Difference between revisions of "Program Examples - Robot Pick and Place (P&P)"
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here is an example of doing Robot Pick and Place. We use puma 6 axis robot in this example: | here is an example of doing Robot Pick and Place. We use puma 6 axis robot in this example: | ||
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Revision as of 09:56, 12 January 2017
here is an example of doing Robot Pick and Place. We use puma 6 axis robot in this example: File:PnP1.JPG File:PnP2.JPG
PnP.PRG:
'------------------------------------------------------------------------------
' File: PnP.prg
' Purpose: Robot simple Pick & Place
' Version: 1.00
' Author: Or Karni
' History: 11.JAN.2017 - created
'------------------------------------------------------------------------------
dim shared jntZeroPosition as joint of xyzypr = {0,0,0,0,0,0}
dim shared jntPickHigh as joint of xyzypr = {120,45,0,0,45,0}
dim shared jntPickLow as joint of xyzypr = {120 , 49.9504 , 0.352258 , 0 , 39.6973 , 0}
dim shared jntPlaceHigh as joint of xyzypr = {60,45,0,0,45,0}
dim shared jntPlaceLow as joint of xyzypr = {60 , 49.9504 , 0.352258 , 0 , 39.6973 , 0}
dim shared dVelSlow as double = 40.0
dim shared dVelFast as double = 80.0
program
Sys.Vrate = 100.0
with Puma
Attach
En = TRUE
Sleep 100
while NOT En
Sleep 100
end while
Move jntZeroPosition Vcruise=dVelSlow
call waitMotion
call pickPlaceJoint
Move jntZeroPosition Vcruise=dVelSlow
call waitMotion
Detach
end with
end program
sub pickPlaceJoint
dim i as long
dim dVelFac as double = 0.9
Move PUMA jntZeroPosition Vcruise=dVelSlow
call waitMotion
Move PUMA jntPickHigh Vcruise=dVelSlow
call waitMotion
Puma.BlendingMethod = 1
Puma.Cp = 50
puma.J1.PeMax = 3.0 ' 0.2
for i = 1 to 10
Move Puma jntPickHigh Vcruise = PUMA.Vmax * dVelFac
Move Puma jntPickLow Vcruise = PUMA.Vmax
call waitMotion
Move Puma jntPickHigh Vcruise = PUMA.Vmax
Move Puma jntPlaceHigh Vcruise = PUMA.Vmax * dVelFac
Move Puma jntPlaceLow Vcruise = PUMA.Vmax
call waitMotion
Move Puma jntPlaceHigh Vcruise = PUMA.Vmax
next i
Move PUMA jntZeroPosition Vcruise = dVelSlow
call waitMotion
end sub
sub waitMotion
while puma.IsMoving
Sleep 1
end while
end sub