ABB机器人力保持程序
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1 MODULE ForceRout 2 PROC ForceHold(PERS robtarget ForceHoldP10, PERS num MoveNum,INOUT tooldata toolName,INOUT num ForceNum) 3 ForceHoldP10:=CRobT(\Tool:=toolName); 4 FCPress1LStart RelTool(ForceHoldP10,0,30,0),v60\Fz:=ForceNum,80\ForceFrameRef:=FC_REFFRAME_TOOL\ForceChange:=200\DampingTune:=100\TimeOut:=5\UseSpdFFW\PosSupvDist:=9e9,fine,toolName; 5 FCPressL RelTool(ForceHoldP10,MoveNum,30,0),v60,ForceNum,z30,toolName; 6 !ForceHoldP20 := CRobT(\Tool:=toolName); 7 !speedend.v_ori := vSetNum.v_ori; 8 FCPressEnd RelTool(ForceHoldP10,MoveNum-10,30,-40),v60\ForceChange:=400\ZeroContactValue:=-130,toolName; 9 !MoveL RelTool(ForceHoldP10,MoveNum - 30,30,-50\Rz:=20), vSetNum, z50, toolPut; 10 ENDPROC 11 ENDMODULE
写入一个点位然后进行后续点位的偏移,力值可以自己进行设定
参考文档:应用手册→RobotWare选项→Application manual-ForceControl
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