ROBOTIKA - 2015
Trabajo Colaborativo # 1 ==> http://ssistemasdecontrol.blogspot.ca/
%%%
VERSION:1
LANGUAGE:ENGLISH
! Elaborado por : Luis A. Sanchez -
! Objetos seleccionados cilindro
! Objeto 1: (x,y,z) = (60,57,60)
! Objeto 2: (x,y,z) = (50,66,60)
! Objeto 3: (x,y,z) = (40,72,60)
! Objeto 4: (x,y,z) = (30,77,60)
! Objeto 5: (x,y,z) = (20,80,60)
! Objeto 6: (x,y,z) = (10,82,60)
%%%
MODULE SIMUROB
CONST robtarget Home := [[0,0,0], [0.71,-0.0,0.71,0.0], [-1,-1,-1,1], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
! Action ir posicion objeto pick 1 y trasladarlo position place 1
MoveAbsJ [[87,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[87,4,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[87,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-87,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-87,4,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
! Action ir posicion objeto pick 2 y trasladarlo position place 2
MoveAbsJ [[80,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[80,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[80,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-80,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-80,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
! Action ir posicion objeto pick 3 y trasladarlo position place 3
MoveAbsJ [[71,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[71,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[71,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-71,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-71,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
! Action ir posicion objeto pick 4 y trasladarlo position place 4
MoveAbsJ [[63,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[63,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[63,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-63,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-63,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
! Action ir posicion objeto pick 5 y trasladarlo position place 5
MoveAbsJ [[56,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[56,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[56,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-56,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-56,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
! Action ir posicion objeto pick 6 y trasladarlo position place 6
MoveAbsJ [[46,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[46,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Reset pinza;
WAITTIME 0.8;
MoveAbsJ [[46,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-46,-52,-19,0,11,-3],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
MoveAbsJ [[-46,0,55,7,-78,9],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z30,tool0;
Set pinza;
MoveAbsJ Home,v50,z30,tool0;
Reset pinza;
Set pinza;
ENDPROC
ENDMODULE
Colaborativo 3 : http://www.calameo.com/read/004312540b4b7c8334ef0
Colaborativo 4 : http://www.calameo.com/read/004312540f93c51e728c7
