ABB机器人码垛程序文件.docVIP

MODULE MainModule PROC Main() TPErase; TPReadNum nCount1, Qing Shu Ru Yi Ma Bao Shu! ; TPReadNum nJob, Qing Shu Ru Mo Shi:50KG:=1,25KG:=2!; InitAll; WHILE TRUE DO ReadType; clock2re; PickIF; clock2re; PlaceOF; ENDWHILE ENDPROC PROC clock2re() !tempint:=movstat; IF DI10_1Product0K = 0 or DI10_2TuoPanOK = 0 Then IF tempint0.25 then ClkStart CLK2; ELSE ClkStop CLK2; ENDIF Else ClkStop CLK2; EndIF Endproc PROC InitAll() MoveHome; Reset DO10_1JiaZhua; Reset DO10_2YaBan; Reset DO10_3ZhuaOK; Reset DO10_4MaDuoOK; Waittime 0.5; bPickPart:=FALSE; ClkReset CLK1; ClkStart CLK1; ClkReset CLK2; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; ENDPROC PROC PickIF() IF bPickPart = FALSE AND nJob 0 AND DI10_1Product0K = 1 THEN !CalculatePick; MoveJ Offs(pPick,0,0,400), vFast, z200, tGripper\WObj:=wobj0; !MoveLDO Offs(pPick,0,0,100), vFast, z20, tool0\WObj:=wobj0, DO10_1JiaZhua, 1; MoveL pPick, vFast, fine, tGripper\WObj:=wobj0; Close1; GripLoad LoadFull; Accset 50,50; HandshakeIF; bPickPart:=TRUE; ConfL\Off; MoveJ pAfterPick, vFast, z60, tGripper\WObj:=wobj0; ENDIF ENDPROC PROC PlaceOF() IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THEN CalculatePlace; ConfL\Off; !MoveL Offs(pOver,0,0,nOffsZ2), vFast, z200, tGripper; IF bTag=true then Accset 70, 70; MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0; else Accset 90, 90; MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0; Endif Accset 100,100; ! place first box ConfL\Off; !MoveL Offs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripper\WObj:=wobj0; MoveL pPlace1, vMiddle, fine, tGripper\WObj:=wobj0; Open1; ConfL\Off; MoveL Offs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripper\WObj:=wobj0; GripLoad LoadEmpty; Accset 100,100; bPickPart:=FALSE; Incr nCount1; HandshakeOF; MoveJ pAbovePick, vFast, z200, tGripper\WObj:=wobj0; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; !MoveJ pHome, vFast, z200, tGripper; ENDIF ENDPROC PROC HandshakeIF() IF nJob=1 THEN !Set DO10_3ZhuaOK; ENDIF IF nJob=2 THEN !Set