ABB机器人套接口通信    机器人部分

       文章机器人部分，描述如何运行机器人从机程序，使机器人根据上位机节点发送的命令，执行具体运动。

       ABB机器人执行3个任务。这些任务都配置为SEMISTATIC(背景程序)的任务,第三任务是正常动作任务。下文描述如何运行ABB机器人任务,允许由外部上位机节点控制机器人运动。

       Socket-Server任务　　　　这两个socket-server任务(ROS_MotionServer和ROS_StateServer)被配置为SEMISTATIC(背景)的任务,并在控制器启动时自动运行。手持器不能启动或停止这些任务。如果想重新启动任务,只有重启机器人控制器。

       机器人运动任务。 T_ROB1任务负责机器人运任务。它作为正常运行(前景)的任务,并且需要显式的用户操作运行。当控制器启动时,它不执行动作命令,直到用户第一次运行T_ROB1任务。 T_ROB1任务应该已经配置了RAPID所需的控制器启动时的模块。它还必须配置为连续运行模式。可以参考ABB控制器的文档说明：如何使用RAPID菜单设置运行模式。　  下面的部分描述了如何运行这个任务,根据控制器是否在手动或自动模式:

       手动模式下运行：

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

  

         自动模式下运行：

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