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码垛机器人程序代码 MODULE Module_stacking VAR num DN250:=0; VAR num DN300:=0; VAR num DN350:=0; VAR num DN400:=0; VAR num DN450:=0; VAR num DN500:=0; VAR num DN600:=0; VAR num DN700:=0; VAR num DN750:=0; VAR num DN800:=0; VAR num DN900:=0; VAR num DN1000:=0;
VAR num singlelaxxxxyer_250:=4;
VAR num singlelaxxxxyer_300:=4;
VAR num singlelaxxxxyer_350:=3;
VAR num singlelaxxxxyer_400:=3;
VAR num singlelaxxxxyer_450:=3;
VAR num singlelaxxxxyer_500:=4;
VAR num singlelaxxxxyer_600:=2;
VAR num singlelaxxxxyer_700:=2;
VAR num singlelaxxxxyer_750:=1;
VAR num singlelaxxxxyer_800:=1;
VAR num singlelaxxxxyer_900:=1;
VAR num singlelaxxxxyer_1000:=1;
VAR num Totallaxxxxyer_L_250:=5;
VAR num Totallaxxxxyer_L_300:=5;
VAR num Totallaxxxxyer_L_350:=5;
VAR num Totallaxxxxyer_L_400:=5;
VAR num Totallaxxxxyer_L_450:=4;
VAR num Totallaxxxxyer_L_500:=4;
VAR num Totallaxxxxyer_L_600:=4;
VAR num Totallaxxxxyer_L_700:=4;
VAR num Totallaxxxxyer_L_750:=4;
VAR num Totallaxxxxyer_L_800:=4;
VAR num Totallaxxxxyer_L_900:=4;
VAR num Totallaxxxxyer_L_1000:=4;
VAR num Totallaxxxxyer_R_250:=5;
VAR num Totallaxxxxyer_R_300:=5;
VAR num Totallaxxxxyer_R_350:=5;
VAR num Totallaxxxxyer_R_400:=5;
VAR num Totallaxxxxyer_R_450:=4;
VAR num Totallaxxxxyer_R_500:=4;
VAR num Totallaxxxxyer_R_600:=4;
VAR num Totallaxxxxyer_R_700:=4;
VAR num Totallaxxxxyer_R_750:=4;
VAR num Totallaxxxxyer_R_800:=4;
VAR num Totallaxxxxyer_R_900:=4;
VAR num Totallaxxxxyer_R_1000:=4;
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
VAR bool One_number:=true;
VAR bool two_number:=true;
VAR num products_num:=0;
VAR num One_num:=1;
VAR num two_num:=1;
PERS num nCouny_L:=0;
PERS num nCouny_R:=0;
PERS num nPickH:=500;
PERS num nPlaceh:=500;
PERS bool bPallet_L:=FALSE;
PERS intnum INTN1;
VAR intnum intno1:=0;
VAR intnum intno2:=0;
!!!!!!!!!!!!!!!
VAR bool flag1:=FALSE;
VAR bool flag2:=FALSE;
VAR bool flag3:=FALSE;
VAR bool flag4:=FALSE;
VAR bool flag5:=FALSE;
VAR bool flag6:=FALSE;
VAR bool flag7:=FALSE;
VAR bool flag8:=FALSE;
VAR bool fla
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