ABB UNS0881a-P, V1 3BHB006338R0001 Control Board Drive Interface Card

Description

ConfJOff;// Because of the use of offset, UNS0881a-P and V1, the axis configuration monitoring is turned off. Otherwise, the original configuration parameters may be used, which may result in an error ConfLOff// The axis configuration monitoring is turned off because of the use of offset, otherwise the original configuration parameters may be used, which may result in an error message if the position cannot be reached
PDispOnRot,Target_ 20,tWeldGun;// Set the current position and target_ 20 (including translation and rotation), because the robot stops at Target_ ref_ The start point is to set the overall offset relationship between the left track and the right track. UNS0881a-P, V1 uses ot to indicate that translation and rotation are both calculated. If ot is not used, only translation is used and rotation is not calculated
Path_ 30;// Running the original trajectory, at this time, the trajectory refers to the moving relationship of the coordinates, and the robot actually walks on the left product trajectory

PDispOff;// Track completion, close translation relationship
1. The robot has programs
2. The process is as follows:
The robot is waiting at home. Someone has pressed the di signal, and the robot starts to execute. Manual can make appointments for many times at a time, that is, if the manual has pressed it for three times at a time, the robot will execute it for three times.
3. We implement it through interruption.
4. The meaning of the interruption is that the robot background is constantly scanning (similar to PLC), which does not conflict with the robot foreground movement. When the background scans the signal in real time, it will execute the set interrupt program. There is no movement instruction in the interrupt program, and the foreground robot will not stop, which will not affect the movement
5. Create a new routine named tr_ 1. Note: Select the type of trap
picture
6. Enter the interrupt program, and insert the following instructions, that is, when the robot executes the interrupt program, add 1 to the number of reg1 records
picture
7. Enter the main program and set the interrupt and corresponding io signal
picture
37 line means that at any time di_ 1 signal changes from 0 to 1, and tr execution will be triggered_ 1 Interrupt the program, i.e. set flag1 to true
The 35-37 line program only needs to be run once. It is similar to the setting switch and does not need to be run repeatedly
8. The main procedures are as follows. That is, if reg1=0, the robot waits at home

details: if you need an urgent delivery order, please feel free to contact us, and we will do our best to meet your needs.

Price problem: if you find that other suppliers offer cheaper prices for the same product, we are also willing to provide you with reference prices and give you further discounts.