ABB机器人圆形角焊缝焊接程序

以下是ABB机器人圆形角焊缝的程序，它将一个焊接任务分为了多个子程序段（细化任务），该程序可实现自主计算焊道布置，简化操作，已经过实践检验。本文旨在提供思路，其中缺少少量关键代码，并不保证程序具有可运行能力。

MODULE MainModule
!***********************************************************
!
! Module:
!
! Description:
!
!
! Author: sunny
!
! Version: 1.0
!
!***********************************************************

!***********************************************************
!
! Procedure main
!
!   This is the entry point of your program
!
!***********************************************************

PROC main()!main Program
    MoveToblind;
    Threepoint_teach;
    CaculateWobj;
    pose_update tWeldGun,wweld;

    Back_to_Start;
    Autoweld;    
ENDPROC

PROC MoveToblind()!安全点设置
	MoveJ p_blind_home10, v100, z10, tWeldGun;
	!MoveJ p_blind_gd10, v100, z10, tWeldGun;
    !MoveJ p_blind_gd20, v100, z10, tWeldGun;
ENDPROC

PROC Threepoint_teach()!三点示教圆
    MoveJ p_circle_one, v100, fine, tWeldGun;
    stop;
	MoveL p_circle_two, v100, fine, tWeldGun;
    stop;
    MoveL p_circle_three, v100, fine, tWeldGun;
    stop;
ENDPROC

PROC CaculateWobj()!工具坐标计算         
    pCircleCenter.trans:=GetCircleCenter(p_circle_one.trans,p_circle_two.trans,p_circle_three.trans);
    pCircleCenter.rot:=p_circle_one.rot;
    pCircleCenter.robconf:=p_circle_one.robconf;
    pCircleCenter.extax:=p_circle_one.extax;
    Radius:=CaculateRadius(p_circle_one.trans,pCircleCenter.trans);
    CacFrame:=DefFrame(pCircleCenter,p_circle_one,p_circle_two);
    topsurface.uframe:=CacFrame;
    topsurface.oframe:=[[0,0,0],[1,0,0,0]];
    wweld.uframe:=topsurface.uframe;
    wweld.uframe.trans.z:=topsurface.uframe.trans.z-H;
    wweld.oframe:=[[0,0,0],[1,0,0,0]];
ENDPROC

PROC pose_update(PERS tooldata tWeldGun, PERS wobjdata wweld)!计算上表面圆周及示教焊接过程中的焊枪姿态

    pose1.trans:=p_circle_one.trans;
    pose1.rot:=p_circle_one.rot;
    pose2:=wweld.uframe;
    
    
    pCircleCenter.trans:=wweld.oframe.trans;
    pCircleCenter.rot:=pose_wweld.rot;
    MoveL p_circle_two, v100, fine, tWeldGun;
         
    p_upAngle0:=Offs(pCircleCenter, Circlepoint_x(0,Radius),Circlepoint_y(0,Radius),-H);
    p_upAngle60:=Offs(pCircleCenter, Circlepoint_x(60,Radius),Circlepoint_y(60,Radius),-H);
    p_upAngle120:=Offs(pCircleCenter, Circlepoint_x(120,Radius),Circlepoint_y(120,Radius),-H);
    p_upAngle180:=Offs(pCircleCenter, Circlepoint_x(180,Radius),Circlepoint_y(180,Radius),-H);
    p_upAngle240:=Offs(pCircleCenter, Circlepoint_x(240,Radius),Circlepoint_y(240,Radius),-H);
    p_upAngle300:=Offs(pCircleCenter, Circlepoint_x(300,Radius),Circlepoint_y(300,Radius),-H);
    p_upAngle360:=Offs(pCircleCenter, Circlepoint_x(360,Radius),Circlepoint_y(360,Radius),-H);
    p_upAngleAOA:=Offs(pCircleCenter, Circlepoint_x(AOA,Radius),Circlepoint_y(AOA,Radius),-H);
    
    p_upAngle0.rot:=pCircleCenter.rot;
    p_upAngle0.robconf:=pCircleCenter.robconf;
    MoveL p_upAngle0, v50, fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle60.rot:=p_upAngle0.rot;
    p_upAngle60.robconf:=p_upAngle0.robconf;
    MoveL p_upAngle60, v50, fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle120.rot:=p_upAngle60.rot;
    p_upAngle120.robconf:=p_upAngle60.robconf;
    MoveL p_upAngle120, v50,  fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle180.rot:=p_upAngle120.rot;
    p_upAngle180.robconf:=p_upAngle120.robconf;
    MoveL p_upAngle180, v50,  fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle240.rot:=p_upAngle180.rot;
    p_upAngle240.robconf:=p_upAngle180.robconf;
    MoveL p_upAngle240, v50,  fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle300.rot:=p_upAngle240.rot;
    p_upAngle300.robconf:=p_upAngle240.robconf;
    MoveL p_upAngle300, v50, fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngle360.rot:=p_upAngle300.rot;
    p_upAngle360.robconf:=p_upAngle300.robconf;
    MoveL p_upAngle360, v50,  fine, tWeldGun\WObj:=wweld;
    stop;
    p_upAngleAOA.rot:=p_upAngle360.rot;
    p_upAngleAOA.robconf:=p_upAngle360.robconf;
    MoveL p_upAngleAOA, v50,  fine, tWeldGun\WObj:=wweld;
    stop;
ENDPROC

PROC Back_to_Start()!返回起焊安全点
    MoveJ p_upAngle360, v50,  z20, tWeldGun\WObj:=wweld;
    MoveC p_upAngle300, p_upAngle240,v50,  z20, tWeldGun\WObj:=wweld;
    MoveC p_upAngle180, p_upAngle120,v50,  z20, tWeldGun\WObj:=wweld;
    MoveC p_upAngle60, p_upAngle0,v50,  z20, tWeldGun\WObj:=wweld;
    
    MoveJ Offs(p_upAngle0,50,0,-50), v50,  fine, tWeldGun\WObj:=wweld;
    stop;
ENDPROC

PROC Path_Poseupdate()！焊接姿态赋值
    p_bAngle0.rot:=p_upAngle0.rot;
    p_bAngle0.robconf:=p_upAngle0.robconf;
    p_bAngle60.rot:=p_upAngle60.rot;
    p_bAngle60.robconf:=p_upAngle60.robconf;
    p_bAngle120.rot:=p_upAngle120.rot;
    p_bAngle120.robconf:=p_upAngle120.robconf;
    p_bAngle180.rot:=p_upAngle180.rot;
    p_bAngle180.robconf:=p_upAngle180.robconf;
    p_bAngle240.rot:=p_upAngle240.rot;
    p_bAngle240.robconf:=p_upAngle240.robconf;
    p_bAngle300.rot:=p_upAngle300.rot;
    p_bAngle300.robconf:=p_upAngle300.robconf;
    p_bAngle360.rot:=p_upAngle360.rot;
    p_bAngle360.robconf:=p_upAngle360.robconf;
    p_bAngleAOA.rot:=p_upAngleAOA.rot;
    p_bAngleAOA.robconf:=p_upAngleAOA.robconf;
ENDPROC

PROC Autoweld()!自动焊接及排道
    VAR num n:=0;
    VAR num i;             
    VAR num j;
    FOR i FROM NOW_i TO LAYER DO







	ENDFOR
ENDPROC

PROC welding()!焊接
    ArcLStart p_bAngle0, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;
    ArcC p_bAngle60, p_bAngle120, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;
    ArcC p_bAngle180, p_bAngle240, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;
    ArcCEnd p_bAngle300, p_bAngleAOA, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;
    MoveJ Offs(p_bAngle360,50,0,-50), v50,  fine, tWeldGun\WObj:=wweld; 

    Back_to_Start;
    stop;
ENDPROC

PROC WeldPathCac(num Tier, num n, PERS tooldata tWeldGun, PERS wobjdata wweld)!计算焊道的轨迹








    pCircleCenter.trans:=wweld.oframe.trans;
    pCircleCenter.rot:=pose_wweld.rot;
    p_bAngle0:=Offs(pCircleCenter, Circlepoint_x(0,Dr+Radius),Circlepoint_y(0,Dr+Radius), Dh);
    p_bAngle60:=Offs(pCircleCenter, Circlepoint_x(60,Dr+Radius),Circlepoint_y(60,Dr+Radius), Dh);
    p_bAngle120:=Offs(pCircleCenter, Circlepoint_x(120,Dr+Radius),Circlepoint_y(120,Dr+Radius), Dh);
    p_bAngle180:=Offs(pCircleCenter, Circlepoint_x(180,Dr+Radius),Circlepoint_y(180,Dr+Radius), Dh);
    p_bAngle240:=Offs(pCircleCenter, Circlepoint_x(240,Dr+Radius),Circlepoint_y(240,Dr+Radius), Dh);
    p_bAngle300:=Offs(pCircleCenter, Circlepoint_x(300,Dr+Radius),Circlepoint_y(300,Dr+Radius), Dh);
    p_bAngle360:=Offs(pCircleCenter, Circlepoint_x(360,Dr+Radius),Circlepoint_y(360,Dr+Radius), Dh);
    p_bAngleAOA:=Offs(pCircleCenter, Circlepoint_x(AOA,Dr+Radius),Circlepoint_y(AOA,Dr+Radius), Dh);
    Path_Poseupdate;
ENDPROC