ABB WaitDI & 6개 공작물 매거진 & PLC 프로그램 창고 적재

2025-01-10 3 분 소요

보완 기능 추가

매거진(공작물투입부)에 공작물 넣었지만
공작물 없는 경우
시스템 일시정지 시키고
사용자에게 부저 울리고
PB4 버튼 누르면 로봇이 다시 처음부터 6개 투입하는 코드

위의 PLC 코드 맨하단에 아래의 코드 추가

20250110_01

MODULE MainModule
	CONST robtarget pHome:=[[329.55,-26.08,334.47],[0.000108947,-0.556346,-0.830951,-8.14346E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget pHome2:=[[491.93,-26.07,230.36],[0.000135218,-0.556332,-0.83096,-5.93678E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p10:=[[-32,-442,7],[1.84964E-05,-0.650831,-0.759223,-2.51296E-05],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p20:=[[476.85,-432.45,413.36],[4.38213E-05,-0.556315,-0.830971,-8.55472E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p30:=[[616.13,-459.90,332.39],[2.28305E-06,-0.326002,-0.945369,-9.10512E-07],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget con_end:=[[619,-14.78,127],[7.02875E-06,0.103828,-0.994595,2.62461E-08],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget metal_box:=[[394.80,326.41,102.30],[2.7142E-05,0.103895,-0.994588,-2.8837E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget b_p_box:=[[394.84,426.36,102.29],[7.57723E-06,0.103902,-0.994588,-4.6509E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget w_p_box:=[[394.86,542.55,102.27],[5.74707E-06,-0.10393,0.994585,6.29787E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

	VAR num x_pos :=0;
	VAR num y_pos :=0;
	
	PROC main()
		AccSet 1, 1;
		MoveL pHome, v200, fine, tool2_ej;

		WHILE TRUE DO

			IF di02_ma_none = 1 AND di07_running=0 THEN
				pick_plate;
				PulseDO\PLength:=0.2,do02_plcstart;
			ENDIF
			
			IF di06_arrive = 1 THEN
				con_end_proc;
                MoveJ pHome2, v200, fine, tool2_ej;
				IF di03_metal = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					metal_proc;
				ELSEIF di04_plastic_black = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					b_p_proc;
				ELSEIF di05_plastic_white = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					w_p_proc;
				ENDIF
				MoveJ pHome2, v200, fine, tool2_ej;
			ENDIF
			
		ENDWHILE
	ENDPROC
	
	PROC metal_proc()
		MoveJ Offs(metal_box,0,0,60), v200, z30, tool2_ej;
		MoveL metal_box, v30, fine, tool2_ej;
		grip_off;
		MoveL metal_box, v100, z30, tool2_ej;
	ENDPROC
	
	PROC b_p_proc()
		MoveJ Offs(b_p_box,0,0,60), v200, z30, tool2_ej;
		MoveL b_p_box, v30, fine, tool2_ej;
		grip_off;
		MoveL b_p_box, v100, z30, tool2_ej;
	ENDPROC
	
	PROC w_p_proc()
		MoveJ Offs(w_p_box,0,0,60), v200, z30, tool2_ej;
		MoveL w_p_box, v30, fine, tool2_ej;
		grip_off;
		MoveL w_p_box, v100, z30, tool2_ej;
	ENDPROC	
	
	PROC con_end_proc()
		MoveJ Offs(con_end,0,0,60), v200, z30, tool2_ej;
		MoveL con_end, v30, fine, tool2_ej;
		grip_on;
		MoveL Offs(con_end,0,0,60), v100, z30, tool2_ej;
	ENDPROC	
	
	PROC grip_on()
		PulseDO\PLength:=0.2,do00_gripon;			
		WaitDI di00_grip_on_sen,1;
	ENDPROC

	PROC grip_off()
		PulseDO\PLength:=0.2,do01_gripoff;
		WaitDI di01_grip_off_sen,1;
	ENDPROC
	
	PROC rout1()
		MoveJ P20, v200, z50, tool2_ej;
		MoveJ Offs(p30,0,0,50),v200,z20,tool2_ej;
		MoveL p30, v30, fine, tool2_ej;
		grip_off;
		MoveL Offs(p30,0,0,50), v100, z20, tool2_ej;
		MoveJ P20, v200, z50, tool2_ej;
	ENDPROC
	
	PROC pick_plate()
		x_pos := 0;
		y_pos := 0;
		FOR ct2 FROM 1 TO 2 DO
			FOR ct1 FROM 1 TO 3 DO
				MoveJ Offs(p10,x_pos,y_pos,100),v200,z30,tool2_ej;
				MoveL Offs(p10,x_pos,y_pos,0), v30, fine, tool2_ej;
				grip_on;
				MoveL Offs(p10,x_pos,y_pos,100), v100, z30, tool2_ej;
				rout1;

                IF di02_ma_none = 1 THEN
					PulseDO\PLength:=0.2,do04_buzzer;
					WaitDI di08_restart,1;
					MoveL pHome, v200, fine, tool2_ej;
					RETURN;
				ENDIF

				x_pos := x_pos+110;
			ENDFOR
			x_pos := 0;
			y_pos := y_pos-110;
		ENDFOR

	ENDPROC
	
ENDMODULE

창고 적재

우측 메뉴바 상단
툴 좌표계로 티칭 (지금까지는 베이스좌표계로 티칭했었음)
이떄는 Offs 함수 대신 RelTool를 사용

20250110_04

과제

흰색 플라스틱 제품을 창고 상단 (7 ~ 9)에 적재하고
3개 적재 이후 흰색 제품을 더이상 적재할 수 없을 경우
1) 시스템 일시 중단
2) 사용자에게 부저 알림
3) 사용자가 창고 상단 제거
4) 다시 시작 버튼 누르면 반복해서 동작 가능하도록

20250110_02
20250110_03

MODULE MainModule
	CONST robtarget pHome:=[[329.55,-26.08,334.47],[0.000108947,-0.556346,-0.830951,-8.14346E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget pHome2:=[[491.93,-26.07,230.36],[0.000135218,-0.556332,-0.83096,-5.93678E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p10:=[[-32,-442,7],[1.84964E-05,-0.650831,-0.759223,-2.51296E-05],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p20:=[[476.85,-432.45,413.36],[4.38213E-05,-0.556315,-0.830971,-8.55472E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p30:=[[615,-459.90,332.39],[2.28305E-06,-0.326002,-0.945369,-9.10512E-07],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget con_end:=[[615,-16,130],[7.02875E-06,0.103828,-0.994595,2.62461E-08],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget metal_box:=[[394.80,326.41,102.30],[2.7142E-05,0.103895,-0.994588,-2.8837E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget b_p_box:=[[394.84,426.36,102.29],[7.57723E-06,0.103902,-0.994588,-4.6509E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget w_p_box:=[[394.86,542.55,102.27],[5.74707E-06,-0.10393,0.994585,6.29787E-05],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget store1:=[[-39.62,604.81,257.58],[0.42092,-0.561505,0.571821,0.424923],[1,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

	VAR num x_pos :=0;
	VAR num y_pos :=0;
	VAR num tw_pos :=0;

	
	PROC main()
		AccSet 1, 1;
		MoveJ pHome, v200, fine, tool2_ej;

		WHILE TRUE DO

			IF di02_ma_none = 1 AND di07_running=0 THEN
				pick_plate;
				PulseDO\PLength:=0.2,do02_plcstart;
			ENDIF
			
			IF di06_arrive = 1 THEN
				con_end_proc;
				IF di03_metal = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					metal_proc;
				ELSEIF di04_plastic_black = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					b_p_proc;
				ELSEIF di05_plastic_white = 1 THEN
					PulseDO\PLength:=0.2,do03_reset_jedg;
					w_p_proc;
				ENDIF
				MoveJ pHome2, v200, fine, tool2_ej;
			ENDIF
			
		ENDWHILE
	ENDPROC
	
	PROC metal_proc()
		MoveJ Offs(metal_box,0,0,60), v200, z30, tool2_ej;
		MoveL metal_box, v30, fine, tool2_ej;
		grip_off;
		MoveL metal_box, v100, z30, tool2_ej;
	ENDPROC
	
	PROC b_p_proc()
		MoveJ Offs(b_p_box,0,0,60), v200, z30, tool2_ej;
		MoveL b_p_box, v30, fine, tool2_ej;
		grip_off;
		MoveL b_p_box, v100, z30, tool2_ej;
	ENDPROC
	
	PROC w_p_proc()

		MoveJ RelTool(store1,-20,0,-200), v200, z30, tool2_ej;
		
		pos7:

		IF di16_st07 = 0 THEN

			MoveL RelTool(store1,-20,0,-50), v100, fine, tool2_ej;
			MoveL RelTool(store1,-20,0,0), v20, fine, tool2_ej;
			MoveL RelTool(store1,0,0,0), v20, fine, tool2_ej;
			grip_off;
			MoveL RelTool(store1,0,0,-200), v200, fine, tool2_ej;

		ELSEIF di17_st08 = 0 THEN

			MoveL RelTool(store1,-20,-50,-50), v100, fine, tool2_ej;
			MoveL RelTool(store1,-20,-50,0), v20, fine, tool2_ej;
			MoveL RelTool(store1,0,-50,0), v20, fine, tool2_ej;
			grip_off;
			MoveL RelTool(store1,0,-50,-200), v200, fine, tool2_ej;

		ELSEIF di18_st09 = 0 THEN

			MoveL RelTool(store1,-20,-100,-50), v100, fine, tool2_ej;
			MoveL RelTool(store1,-20,-100,0), v20, fine, tool2_ej;
			MoveL RelTool(store1,0,-100,0), v20, fine, tool2_ej;
			grip_off;
			MoveL RelTool(store1,0,-100,-200), v200, fine, tool2_ej;
		
		ENDIF

		IF di19_storeA = 1 THEN
			PulseDO\PLength:=0.2,do04_buzzer;
			WaitDI di08_restart,1;
			GOTO pos7;
		ENDIF
		

		!MoveJ Offs(w_p_box,0,0,60), v200, z30, tool2_ej;
		!MoveL w_p_box, v30, fine, tool2_ej;
		!grip_off;
		!MoveL w_p_box, v100, z30, tool2_ej;
	ENDPROC	
	
	PROC con_end_proc()
		MoveJ Offs(con_end,0,0,60), v200, z30, tool2_ej;
		MoveL con_end, v30, fine, tool2_ej;
		grip_on;
		MoveL Offs(con_end,0,0,60), v100, z30, tool2_ej;
	ENDPROC	
	
	PROC grip_on()
		PulseDO\PLength:=0.2,do00_gripon;			
		WaitDI di00_grip_on_sen,1;
	ENDPROC

	PROC grip_off()
		PulseDO\PLength:=0.2,do01_gripoff;
		WaitDI di01_grip_off_sen,1;
	ENDPROC
	
	PROC rout1()
		MoveJ P20, v200, z50, tool2_ej;
		MoveJ Offs(p30,0,0,50),v200,z20,tool2_ej;
		MoveL p30, v30, fine, tool2_ej;
		grip_off;
		MoveL Offs(p30,0,0,50), v100, z20, tool2_ej;
		MoveJ P20, v200, z50, tool2_ej;
	ENDPROC
	
	PROC pick_plate()
		x_pos := 0;
		y_pos := 0;
		tw_pos := 0;
		FOR ct2 FROM 1 TO 2 DO
			FOR ct1 FROM 1 TO 3 DO
				MoveJ Offs(p10,x_pos,y_pos+tw_pos,100),v200,z30,tool2_ej;
				MoveL Offs(p10,x_pos,y_pos+tw_pos,0), v30, fine, tool2_ej;
				grip_on;
				MoveL Offs(p10,x_pos,y_pos+tw_pos,100), v100, z30, tool2_ej;
				rout1;
				
				IF di02_ma_none = 1 THEN
					PulseDO\PLength:=0.2,do04_buzzer;
					WaitDI di08_restart,1;
					MoveL pHome, v200, fine, tool2_ej;
					RETURN;
				ENDIF
				
				x_pos := x_pos+110;
				tw_pos := tw_pos+2;
			ENDFOR
			x_pos := 0;
			tw_pos := 0;
			y_pos := y_pos-110;
		ENDFOR

	ENDPROC
	
ENDMODULE

tw_pos 는 개인적인 보정값이므로 생략해도 됨

ABB WaitDI & 6개 공작물 매거진 & PLC 프로그램 창고 적재

보완 기능 추가

창고 적재

과제

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