ABB機器人套接口通信??? 機器人部分

?????? 文章機器人部分，描述如何運行機器人從機程序，使機器人根據上位機節點發送的命令，執行具體運動。

?????? ABB機器人執行3個任務。這些任務都配置為SEMISTATIC(背景程序)的任務,第三任務是正常動作任務。下文描述如何運行ABB機器人任務,允許由外部上位機節點控制機器人運動。

?????? Socket-Server任務　　　　這兩個socket-server任務(ROS_MotionServer和ROS_StateServer)被配置為SEMISTATIC(背景)的任務,并在控制器啟動時自動運行。手持器不能啟動或停止這些任務。如果想重新啟動任務,只有重啟機器人控制器。

?????? 機器人運動任務。 T_ROB1任務負責機器人運任務。它作為正常運行(前景)的任務,并且需要顯式的用戶操作運行。當控制器啟動時,它不執行動作命令,直到用戶第一次運行T_ROB1任務。 T_ROB1任務應該已經配置了RAPID所需的控制器啟動時的模塊。它還必須配置為連續運行模式。可以參考ABB控制器的文檔說明：如何使用RAPID菜單設置運行模式。　? 下面的部分描述了如何運行這個任務,根據控制器是否在手動或自動模式:

?????? 手動模式下運行：

1. Display the ABB Production Window (or Program Editor) screen

2. Check to see that a Program Pointer is displayed ，press the "PP to Main" softkey if required

3. Hold the pendant Enable Switch the drives should power on, and the screen should show "Motors On"

4. Press the PLAY button to run the program

5. Issue the desired motion command from the ROS/PC application 。Here are a few notes about running in MANUAL mode:

• the enable switch must be held during all robot motions

• the robot runs at reduced speed

• releasing the enable switch (or pressing STOP) will stop the robot
• to resume motion, re-engage the enable switch and press the PLAY button

• ROS may try to cancel the move, since it takes longer than expected. Disable this behavior as described here

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? ? ?? ? 自動模式下運行：

1. Press the Drives On button on the controller ，the light should stay on, and the pendant should show "Motors On"

2. Press the PLAY button to run the program

???????? Here are a few notes about running in AUTO mode:

• the robot runs at full speed. Be careful.

• make sure the robot workspace is clear of personnel and obstructions
• motion could start at any time, when commanded from the remote ROS application
• press STOP on the pendant to stop the robot, and PLAY to resume motion