怎样把几何体导入ABB虚拟机器人软件里？
1.简单的几何体在robotstudio里直接能够绘制，“建模”-“固体”
2.用第三方的3D软件做好模型，保存stp格式。把该文件直接拖到robotstudio窗口里就行了
ABB机器人const,pers,var的区别
5.2 Variable declaration
A variable is introduced by a variable declaration.
Example: VAR num x;
Variables of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.
Example: VAR pos pallet{14, 18};
Variables with value types may be initialised (given an initial value). The expression
used to initialise a program variable must be constant. Note that the value of an
uninitialized variable may be used, but it is undefined, i.e. set to zero.
Example: VAR string author_name := “John Smith”;
VAR pos start := [100, 100, 50];
VAR num maxno{10} := [1, 2, 3, 9, 8, 7, 6, 5, 4, 3];
The initialisation value is set when:
- the program is opened,
- the program is executed from the beginning of the program.
Module1 Module2
Local Data a
Local Data b
Data c
Data d
Data e
Local Data a
Local Data f
Data g
Local Routine e
Routine h
Data e1
Data h1
Data c
Basic Characteristics Data
RAPID Overview 4-23
5.3 Persistent declaration
Persistents can only be declared at module level, not inside a routine, and must always
be given an initial value. The initialisation value must be a single value (without data
or operands), or a single aggregate with members which, in turn, are single values or
single aggregates.
Example: PERS pos refpnt := [100.23, 778.55, 1183.98];
Persistents of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.
Example: PERS pos pallet{14, 18} := [...];
Note that if the value of a persistent is updated, this automatically causes the
initialisation value of the persistent declaration to be updated.
Example: PERS num reg1 := 0;
...
reg1 := 5;
After execution, the program looks like this:
PERS num reg1 := 5;
...
reg1 := 5;
It is possible to declare two persistents with the same name in different modules, if they
are local within the module (PERS LOCAL), without any error being generated by the
system (different data scope). But note the limitation that these two persistents always
have the same current value (use the same storage in the memory).
5.4 Constant declaration
A constant is introduced by a constant declaration. The value of a constant cannot be
modified.
Example: CONST num pi := 3.141592654;
A constant of any type can be given an array (of degree 1, 2 or 3) format by adding
dimensional information to the declaration. A dimension is an integer value greater
than 0.
Example: CONST pos seq{3} := [[614, 778, 1020],
[914, 998, 1021],
[814, 998, 1022]];
ABB机器人动作问题
产生这个情况的问题有很多，首先你要搞清楚现在这个点在程序中的位置，你可以在手动模式下，利用单步走的功能让机器人执行程序，然后走到这个点的时候观察这个点接下来的程序。
1.如果接下来有程序，诸如IF,WAITDI这类语句则表示你机器人抓取后有条件没有满足，只是停在当前。
2.如果没有程序，直接完成了，那么还需要看看有没有别的回原点的子程序，如果没有，那么你再加一个MoveAbsj指令，让它回原点就行了。如果有，你需要查看一下呼叫这个子程序的条件是什么。
你这个问题不是大问题，我只是大概说了一下我的想法，具体解决方法需要根据现场情况来判断，可以的话，找到机器人示教器中的这个点，然后把这段程序发上来看看。
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