ABB机器人做单个或双传送链的教程和实例程序
ABB工业机器人官方认证课程3-RobotStudio虚拟仿真基础
https://ke.qq.com/course/218912?_bid=167&_wv=1
说起来真是惭愧，我们老师的课程，上课什么都没教，直接丢给我们这个连接，大作业是两条传送链仿真。
这里我将会告诉大家这个视频的使用方法，并且会将视频中的文件，放在文章的末尾。
算了，还是在开头吧，这样比较开心，我觉得真正需要的人会继续看的，微笑。
两条传送链实例：
链接：https://pan.baidu.com/s/1rwCZx-X5mefW8llUrhgNlw
提取码：zxl9
复制这段内容后打开百度网盘手机App，操作更方便哦
抱走资源记得给我评论哦~
下面是做完的总体效果图，机器人将会拾取两条传送链上的工件并码垛。图与例子不同，未完待续，我会回来修改的。
MODULE
！模块
MainModule
！主模块
TASK PERS tooldata tool:=[TRUE,[[99.70, 170.37 ,1216.55],[1,0,0,0]],[1,[0,1,1],[1,0,0,0],0,0,0]];
！工具数据是可变量，true表示是否安装在机器人上，下面三个参数表示xyz的方向，在后面的数据表示位置，质量，重心负载等等
PERS loaddata LoadEmpty:=[0.01,[0,0,1],[1,0,0,0],0,0,0];
负载数据
PERS loaddata LoadFull:=[40,[0,0,50],[1,0,0,0],0,0,0];
PERS robtarget pPick1:=[[733.54,336.34,-302.61],[1.77512E-06,-7.45058E-09,-1,3.53584E-07],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
机器人第一个拾取点的位置，须使用线性移动将机器人移动到想要的位置，然后选择示教器定点
PERS robtarget pPlace:=[[248.31,-641.89,-734.02],[3.03194E-07,5.96046E-08,-1,-1.78442E06],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pBase1_0:=[[38.31,-641.89,-824.02],[3.03194E-07,5.96046E-08,-1,-1.78442E-06],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pBase1_90:=[[38.31,-641.89,-824.02],[3.03194E-07,5.96046E-08,-1,-1.78442E-06],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS speeddata MinSpeed:=[1000,3000,5000,1000];
PERS speeddata MidSpeed:=[2500,500,5000,1000];
PERS speeddata MaxSpeed:=[5000,5000,5000,1000];
PERS bool bPalletFull1:=FALSE;
PERS num nCount1:=6;
CONST robtarget phome:=[[738.42,340.74,-142.25],[1.77372E-06,8.41591E-18,-1,3.60555E-07],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pPick2:=[[758.60,993.00,-302.61],[1.30672E-06,2.63893E-18,-1,1.25242E-06],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
!主程序
PROC Main()
rInitAll;
Set doStartCNV ;
Set doStartCNV2 ;
WHILE TRUE DO
IF diboxinpox=1 AND bPalletFull1=FALSE THEN
rPick1;
rPlace1;
rPick2;
rPlace1;
ENDIF
WaitTime 0.1;
ENDWHILE
ENDPROC
!初始化程序
PROC rInitAll()
Reset doStartCNV ;
Reset doStartCNV2 ;
MoveJ pHome,MaxSpeed,fine,tool;
bPalletFull1:=FALSE;
nCount1:=1;
ENDPROC
!拾取位置1：将机器人移动到拾取位置的上方
PROC rPick1()
MoveJ Offs(pPick1,0,0,50),MaxSpeed,z50,tool;
MoveL pPick1,MaxSpeed,fine,tool;
Set doGrip;
WaitTime 0.3;
GripLoad LoadFull;
MoveL Offs(pPick1,0,0,50),MinSpeed,z50,tool;
ENDPROC
!拾取位置2：将机器人移动到拾取位置的上方
PROC rPick2()
MoveJ Offs(pPick2,0,0,50),MaxSpeed,z50,tool;
MoveL pPick2,MaxSpeed,fine,tool;
Set doGrip;
WaitTime 0.3;
GripLoad LoadFull;
MoveL Offs(pPick2,0,0,50),MinSpeed,z50,tool;
ENDPROC
!放置函数
PROC rPlace1()
rPosition1;
MoveJ Offs(pPlace,0,0,50),MaxSpeed,z50,tool\WObj:=wobj0;
MoveL pPlace,MaxSpeed,fine,tool\WObj:=wobj0;
Reset doGrip;
WaitTime 0.3;
GripLoad LoadEmpty;
MoveL Offs(pPlace,0,0,50),MidSpeed,z50,tool\WObj:=wobj0;
MoveJ Offs(pPick1,0,0,50),MaxSpeed,z50,tool\WObj:=wobj0;
nCount1:=nCount1+1;
IF nCount1>15 THEN
bPalletFull1:=TRUE;
ENDIF
ENDPROC
!放置的位置，根据基准放置点的偏移量，进行放置
PROC rPosition1()
TEST nCount1
CASE 1:
pPlace:=Offs(pBase1_0,0,0,0);
CASE 2:
pPlace:=Offs(pBase1_0,200+10,0,0);
CASE 3:
pPlace:=Offs(pBase1_0,400+10,0,0);
CASE 4:
pPlace:=Offs(pBase1_0,0,0,90);
CASE 5:
pPlace:=Offs(pBase1_0,200+10,0,90);
CASE 6:
pPlace:=Offs(pBase1_0,400+10,0,90);
CASE 7:
pPlace:=Offs(pBase1_0,0,0,170);
CASE 8:
pPlace:=Offs(pBase1_0,200+10,0,170);
CASE 9:
pPlace:=Offs(pBase1_0,400+10,0,170);
CASE 10:
pPlace:=Offs(pBase1_0,0,0,250);
CASE 11:
pPlace:=Offs(pBase1_0,200+10,0,250);
CASE 12:
pPlace:=Offs(pBase1_0,400+10,0,250);
CASE 13:
pPlace:=Offs(pBase1_0,0,0,340);
CASE 14:
pPlace:=Offs(pBase1_0,200+10,0,340);
CASE 15:
pPlace:=Offs(pBase1_0,400+10,0,340);
DEFAULT:
TPErase;
TPWrite "the Counter of line 1 is error,please check it!";
Stop;
ENDTEST
ENDPROC
!修正模块
PROC rModify()
MoveJ pHome,MinSpeed,fine,tool\WObj:=wobj0;
MoveJ pPick1,MinSpeed,fine,tool\WObj:=wobj0;
MoveJ pBase1_0,MinSpeed,fine,tool\WObj:=wobj0;
MoveJ pBase1_90,MinSpeed,fine,tool\WObj:=wobj0;
ENDPROC
ENDMODULE
注：务必使用虚拟示教器来确定需要定义的点，否则的话很容易出现错误。
本程序中位姿90可删去，因为没有用到。