permet d"incrémenter une valeur numérique /// /// valeur à incrémenter /// valeur incrémentée valeur double Increment (valeur publique statique) return (value + 1); ...\Documents\RobotStudio\Widget Components ...\Documents\RobotStudio\Widget Projects ...\Documents\RobotStudio\Widget Components $System\HOME\ProdScr Widget_9 1 Widget_9.dll Widget_9.Widget_9 1 2 1 DataName="MOTLMP" />

DataName="T_ROB1/BASE/wobj0" />

DataName="MOTLMP" />