Instituto Tecnolgico Superior De Ciudad Hidalgo

Academia de Ingeniera Mecatrnica

Robtica
PRACTICA

Programacin Bsica ABB

FECHA DE ENTREGA

5/OCT/2015

DOCENTE

ESTUDIANTES

1. OBJETIVO:
Generar un programa de control secuencial para armar una figura en el robot ABB.

2. INTRODUCCIN:

El robot manipulador de ABB est diseado especficamente para

industrias de fabricacin que utilizan una automatizacin flexible basada en
robots en esta prctica se tratara de armar una pieza programando el robot
mediante coordenadas y despus correr en modo automtico para probar el
correcto funcionamiento de nuestro programa.

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3. METODOLOGA:
Los pasos que se deben seguir para realizar esta actividad son los
siguientes:

Poner en marcha el sistema y los motores.

Crear archivo de cdigo nuevo.
Colocar las piezas a armar, en la mesa de trabajo.
Realizar el programa para el armado del cubo.
Crear rutinas de control de gripper.
Modificar los parmetros del control secuencial (velocidad).
Ejecutar programa en el modo automtico.

4. MATERIALES Y EQUIPOS UTILIZADOS:

5.

Cubo didctico de madera.

Robot ABB y sus componentes.
Memoria USB.

DESARROLLO:
Paso:

PONER EN MARCHA EL SISTEMA Y LOS MOTORES.

Antes de iniciar con la actividad debemos cerciorarnos de que el sistema

de alimentacin del ABB, los motores y el control estn preparados para realizar
cualquier operacin, esto con el fin de evitar cualquier dao o mal
funcionamiento del mismo.

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Paso:

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CREAR ARCHIVO DE CODIGO NUEVO.

La prctica se comenz poniendo en marcha todos los elementos

necesarios para mover y programar el robot ABB, una vez que ste estaba listo
para funcionar se cre un archivo de cdigo nuevo siguiendo las especificaciones
del profesor.

Paso:

COLOCAR LAS PIEZAS A ARMAR, EN LA MESA DE TRABAJO.

Se colocaron las piezas del cubo separadas en la mesa de trabajo,

marcando su posicin con el fin de volverlas a acomodar para la ejecucin de la
secuencia final, el posicionamiento de piezas se muestra a continuacin.

Ilustracin 1. Posicionamiento de piezas.

.

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Paso:

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REALIZAR EL PROGRAMA PARA EL ARMADO DEL CUBO.

Gracias a la experiencia adquirida en prcticas anteriores el uso del robot

se facilita y es posible avanzar rpidamente en la generacin del programa.

Ilustracin 2. Reacomodo de las piezas.

.

Paso:

CREAR RUTINAS DE CONTROL DEL GRIPPER.

Uno de los aspectos ms relevantes en la realizacin de la prctica es el

uso de rutinas. Las rutinas son bastante tiles cuando de control secuencial se trata
ya que en vez de generar un cdigo para cada accin, es posible crear una rutina y
posteriormente mandarla llamar y as de esta manera es posible reducir el tiempo
que se invierte para la creacin del programa.

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Paso:

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MODIFICAR PARAMETROS DE CONTROL (VELOCIDAD).

En esta prctica, otro de los aspectos que se llevaron a cabo fue la

manipulacin y ejecucin de los parmetros de la velocidad del robot, y fue posible
observar la impresionante rapidez y violencia con la que es capaz de operar con gran
precisin, obviamente respetando los lineamientos de seguridad tanto del equipo
como del operador.

Paso:

EJECUTAR EL PROGRAMA EN MODO AUTOMATICO.

El ltimo paso en sta metodologa es la ejecucin del programa en el

modo automtico. Para esto se debe insertar la llave que mecnicamente activa el
control de los modos de operacin. Los modos de operacin son automtico, manual
y manual al cien por ciento. Situamos el indicador mecnico en modo automtico y
de esta manera es posible observar nuestro programa en ejecucin y apreciar las
diferentes velocidades que fijamos anteriormente.
A continuacin se presenta el cdigo Utilizado:
MODULE MainModule
PROC main()
MoveJ
[[720.95,84.27,532.61],[0.117625,-0.114289,0.984636,0.0599482],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000,
z50,
tool0;
abrir;
MoveJ
[[709.39,-153.74,532.61],[0.106187,0.0488832,0.990041,0.0784448],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z50,
tool0;
MoveJ
[[516.57,-151.84,532.60],[0.106187,0.0488812,0.990041,0.0784457],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v5000, z50,
tool0;
MoveJ
[[545.15,-160.07,351.40],[0.103312,-0.0407702,0.993312,0.0315679],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000, z50, tool0;
MoveJ
[[563.38,-73.54,351.40],[0.100541,0.0366629,0.993472,0.0395157],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[621.52,-73.53,351.09],[0.100844,0.0366829,0.993442,0.0394637],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;

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MoveJ
[[617.32,-73.08,283.59],[0.160515,0.0396544,0.985757,0.0307359],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[623.78,-73.52,281.85],[0.109633,0.0424791,0.992426,0.0355999],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[622.19,-73.34,270.07],[0.120008,0.0429752,0.991258,0.0340344],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[622.19,-73.34,270.07],[0.122326,0.121342,0.984742,0.0244257],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[624.17,-73.45,269.63],[0.106976,0.122235,0.98635,0.0269811],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[623.31,-73.36,263.97],[0.111885,0.122428,0.985812,0.025833],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
cerrar;
MoveJ
[[629.72,-75.46,370.29],[0.0201796,0.117229,0.991783,0.047087],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000,
z50, tool0;
MoveJ
[[634.13,10.91,370.28],[0.0169253,0.184583,0.981481,0.0483528],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v5000, z50, tool0;
MoveJ
[[566.69,10.91,370.29],[0.0169242,0.184579,0.981482,0.04835],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000,
z50, tool0;
MoveJ
[[564.14,10.83,298.53],[0.0881428,0.187549,0.977589,0.0370861],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[605.87,10.83,298.53],[0.0881438,0.187549,0.977589,0.0370849],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[605.87,10.83,298.53],[0.0857683,0.128767,0.987054,0.0422871],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[604.49,10.79,286.16],[0.0971999,0.129217,0.985984,0.0411264],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[612.32,10.79,286.16],[0.0972031,0.129214,0.985984,0.0411246],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[610.74,10.75,274.25],[0.108071,0.129631,0.984843,0.0400129],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;

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MoveJ
[[610.74,21.24,274.25],[0.108076,0.12963,0.984843,0.040011],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v20,
z50, tool0;
abrir;
MoveJ
[[614.66,21.06,250.11],[0.129875,0.130375,0.982182,0.0381118],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
cerrar;
abrir;
MoveJ
[[594.98,24.01,528.98],[0.123345,-0.121185,0.983211,0.0582853],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000,
z50,
tool0;
MoveJ
[[585.76,164.28,484.63],[0.0879466,-0.237628,0.966302,0.0453719],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v5000,
z50,
tool0;
MoveJ
[[600.49,168.57,323.07],[0.0585029,0.245048,0.966394,0.0511055],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000, z50, tool0;
MoveJ
[[717.65,168.46,323.08],[0.0585004,0.245047,0.966394,0.051108],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[713.42,167.43,270.64],[0.0977341,0.246267,0.962926,0.0507254],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[763.46,167.43,270.63],[0.097736,0.246269,0.962926,0.0507308],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[763.46,167.43,270.63],[0.092546,0.154848,0.981782,0.0596697],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[750.28,167.43,270.64],[0.0925436,0.154851,0.981782,0.0596708],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[745.40,187.95,270.64],[0.0917198,0.168304,0.979565,0.0609336],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[744.70,187.77,264.67],[0.0959489,0.168457,0.979111,0.061298],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[744.32,189.28,264.67],[0.0958832,0.169449,0.97894,0.0613936],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
cerrar;
MoveJ
[[744.77,189.40,435.54],[0.0250391,-0.163958,0.984855,0.0505182],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000,
z50,
tool0;

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MoveJ
[[762.20,96.86,436.78],[0.0227797,-0.103254,0.993038,0.051924],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v5000, z50, tool0;
MoveJ
[[599.42,96.86,436.78],[0.0227841,-0.103251,0.993038,0.0519249],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z50, tool0;
MoveJ
[[596.10,48.36,436.78],[0.0227851,-0.103247,0.993038,0.0519197],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v5000,
z50,
tool0;
MoveJ
[[603.12,44.50,344.00],[0.0643115,0.103871,0.991224,0.0504962],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[588.98,43.30,334.72],[0.0871256,0.172701,0.980117,0.0442012],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[628.81,41.02,334.72],[0.0871227,0.172699,0.980118,0.0442022],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[627.54,40.93,310.55],[0.108498,0.173471,0.977939,0.0420783],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[631.46,41.42,309.82],[0.0778301,0.175378,0.980462,0.043352],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[630.99,41.39,303.97],[0.0829819,0.175569,0.980028,0.0428309],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[630.59,47.02,303.97],[0.0827945,0.17995,0.979233,0.0432018],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[613.26,47.02,303.97],[0.0827895,0.179946,0.979234,0.0432044],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50,
z50, tool0;
MoveJ
[[613.73,47.08,304.60],[0.0789056,0.180112,0.979517,0.043361],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v20,
z50, tool0;
MoveJ
[[613.31,47.05,299.93],[0.083157,0.180269,0.979154,0.0429559],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[613.98,47.15,299.82],[0.0778798,0.180581,0.979524,0.0431112],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[613.16,47.07,291.78],[0.0851903,0.18084,0.978898,0.0424127],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[613.67,39.91,291.78],[0.0854346,0.175119,0.979937,0.0419142],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;

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abrir;
MoveJ
[[614.67,19.06,291.78],[0.086132,0.158473,0.982767,0.0404572],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[608.80,18.82,252.02],[0.122304,0.159713,0.978891,0.0361257],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[616.38,19.63,250.62],[0.0629619,0.163073,0.98383,0.0390008],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v20,
z50, tool0;
MoveJ
[[568.94,19.56,250.62],[0.0636427,0.162948,0.983807,0.0390063],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20,
z50, tool0;
MoveJ
[[570.92,23.55,502.50],[0.177613,-0.153332,0.969839,0.0659914],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000,
z50,
tool0;
MoveJ
[[373.24,26.01,502.49],[0.1776,-0.153338,0.96984,0.0659958],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v5000,
z50,
tool0;
MoveJ
[[401.03,28.46,281.96],[0.153087,0.171519,0.972384,0.0401969],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v7000, z50, tool0;
MoveJ
[[411.21,30.48,279.56],[0.0716759,0.176046,0.981038,0.0378761],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v5000, z50, tool0;
MoveJ
[[415.14,148.53,279.56],[0.0716745,0.176048,0.981038,0.0378755],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000,
z50, tool0;
MoveJ
[[439.46,148.54,279.55],[0.0716689,0.176053,0.981037,0.037877],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[448.11,152.13,278.76],[0.00107706,0.178138,0.983751,0.0223436],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[441.24,149.75,255.94],[0.0310122,0.17868,0.983048,0.0269836],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[467.11,149.75,255.94],[0.0304355,0.157667,0.986636,0.0276391],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
MoveJ
[[467.11,144.03,255.93],[0.0304462,0.157669,0.986635,0.0276422],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v50,
z50, tool0;
cerrar;
MoveJ
[[476.90,147.12,329.09],[0.0546355,-0.155605,0.986193,0.0149847],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z50, tool0;

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MoveJ
[[525.58,170.63,417.65],[0.812632,0.109585,0.550903,0.155327],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[475.31,149.46,120.07],[0.599673,0.130003,0.779556,0.125638],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[332.26,149.46,120.06],[0.599656,0.130005,0.779568,0.125636],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]
, v1000, z50, tool0;
MoveJ
[[324.26,-25.24,120.06],[0.599666,0.129979,0.779563,0.125646],[-1,-1,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[352.18,-30.30,155.53],[0.64752,0.144926,0.740343,0.107734],[-1,-1,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[346.56,-30.19,137.65],[0.532161,0.171908,0.822843,0.100902],[-1,-1,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[389.49,-37.96,210.85],[0.623095,0.194279,0.755118,0.0616804],[-1,-1,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[411.61,-49.76,279.38],[0.529582,-0.238972,0.813704,0.0179255],[-1,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50,
tool0;
MoveJ
[[396.82,-58.41,258.44],[0.343347,-0.245529,0.905528,0.0429789],[-1,-1,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50, z50, tool0;
MoveJ
[[396.82,-58.41,258.44],[0.345981,0.118056,0.930772,0.0048747],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v50, z50, tool0;
MoveJ
[[386.34,-56.52,226.76],[0.302083,0.114685,0.946176,0.0185764],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
MoveJ
[[381.64,3.77,226.75],[0.302079,0.114681,0.946177,0.0185809],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
MoveJ
[[421.28,3.76,226.75],[0.302077,0.114675,0.946179,0.0185786],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
MoveJ
[[421.27,9.33,226.75],[0.302065,0.114683,0.946182,0.0185753],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
MoveJ
[[422.50,9.34,226.75],[0.302073,0.114685,0.946179,0.01858],[0,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v20, z50, tool0;

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MoveJ
[[420.61,9.32,221.55],[0.29507,0.114572,0.948383,0.0193767],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
MoveJ
[[423.22,9.32,221.55],[0.295069,0.114573,0.948384,0.0193784],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v20, z50, tool0;
abrir;
MoveJ
[[364.83,9.32,221.55],[0.295061,0.114567,0.948387,0.0193761],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v200, z50, tool0;
cerrar;
MoveJ
[[410.72,9.32,221.55],[0.295057,0.114583,0.948386,0.0193713],[0,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v10, z50, tool0;
MoveJ
[[353.75,9.32,221.55],[0.295056,0.114569,0.948389,0.0193705],[0,-1,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v10, z50, tool0;
MoveJ
[[353.74,-178.79,221.54],[0.295028,0.114567,0.948398,0.0193672],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v5000, z50, tool0;
abrir;
MoveJ
[[410.87,-178.78,221.54],[0.295025,0.114571,0.948398,0.0193677],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v5000, z50, tool0;
MoveJ
[[410.86,-173.83,221.54],[0.295025,0.114563,0.948399,0.0193692],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[408.26,-172.57,213.50],[0.286356,0.112992,0.951111,0.0249045],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ
[[415.88,-172.57,213.50],[0.286356,0.112994,0.951111,0.0249044],[-1,1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
cerrar;
MoveJ
[[436.87,-180.72,312.53],[0.386137,-0.131829,0.912161,0.0385031],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
v1000,
z50,
tool0;
ENDPROC
PROC abrir()
WaitTime 2;
Reset DO_Gripper_Close;
Set DO_Gripper_open;
WaitTime 2;
ENDPROC
PROC cerrar()
WaitTime 2;

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Reset DO_Gripper_open;
Set DO_Gripper_Close;
WaitTime 2;
ENDPROC
ENDMODULE

4. RESULTADOS Y CONLUSIONES:
En esta prctica se utiliz la programacin bsica para mover el ABB y
poder armar la pieza es muy importante poner en una velocidad correcta cada
movimiento para evitar algn tipo de accidente en nuestro programa se opt por
guardar cada moviendo esto con el fin de evitar errores cuando se corriera en
automtico y se daara el gripper , al final solo se alcanz a armar una parte de la
pieza.

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