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Creating a path-following program for an ABB robot

Creating a path-following program for an ABB robot involves using the robot's programming language, which is typically ABB's Rapid programming language.

The specifics of the program depend on the robot model and the requirements of your application. Below is a general outline that you can adapt to your needs. Note that this is a simplified example, and you should refer to the specific documentation for your robot model and the Rapid programming language.

```RAPID
VAR real targetPose[6] := [0, 0, 0, 0, 0, 0];
VAR robtarget target;
VAR bool moveComplete := FALSE;

PROC main()
  ! Set the target pose (position and orientation)
  targetPose := [X, Y, Z, Rx, Ry, Rz]; ! Replace X, Y, Z, Rx, Ry, Rz with your target values

  ! Move to the target pose
  MoveToTarget(targetPose);

  ! Additional steps or logic can be added here
  
  ! Continue with the program or end
ENDPROC

PROC MoveToTarget(robtarget targetPose)
  ! Set the target pose
  target := targetPose;

  ! Move to the target pose
  Move target tooldata := tool0; ! Replace tool0 with your robot's tool

  ! Wait for the movement to complete
  WaitUntil moveComplete;

  ! Reset the flag for the next movement
  moveComplete := FALSE;
ENDPROC

! Event handler for movement completion
VAR bool moveCompletedHandler;

! Register the event handler
EVENT MoveCompleteEvent() = moveCompletedHandler;

! Monitor the movement completion
MONITOR MoveComplete()
  IF moveCompletedHandler THEN
    ! Set the flag indicating movement completion
    moveComplete := TRUE;
    
    ! Reset the event handler
    moveCompletedHandler := FALSE;
  ENDIF
ENDMONITOR
```

Explanation:

- The `targetPose` variable represents the target pose (position and orientation) to which the robot will move.
- The `MoveToTarget` procedure sets the target pose and commands the robot to move to that pose.
- The `MoveComplete` monitor checks for movement completion and sets the `moveComplete` flag when the movement is finished.
- The `main` procedure sets the initial target pose and calls `MoveToTarget` to initiate the movement.

This is a basic example, and the actual implementation will depend on your specific robot model, tool configuration, and the details of your application. Be sure to consult the documentation for your ABB robot and the Rapid programming language for more precise and detailed information.

caa January 16 2024 61 reads 0 comments Print

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