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  • Dương Quang Nam 20162788

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    Nam Dương
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    The document contains instructions for moving a robot arm to various waypoints and checking the status of switches to determine the number of repetitions of certain movements. It sets parameters at the beginning, then moves the arm joint by joint to specified waypoints, engages a gripper, and checks if a switch is on or off to determine whether to repeat an inner loop of movements 3 or 5 times, displaying feedback after each repetition. It disengages the gripper, moves to more waypoints, and completes the routine by moving back to the starting position.

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    Original Title

    LaptrinhrobotUR

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    The document contains instructions for moving a robot arm to various waypoints and checking the status of switches to determine the number of repetitions of certain movements. It sets parameters at the beginning, then moves the arm joint by joint to specified waypoints, engages a gripper, and checks if a switch is on or off to determine whether to repeat an inner loop of movements 3 or 5 times, displaying feedback after each repetition. It disengages the gripper, moves to more waypoints, and completes the routine by moving back to the starting position.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    7 views4 pages

    Dương Quang Nam 20162788

    Uploaded by

    Nam Dương
    The document contains instructions for moving a robot arm to various waypoints and checking the status of switches to determine the number of repetitions of certain movements. It sets parameters at the beginning, then moves the arm joint by joint to specified waypoints, engages a gripper, and checks if a switch is on or off to determine whether to repeat an inner loop of movements 3 or 5 times, displaying feedback after each repetition. It disengages the gripper, moves to more waypoints, and completes the routine by moving back to the starting position.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 4

    Dương Quang Nam 20162788

    Set TCP
    Set Xilanhkep=Off

    MoveJ: (Joint Speed: 60° / s2 – Joint Acceleration 80° / s2 )


     Wp1
    MoveL: (Joint Speed: 40° / s2 – Joint Acceleration 60° / s2 )
     Wp2
     Wp3
     Wp4
    MoveJ: (Joint Speed: 60° / s2 – Joint Acceleration 80° / s2 )
     Wp17
     Wp12
    MoveL: (Joint Speed: 40° / s2 – Joint Acceleration 60° / s2 )
     Wp5
     Wait: 0.5
     Set Xilanhkep=On
     Wait Xilanhkep=High
     Wp6
    MoveP:
    MoveC:
     Wp7
     Wp8
    MoveC:
    If CB1=On
    lap:=1
    Loop 5 time :
    MoveC:
     Wp9
     Wp10
    MoveJ:
     Wp30 ( điểm p30 (60,6;39,4; 5) )
     Wp9

     Switch lap
    Case 1:
    Popup: da lap lan 1
    Case 2:
    Popup: da lap lan 2
    Case 3:
    Popup: da lap lan 3
    Case 4:
    Popup: da lap lan 4
    Case 5:
    Popup: da lap lan 5
     lap:=lap+1
    ElseIf CB1=Off
    lap:=1
    Loop 3 time :
    MoveC:
     Wp9
     Wp10
    MoveJ:
     Wp30 ( điểm p30 (60,6;39,4; 5) )
     Wp9
     Switch lap
    Case 1:
    Popup: da lap lan 1
    Case 2:
    Popup: da lap lan 2
    Case 3:
    Popup: da lap lan 3
     lap:=lap+1

    MoveC:
     Wp11
     Wp12
    MoveJ: (Joint Speed: 60° / s2 – Joint Acceleration 80° / s2 )
     Wp18
     Wait: 0.5
     Set Xilanhkep=Off
     Wait Xilanhkep=Low
     Wp13
    MoveP:
    MoveC:
     Wp14
     Wp15
    MoveC:
     Wp16
     Wp13
    MoveJ: (Joint Speed: 60° / s2 – Joint Acceleration 80° / s2 )
     Wp19

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