我在机器上标有ABB不知上标tm是什么意思思?

来源：蜘蛛抓取(WebSpider) 时间：2016-07-11 15:17 标签： 不知疲倦的意思是什么
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新人贴！兄弟我从事机器人维修行业的！对ABB 了解一些！有问题及需求可以留言！
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加TA为好友 发表于： 23:06:23 楼主
新人贴！兄弟我从事机器人维修行业的！对ABB&了解一些！有问题及需求可以留言！M2000&IRC5IRB&140&&&&IRB&2400应该有人看得懂吧！欢迎交流&&
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加TA为好友 发表于： 23:18:11 1楼
求交流。。。求种子。。。求代码。。。&IRC5控制器IRB&140&IRB&2400
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加TA为好友 发表于： 23:24:04 2楼
回复内容：对：&王者之师——广州@阿君&&求交流。。。求种子。。。求代码。。。&IRC5控制器I...&内容的回复！&朋友，你发的IRC&5怎么有点不像啊！是不是版本很老了啊！还有变压器更不像或者也很老了！那三个风扇有点像！嘻嘻&有点像双层立柜那种！
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加TA为好友 发表于： 23:25:09 3楼
回复内容：对：&王者之师——广州@阿君&&求交流。。。求种子。。。求代码。。。&IRC5控制器I...&内容的回复！&我刚发了个贴，正在审，有空可以看看1
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加TA为好友 发表于： 23:29:47 4楼
你好！帖子已经审核通过了。。。多多交流。。。机器人版块永远欢迎热心的你！！！
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加TA为好友 发表于： 10:05:41 5楼
你好啊&我想问一下在焊接方面的应用，ABB有哪些优缺点？谢谢！
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加TA为好友 发表于： 13:12:10 6楼
引用 HFU 的回复内容： 你好啊 我想问一下在焊接方面的应用，ABB有哪些优缺点... 点焊 OR 弧焊。。。
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加TA为好友 发表于： 22:20:08 7楼
楼主，我是初学者。请问如果使用PLC的话，除了集成PLC，AC500以外，能不能使用其他的PLC呢？如果可以的话，应该怎么连接呢？
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加TA为好友 发表于： 22:35:14 8楼
欢迎楼主给我们扶贫，偶知识贫瘠的很 & & & &
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加TA为好友 发表于： 15:13:43 9楼
引用&今生缘&的回复内容：&欢迎楼主给我们扶贫，偶知识贫瘠的很&&&&&&&&&&&
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加TA为好友 发表于： 11:56:42 10楼
你好。我单位使用的ABB机器人，在运行当中总是会莫名的减速回到初始位置，然后又正常使用。具体情况是：通常有两个垛堆，总是在左侧的垛堆时，会出现这个问题，而且有时候一个班出现10几次，有时候可能会出现3次左右，从现象上看，估计程序没有问题，向请您指教一下，一般会是什么情况因起的这种可能？
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加TA为好友 发表于： 22:46:03 11楼
你好，&我也做过多年ABB&机器人维修，交个朋友，多交流。QQ
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加TA为好友 发表于： 05:14:06 12楼
我好本人新手刚开始学ABB维修，希望得到大家赐教！！！
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加TA为好友 发表于： 05:20:23 13楼
你好，我现在有一个问题ABB机器人 开机后按下使能键 & 显示报报警英文意思大概是额外接触器打开，且给伺服电源通电的接触器不能吸下，寻求不家帮助。有懂高人指点指点，非常感激
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加TA为好友 发表于： 09:09:16 14楼
你好，我有套ABB的码垛程序，现在的问题是每次码完垛以后， 机器人输出的码垛完成信号不能复位，导致第二个托盘到位停不下来，请你帮我看一下程序是什么问题，谢谢MODULE MainMoudle PERS wobjdata WobjPallet_L:=[FALSE,TRUE,&&,[[-456.216,-3.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];PERS wobjdata WobjPallet_R:=[FALSE,TRUE,&&,[[-421.764,3.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];PERS tooldata tGripper:=[TRUE,[[0,0,527],[1,0,0,0]],[40,[0,0,150],[1,0,0,0],0,0,0]];PERS loaddata LoadFull:=[20,[0,0,300],[1,0,0,0],0,0,0.1];PERS wobjdata CurWPERS jointtarget jposHome:=[[-6.6.5.,0,-28.1719],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget pPlaceBase0_L:=[[341.98,8.57],[9.6...53836E-06],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget pPlaceBase90_L:=[[-335.46,5.32],[1.2...26441E-06],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget pPlaceBase0_R:=[[296.2..],[0,0.,-0.],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtarget pPlaceBase90_R:=[[218.5..],[0,-0..],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtarget pPick_L:=[[.69,-633.76],[1.7...05762E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget pPick_R:=[[34,442.,-26.],[0,0.,-0.],[0,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtarget pHome:=[[.69,564.94],[1.7...05762E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERS robtarget pPlaceBase0; & &PERS robtarget pPlaceBase90;
& &PERS robtarget pP PERS robtarget pPPERS robtarget pPickSPERS num nCycleTime:=16.75;
& &PERS num nCount_L:=1; & &PERS num nCount_R:=1; & &PERS num nPallet:=2; & &PERS num nPalletNo:=1; & &PERS num nPickH:=300; & &PERS num nPlaceH:=250; & &PERS num nBoxL:=715; & &PERS num nBoxW:=510; & &PERS num nBoxH:=140; & &VAR &clock Timer1; & &PERS bool bReady:=TRUE;
& &PERS bool bPalletFull_L:=TRUE;
& &PERS bool bPalletFull_R:=FALSE;
& &PERS bool bGetPosition:=TRUE;
& &VAR triggdata HookA
& &VAR triggdata HookO & & &VAR intnum iPallet_L; & &VAR intnum iPallet_R; & &PERS speeddata vMinEmpty:=[0,1000]; & &PERS speeddata vMidEmpty:=[0,1000]; & &PERS speeddata vMaxEmpty:=[0,1000]; & &PERS speeddata vMinLoad:=[0,1000]; & &PERS speeddata vMidLoad:=[0,1000]; & &PERS speeddata vMaxLoad:=[0,1000]; PERS num Compensation{32,3}:=[[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0]]; VAR pos pos1:=[0,0,0];PROC main() & &rInitA & &WHILE TRUE DO & &IF bReady THEN & & &rP &rPENDIFrCycleCENDWHILEENDPROCPROC rInitAll() & &rCheckHomeP & &ConfL\OFF;ConfJ\OFF;nCount_L:=1; & &nCount_R:=1;nPallet:=1;nPalletNo:=1;bPalletFull_L:=FALSE;bPalletFull_R:=FALSE;bGetPosition:=FALSE;Reset do00_ClampAReset do01_HookAClkStop Timer1;ClkReset Timer1;TriggEquip HookAct,100,0.1\DOp:=do01_HookAct,1;TriggEquip HookOff,100\Start,0.1\DOp:=do01_HookAct,0;IDelete iPallet_L; & &CONNECT iPallet_L WITH tEjectPallet_L; & &ISignalDI di02_PalletInPos_L,0,iPallet_L; & &IDelete iPallet_R; & &CONNECT iPallet_R WITH tEjectPallet_R; & &ISignalDI di03_PalletInPos_R,0,iPallet_R;ENDPROCPROC rPick() & &ClkReset Timer1; & &ClkStart Timer1;rCalPMoveJ Offs(pPick,0,0,nPickH),vMaxEmpty,z50,tGripper\WObj:=wobj0;MoveL pPick,vMinLoad,fine,tGripper\WObj:=wobj0;Set do00_ClampAWaittime 0.3;GripLoad LoadFTriggL Offs(pPick,0,0,nPickH),vMinLoad,HookAct,z50,tGripper\WObj:=wobj0;MoveL pPickSafe,vMaxLoad,z100,tGripper\WObj:=wobj0; & & & &MoveL Offs(pPicksafe,-350,0,0),vMaxLoad,z100,tGripper\WObj:=wobj0; & & & &MoveL Offs(pPicksafe,-350,0,400),vMaxLoad,z100,tGripper\WObj:=wobj0;ENDPROCPROC rPlace()MoveJ Offs(pPlace,0,0,nPlaceH),vMaxLoad,z50,tGripper\WObj:=CurWTriggL pPlace,vMinLoad,HookOff,fine,tGripper\WObj:=CurWReset do00_ClampAWaittime 0.5;GripLoad Load0;MoveL Offs(pPlace,0,0,nPlaceH),vMinEmpty,z50,tGripper\WObj:=CurWrPlaceRD;MoveJ pPickSafe,vMaxEmpty,z50,tGripper\WObj:=wobj0;ClkStop Timer1;nCycleTime:=ClkRead(Timer1);ENDPROCPROC rCycleCheck() & &TPETPWrite &The Robot is running!&;TPWrite &Last cycle time &is &: &\Num:=nCycleTTPWrite &The number of the Boxes in the Left pallet is:&\Num:=nCount_L-1;TPWrite &The number of the Boxes in the Right pallet is:&\Num:=nCount_R-1; & &IF (bPalletFull_L=FALSE AND di02_PalletInPos_L=1 AND di00_BoxInPos_L=1) OR (bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1) THEN & &bReady:=TRUE; & &ELSE & &bReady:=FALSE; & &WaitTime 0.1;ENDIFENDPROCPROC rCalPosition() & &bGetPosition:=FALSE; & &WHILE bGetPosition=FALSE DO & &TEST nPalletCASE 1: & & & & & &IF bPalletFull_L=FALSE AND di02_PalletInPos_L=1 AND di00_BoxInPos_L=1 THEN & & & & & &pPick:=pPick_L; & & & & & & & &pPlaceBase0:=pPlaceBase0_L; & & & & & & & &pPlaceBase90:=pPlaceBase90_L; & & & & & &CurWobj:=Wobj0; & & & & & &pPlace:=pPattern(nCount_L);bGetPosition:=TRUE;nPalletNo:=1; & & & &ELSEbGetPosition:=FALSE; & & & &ENDIF
& & & &nPallet:=2;CASE 2: & & & &IF bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1 THEN & & & & & &pPick:=pPick_R; & & & & & & & &pPlaceBase0:=pPlaceBase0_R; & & & & & & & &pPlaceBase90:=pPlaceBase90_R; & & & & & &CurWobj:=WobjPallet_R; & & & & & &pPlace:=pPattern(nCount_R);bGetPosition:=TRUE;nPalletNo:=2; & & & &ELSEbGetPosition:=FALSE; & & & &ENDIF
& & & &nPallet:=1;DEFAULT: & &TPERASE;TPWRITE &The data 'nPallet' is error,please check it!&; & &SENDTESTENDWHILEENDPROCFUNC robtarget pPattern(num nCount) & &VAR robtarget pTIF nCount&=1 AND nCount&=4 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=5 AND nCount&=8 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=9 AND nCount&=12 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=13 AND nCount&=16 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=17 AND nCount&=20 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=21 AND nCount&=24 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=25 AND nCount&=28 THEN & &pPickSafe:=Offs(pPick,0,0,400);ELSEIF nCount&=29 AND nCount&=32 THEN & &pPickSafe:=Offs(pPick,0,0,400);ENDIF & &TEST nCount & &CASE 1: & & &pTarget.trans.x:=pPlaceBase0.trans.x; & &pTarget.trans.y:=pPlaceBase0.trans.y; & &pTarget.trans.z:=pPlaceBase0.trans.z;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0. & & &pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 2: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+20; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-30; & &pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH-120;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 3: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-50; & &pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH+70;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 4: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y; & &pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH-180;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 5: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40; & &pTarget.trans.y:=pPlaceBase0.trans.y; & &pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 6: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-30; & &pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH-100;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 7: & & &pTarget.trans.x:=pPlaceBase0.trans.x+15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-70; & &pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 8: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+15; & &pTarget.trans.y:=pPlaceBase90.trans.y; & &pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH-140;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 9: & & &pTarget.trans.x:=pPlaceBase0.trans.x; & &pTarget.trans.y:=pPlaceBase0.trans.y; & &pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH+30;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0. & & &pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 10: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+25; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW; & &pTarget.trans.z:=pPlaceBase90.trans.z+3*nBoxH-140;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 11: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-50; & &pTarget.trans.z:=pPlaceBase0.trans.z+3*nBoxH+80;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 12: & & &pTarget.trans.x:=pPlaceBase90.trans.x+30; & &pTarget.trans.y:=pPlaceBase90.trans.y; & &pTarget.trans.z:=pPlaceBase90.trans.z+3*nBoxH-180;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 13: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40; & &pTarget.trans.y:=pPlaceBase0.trans.y-15; & &pTarget.trans.z:=pPlaceBase0.trans.z+3*nBoxH+70;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 14: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-65; & &pTarget.trans.z:=pPlaceBase90.trans.z+4*nBoxH-110;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 15: & & &pTarget.trans.x:=pPlaceBase0.trans.x-15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-120; & &pTarget.trans.z:=pPlaceBase0.trans.z+4*nBoxH+30;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 16: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+30; & &pTarget.trans.y:=pPlaceBase90.trans.y-15; & &pTarget.trans.z:=pPlaceBase90.trans.z+4*nBoxH-130;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 17: & & &pTarget.trans.x:=pPlaceBase0.trans.x; & &pTarget.trans.y:=pPlaceBase0.trans.y-20; & &pTarget.trans.z:=pPlaceBase0.trans.z+4*nBoxH+80;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0. & & &pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 18: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-15; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-60; & &pTarget.trans.z:=pPlaceBase90.trans.z+5*nBoxH-140;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 19: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-70; & &pTarget.trans.z:=pPlaceBase0.trans.z+5*nBoxH+90;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 20: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y-20; & &pTarget.trans.z:=pPlaceBase90.trans.z+5*nBoxH-90;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 21: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40; & &pTarget.trans.y:=pPlaceBase0.trans.y-20; & &pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 22: & & &pTarget.trans.x:=pPlaceBase90.trans.x+30; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-50; & &pTarget.trans.z:=pPlaceBase90.trans.z+6*nBoxH-70;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 23: & & &pTarget.trans.x:=pPlaceBase0.trans.x+15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-90; & &pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH+40;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 24: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+10; & &pTarget.trans.y:=pPlaceBase90.trans.y-20; & &pTarget.trans.z:=pPlaceBase90.trans.z+6*nBoxH-110;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 25: & & &pTarget.trans.x:=pPlaceBase0.trans.x; & &pTarget.trans.y:=pPlaceBase0.trans.y-30; & &pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH+100;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0. & & &pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 26: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-5; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-60; & &pTarget.trans.z:=pPlaceBase90.trans.z+7*nBoxH-130;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 27: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-95; & &pTarget.trans.z:=pPlaceBase0.trans.z+7*nBoxH+145;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 28: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y-30; & &pTarget.trans.z:=pPlaceBase90.trans.z+7*nBoxH;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 29: & & &pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40; & &pTarget.trans.y:=pPlaceBase0.trans.y-40; & &pTarget.trans.z:=pPlaceBase0.trans.z+7*nBoxH+180;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 30: & & &pTarget.trans.x:=pPlaceBase90.trans.x; & &pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-70; & &pTarget.trans.z:=pPlaceBase90.trans.z+8*nBoxH-70;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 31: & & &pTarget.trans.x:=pPlaceBase0.trans.x+15; & &pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-110; & &pTarget.trans.z:=pPlaceBase0.trans.z+8*nBoxH+60;pTarget.rot:=pPlaceBase0.pTarget.robconf:=pPlaceBase0.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3}); & &CASE 32: & & &pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-20; & &pTarget.trans.y:=pPlaceBase90.trans.y-40; & &pTarget.trans.z:=pPlaceBase90.trans.z+8*nBoxH-80;pTarget.rot:=pPlaceBase90.pTarget.robconf:=pPlaceBase90.pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});DEFAULT: & &TPE & &TPWrite &The data 'nCount' is error,please check it !&; & &ENDTESTReturn pTENDFUNCPROC rPlaceRD() & &TEST nPalletNoCASE 1: & &Incr nCount_L; & &IF nCount_L&32 THEN & & & &Set do02_PalletFull_L; & &bPalletFull_L:=TRUE;nCount_L:=1;endifCASE 2:Incr nCount_R;IF nCount_R&15 THENSet do03_PalletFull_R; & &bPalletFull_R:=TRUE;nCount_R:=1; & &ENDIFDEFAULT: & &TPERASE; & &TPWRITE &The data 'nPalletNo' is error,please check it!&; & &SENDTESTENDPROCPROC rCheckHomePos() & &VAR robtarget pActualP &IF NOT CurrentPos(pHome,tGripper) THEN & & & & &pActualpos:=CRobT(\Tool:=tGripper\WObj:=wobj0); & & & &pActualpos.trans.z:=pHome.trans.z; & & & &MoveL pActualpos,v500,z10,tG & & & &MoveJ pHome,v1000,fine,tG & & & &ENDIFENDPROCFUNC bool CurrentPos(robtarget ComparePos,INOUT tooldata TCP) & &VAR num Counter:=0; & &VAR robtarget ActualP & &ActualPos:=CRobT(\Tool:=TCP\WObj:=wobj0); & &IF ActualPos.trans.x&ComparePos.trans.x-25 AND ActualPos.trans.x&ComparePos.trans.x+25 Counter:=Counter+1; & &IF ActualPos.trans.y&ComparePos.trans.y-25 AND ActualPos.trans.y&ComparePos.trans.y+25 Counter:=Counter+1; & &IF ActualPos.trans.z&ComparePos.trans.z-25 AND ActualPos.trans.z&ComparePos.trans.z+25 Counter:=Counter+1; & &IF ActualPos.rot.q1&ComparePos.rot.q1-0.1 AND ActualPos.rot.q1&ComparePos.rot.q1+0.1 Counter:=Counter+1; & &IF ActualPos.rot.q2&ComparePos.rot.q2-0.1 AND ActualPos.rot.q2&ComparePos.rot.q2+0.1 Counter:=Counter+1; & &IF ActualPos.rot.q3&ComparePos.rot.q3-0.1 AND ActualPos.rot.q3&ComparePos.rot.q3+0.1 Counter:=Counter+1; & &IF ActualPos.rot.q4&ComparePos.rot.q4-0.1 AND ActualPos.rot.q4&ComparePos.rot.q4+0.1 Counter:=Counter+1; & &RETURN Counter=7;ENDFUNCTRAP tEjectPallet_LReset do02_PalletFull_L; & &bPalletFull_L:=FALSE; & & &TPWrite &The left trip is running!&;ENDTRAPTRAP tEjectPallet_RReset do03_PalletFull_R; & &bPalletFull_R:=FALSE; & & & &TPWrite &The right trip is running!&;ENDTRAPPROC rMoveAbsj() & &MoveAbsJ jposHome\NoEOffs, v100, fine, tGripper\WObj:=wobj0;ENDPROCPROC rModPos() & MoveL pHome,v100,fine,tGripper\WObj:=Wobj0; & MoveL pPick_L,v100,fine,tGripper\WObj:=Wobj0; & MoveL pPick_R,v100,fine,tGripper\WObj:=Wobj0; & MoveL pPlaceBase0_L,v100,fine,tGripper\WObj:=Wobj0; & MoveL pPlaceBase90_L,v100,fine,tGripper\WObj:=Wobj0; & MoveL pPlaceBase0_R,v100,fine,tGripper\WObj:=WobjPallet_R; & MoveL pPlaceBase90_R,v100,fine,tGripper\WObj:=WobjPallet_R;ENDPROCENDMODULE
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加TA为好友 发表于： 15:56:28 15楼
请教一个问题，关于ABB机器人伺服电机拆装编码器之后，机器人不能启动？应该怎样处理！
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加TA为好友 发表于： 23:37:40 16楼
专业ABB机器人维修电话
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加TA为好友 发表于： 09:12:40 17楼
回复内容：对：&ninghuaxia&&请教一个问题，关于ABB机器人伺服电机拆装编码器之后，...&内容的回复！Update&revoluation&counter&or&calibration.
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加TA为好友 发表于： 09:25:07 18楼
回复内容：对：&应应&&你好，我现在有一个问题ABB机器人&开机后按下使能键&...&内容的回复！&Manual&mode&or&Auto&mode?
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加TA为好友 发表于： 13:18:09 19楼
回复内容：对：&王者之师——广州@阿君&&求交流。。。求种子。。。求代码。。。&IRC5控制器I...&内容的回复！&新人请教呀，不知道大哥们有没有类似交流的群呀，工控系统和机器人的，希望能够学习更多知识结识更多同行呀~~~
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加TA为好友 发表于： 16:52:09 20楼
广州安川机电科技有限公司是机器人控制系统中国最具规模和实力的维修服务商，建立了机器人测试平台确保100%出仓率，对您所给的型号维修具有丰富的经验，有问题请致电020-，我们将解决您的机器所出现的故障。
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加TA为好友 发表于： 09:58:11 21楼
你好，我也是刚接触ABB的，想对他们的编程指令有一个全面的学习，但一直找不到一本比较好的书，希望各位前辈能够指点
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加TA为好友 发表于： 10:36:25 22楼
你好，请教一下，ABB机器人的伺服电机品牌，可以换其他的品牌的电机替换吗？
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加TA为好友 发表于： 23:43:42 23楼
D()& &TEST nPalletNoCASE 1:& &Incr nCount_L;& &IF nCount_L&32 THEN& & & &Set do02_PalletFull_L;& &bPalletFull_L:=TRUE;nCount_L:=1;endifCASE 2:
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