程序解析：
1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。 2、思路清晰，结构编排明确，方便使用者阅读。 %%% VERSION:1
LANGUAGE:ENGLISH %%%
MODULE MainModule
PERS tooldata tGripper:=[TRUE,[[0,0,100],[1,0,0,0]],[25,[0,0,10],[1,0,0,0],0,0,0]]; PERS wobjdata WobBox:=[FALSE,TRUE,\"\
CONST robtarget pPointA:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST robtarget pPointB:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST robtarget PHome:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS loaddata load_Empty:=[1,[0,0,0],[1,0,0,0],0,0,0];
PERS loaddata load_Box:=[20,[0,0,0],[1,0,0,0],0,0,0]; 以上是固定的数据存放位置。
PROC main() 主程序，是一个程序的开始 rInitial;
Accset 60,60; 此部分其实可放入到rInitial中去，这样管理起来更方便 velset 100,100; 此部分其实可放入到rInitial中去，这样管理起来更方便 WHILE TRUE DO
rBox; 在此指令后插入0.3秒的等待指令，防止CPU过负荷的情况出现。 ENDWHILE ENDPROC PROC rInitial()
SetDo DOGrip,0; WaitDI DIGripReleased,1;
MoveJ pHome, v300, z50, tGripper;
ENDPROC PROC rBox()
MoveJ offs(pPointA,0,200,500), v1500, z100,tGripper; MoveJ offs(pPointA,0,200,0), v1500, z50,tGripper; A: TPErase;
IF DIAllowPick=1 THEN WaitTime 0;
ELSEIF DIAllowPick=0 THEN
TPWrite \"Signal of AllowPick no ready,Please Check!\"; GOTO A; ENDIF
MoveL pPointA,v800, fine, tGripper; SetDo DOGrip,1; WaitDI DIGripPicked,1;
Gripload load_Box; 这一句很重要的，设定机器人的实际负荷情况，有利于机器人伺服控制的优化
MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;
MoveJ offs(pPointB,0,0,200), v1000, z50, tGripper\\WObj:=WobBox; MoveL pPointB, v1000, fine, tGripper\\WObj:=WobBox; SetDo DOGrip,0; WaitDI DIGripReleased,1; Gripload load_Empty;
MoveL offs(pPointB,0,200,0), v800, z50, tGripper\\WObj:=WobBox; MoveJ offs(pPointB,0,200,500), v1500, z100, tGripper\\WObj:=WobBox; ENDPROC ENDMODULE
ABB机器人编程02
程序解析：
1、此程序编写的思路是完全按照比赛题目中的要求的进行，就是按步就班式的 2、思路清晰，结构编排明确，方便使用者阅读。
3、有相应的写屏信息提示，方便操作员对机器人运行状态的了解。 4、有一点小问题，就是缺少初始化的部分。
MODULEMainModule
CONSTrobtargetPHOME:=[[1149.87,13.55,451.35],[0.729477,0.0748599,0.679603,0.0199765],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetPA:=[[250.14,-652.34,650.90],[0.429093,0.468557,-0.496153,0.591749],[-1,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetP20:=[[250.14,-652.35,828.56],[0.429091,0.468538,-0.496163,0.591756],[-1,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetP30:=[[695.24,18.14,826.55],[0.0377066,-0.677588,0.0913591,-0.728771],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetP40:=[[1227.51,18.14,826.55],[0.0377092,-0.677583,0.0913642,-0.728774],[0,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetPB:=[[1227.52,18.15,424.02],[0.0377092,-0.677591,0.0913577,-0.728767],[0,0,-2,1],[9
E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROCmain() 在主程序里，过于臃肿，将具体功能尽量细分到例行程序 TPErase;
MoveJPHOME,v1000,z50,tool0; OpenGripper; WaitTime5; WHILEtrueDO IFPLC=1THEN TPErase;
TPWrite\"Warning! Begin to move the new staff...\"; WaitTime1; ClkResetclock1; ClkStartclock1; MovFromAtoB; ClkStopclock1; reg1:=ClkRead(clock1); TPErase;
TPWrite\"Goods handling in place, it take (time in second): \"\\Num:=reg1; 运行时间的显示 WaitTime5; ELSETPErase;
TPWrite\"Waiting for new goods...\"; 运行状态的提醒 WaitDIPLC,1; ENDIF ENDWHILE ENDPROC
PROCOpenGripper() 将对夹具的控制做在一个例行程序里，方便管理 SetG0; ResetG1; ENDPROC
PROCCloseGripper() 将对夹具的控制做在一个例行程序里，方便管理 SetG1; ResetG0; ENDPROC
PROCMovFromAtoB() MoveJP30,v1000,z50,tool0; MoveJP20,v1000,z50,tool0; MoveLPA,v50,fine,tool0; WaitTime1; CloseGripper; WaitTime1;
MoveJP20,v50,z50,tool0; MoveJP30,v1000,z50,tool0; MoveJP40,v1000,z50,tool0; MoveLPB,v50,fine,tool0;
WaitTime1; OpenGripper; WaitTime1;
MoveLP40,v50,z50,tool0; MoveJP30,v1000,z50,tool0; MoveJPHOME,v1000,z50,tool0; ENDPROC ENDMODULE
ABB机器人编程03
程序解析：
1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。 2、思路清晰，结构编排明确，方便使用者阅读。
3、但有点要注意的初始化例行程序只在开始时，执行一次，正常运行时，不再执行。但此程序是每个循环都会进行一次初始化，是有点问题的。
PROC main()
InitAll; 此初始化程序应与循环执行的程序隔离开，使用WHILE指令 Circle; WaitTime 0.5; ENDPROC
PROC InitAll() Reset Do_fixOn; WaitDI\\On ConfJ\\On; ConfL\\On; VelSet 80, 1000; AccSet 70,70;
MoveJ PHome, v150, fine, Tool0\\WObj:=Wobj2; RETURN; ENDPROC
PROC Circle()
MoveJ Home, v60, z0, Tool0\\WObj:=Wobj2; waitDI;
work;
reset waitDI
MoveJ Home, v150, fine, Tool0\\WObj:=Wobj2; ENDPROC PROC fixopen() Set Do_fixopen; ENDPROC
PROC fixclose() Reset Do_fixclose; ENDPROC
PROC Work()
MOVEJ A0 v150, z10, Tool0\\WObj:=Wobj2; fixopen; waittime 2;
MOVEL A1 v30, fine,Tool0\\WObj:=Wobj2; fixclose; waittime 2;
MOVEJ B0 v150, z10, Tool0\\WObj:=Wobj2; MOVEj B1 v30, fine,Tool0\\WObj:=Wobj2; fixopen; waittime 2;
MoveJ PHome, v150, fine, Tool0\\WObj:=Wobj2; ENDPROC
ABB机器人编程04
程序解析：
1、此程序是典型的ABB机器人官方编程思路与方法。 2、思路清晰，结构编排明确，方便使用者阅读。
3、此程序有一个亮点，就是有一个回等待点的例行程序rMoveHome，这个好处在于可以在手动状态下，就能方便的回到机器人的等待位置。 4、有足够的写屏信息，很好地提示运行状态。
PROC Main()
rInitial; rMoveHome; While True Do Velset 100,3000; AccSet 70, 70; rpickworkpiece; rplaceworkpiece; endwhile
proc rpickworkpiece; if workpiece=false
MoveJ pickup, v2000, z5, too10; A: TPErase;
IF DI10_pickup=1 THEN (pickup为PLC发来拾取信号) WaitTime 0;
ELSEIF DI10_pickup=0 THEN TPWrite \"PLC-pickup signal no ready.\"; GOTO A; ENDIF
MoveJ Offs(pickup,0,0,300), v500, z200, too10; SetDo DO10_pickup1,1; wait time 1; workpiece=ture endif endproc
proc rplaceworkpiece; if workpiece=ture
MoveJ placemiddle, v2000, z5, too10; MoveJ placeworkpiece, v2000, z5, too10;
MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10; SetDo DO10_pickup1,0; A: TPErase;
IF DI10_pickon=1 THEN (pickon为PLC检测已放好信号) WaitTime 0;
ELSEIF DI10_pickup=0 THEN TPWrite \"PLC-pickON signal no ready.\"; GOTO A; workpiece=false ENDIF
endproc
PROC rInitial()
TpReadFk nInput,\"Is the pack_machine ready\机器是否准备好） If nInput=4 Then bReady:=False; stop;
ElseIF nInput=5 then bReady:=True; ENDIF
bFirstPickBoard:=True;
TpReadFk nInput,\"Do you want to place workpiece\（机器人抓头是否工件） If nInput=4 Then workpiece:=False; ElseIF nInput=5 then workpiece:=True; ENDPROC
PROC rMoveHome() (定义原点） 此例行程序可以方便地回到等待位置 MoveJ pHome, v500, z50, tGripper; ENDPROC
ABB机器人编程05
程序解析：
1、此程序是典型的ABB机器人官方编程思路与方法。 2、思路清晰，结构编排明确，方便使用者阅读。
3、此程序共分了3个程序模块，清楚地将不同用途的语句分开，方便阅读，这种编程在进行一些复杂系统的编程是非常有用的。
4、里面编程中运用了很多编程技巧，节省了机器人示教的时间，如使用OFFS功能。 5、在写屏信息提示方面也非常丰富。
6、此程序非常适合大家的参考与提高。
7、有一个小问题，缺少搬运重要的负荷重量设定数据。
MODULE Data 此模块专门用于存放程序数据的 !target
CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget delta_pos := [ [ 2, 2, 2, 2, 2, 2], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget jhome := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PERS robtarget roFetch:=[[2000,0,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; PERS robtarget
roDeFetch:=[[2000,1000,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; VAR wzstationary home; VAR shapedata joint_space; VAR num nu_inhome; VAR bool flag1:=FALSE; ENDMODULE %%% VERSION: 1
LANGUAGE: ENGLISH %%%
MODULE CalibData 此模块用于存放需要设定的程序数据
TASK PERS tooldata Tooldata_1:=[TRUE,[[0,0,1000],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]]; TASK PERS wobjdata Workobject_1:=[FALSE,TRUE,\"\
ENDMODULE
MODULE MainModule PROC main() CheckHome; CheckGriper; Production; ENDPROC PROC CheckHome()
IF DOutput(do_inhome) = 1 THEN nu_inhome := 1; ELSE
nu_inhome :=0; ENDIF
TEST nu_inhome CASE 0 : GoHome; CASE 1 : RETURN; DEFAULT : TPWrite \"error\"; Stop; ENDTEST ENDPROC
PROC CheckGriper() IF di_griperclosed = 1 THEN ControlGriper; ELSE RETURN; ENDIF ENDPROC PROC Production() WHILE TRUE DO WaitUntil di_plc=1;
MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; 利用OFFS此功能，减少示教
MoveL roFetch,v1000,fine,Tooldata_1\\WObj:=Workobject_1; CloseGriper;
MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; MoveL roDeFetch,v1000,fine,Tooldata_1\\WObj:=Workobject_1; OpenGriper;
MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\\WObj:=Workobject_1; ENDWHILE ENDPROC PROC CloseGriper() flag1:=FALSE; Reset do_opengriper; Set do_closegriper;
WaitDI di_griperclosed, 1\\MaxTime:=3\\TimeFlag:=flag1; WHILE flag1=TRUE DO
TPWrite\"CANN'T CLOSE GRIPER\"; Stop\\NoRegain; ENDWHILE ENDPROC PROC OpenGriper() flag1:=FALSE; Set do_opengriper;
Reset do_closegriper;
WaitDI di_griperopend, 1\\MaxTime:=3\\TimeFlag:=flag1; WHILE flag1=TRUE DO
TPWrite\"CANN'T OPEN GRIPER\"; Stop\\NoRegain; ENDWHILE ENDPROC
PROC DEF_Zone() 对机器人是否在等待位进行检测 WZHomeJointDef \\Inside, joint_space, home_pos, delta_pos; WZDOSet\\Stat, home\\Inside, joint_space, do_inhome, 1; !RETURN; ENDPROC
PROC GoHome() VAR btnres answer;
VAR string my_message{2}:= [\"\
CONST string my_buttons{2}:=[\"MOVE TO HOME\丰富的写屏指令 my_message{1}:=\"RBT IS IN SAFETY POSITION\";
my_message{2}:=\"OR CANNOT MOVE AUTOMATICALLY\"; answer:= UIMessageBox (
\\Header:=\"RBT IS IN SAFETY AREA TO MOVE ON HOME?\" \\MsgArray:=my_message \\BtnArray:=my_buttons \\Icon:=iconWarning); IF answer=2 THEN EXIT;
!Stop\\NoRegain; ELSE
MoveAbsJ jhome\\NoEOffs, v100, z5, Tooldata_1; ENDIF ENDPROC
PROC ControlGriper() VAR btnres answer;
VAR string my_message{2}:= [\"\
CONST string my_buttons{2}:=[\"OPEN GRIPER\丰富的写屏指令 my_message{1}:=\"GRIPER IS NOT EMPTY\"; my_message{2}:=\"OR SENSOR IS WRONG\"; answer:= UIMessageBox ( \\Header:=\"OPEN THE GRIPER?\" \\MsgArray:=my_message \\BtnArray:=my_buttons \\Icon:=iconWarning); IF answer=2 THEN EXIT;
!Stop\\NoRegain;
ELSE OpenGriper; ENDIF ENDPROC ENDMODULE
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