机器人技术应用项目教程（ABB）（第二版）参考程序4-4 知识拓展：单个PCB产品芯片的智能分拣与装配参考程序.doc

单个PCB产品芯片的智能分拣与装配参考程序

PROCmain（）

initial; //初始化

quxipan; //拾取吸盘工具

xiaobanyuan; //三极管芯片装配

yuan; //电容芯片装配

xiaochangfang; //集成电路芯片装配

zhengfang; //CPU芯片装配

fangxipan;

ENDPROC

PROCinitial（）

MoveAbsJhome\NoEOffs,v1000,z50,tool0;

ResetBVAC_1;

ResetVacunm_1;

ResetAllowPhoto;

ResetScene_Affirm;

ENDPROC

PROCxiaobanyuan（）

WHILEi7DO

Incri;

SetGOGO10_11_14,0;

WaitTime0.2;

MoveLOffs（xby{i},0,0,100）,v200,z50,tool0;

MoveLOffs（xby{i},0,0,50）,v100,z50,tool0;

MoveLxby{i},v50,fine,tool0;

SetVacunm_2;

WaitTime0.5;

MoveLOffs（xby{i},0,0,50）,v50,z50,tool0;

MoveLOffs（xby{i},0,0,100）,v200,z50,tool0;

MoveJCCD_point,v200,fine,tool0;

ResetAllowPhoto;

WaitTime0.2;

SetDOScene_Affirm,1;

WaitTime0.5;

SetAllowPhoto;

WaitTime1;

IFCCD_OK=1THEN

GO_OK1;

ELSE

GO_NG1;

ENDIF

ENDWHILE

ENDPROC

PROCyuan（）

WHILEi7DO

Incri;

SetGOGO10_11_14,1;

WaitTime0.2;

MoveLOffs（y{i},0,0,100）,v200,z50,tool0;

MoveLOffs（y{i},0,0,50）,v100,z50,tool0;

MoveLy{i},v50,fine,tool0;

SetVacunm_2;

WaitTime0.5;

MoveLOffs（y{i},0,0,50）,v50,z50,tool0;

MoveLOffs（y{i},0,0,100）,v200,z50,tool0;

MoveJCCD_point,v200,fine,tool0;

ResetAllowPhoto;

WaitTime0.2;

SetDOScene_Affirm,1;

WaitTime0.5;

SetAllowPhoto;

WaitTime1;

IFCCD_OK=1THEN

GO_OK2;

ELSE

GO_NG2;

ENDIF

ENDWHILE

ENDPROC

PROCxiaochangfang（）

WHILEi8DO

incri;

SetGOGO10_11_14,2;

WaitTime0.2;

MoveLOffs（cf{i},0,0,100）,v200,z50,tool0;

MoveLOffs（cf{i},0,0,50）,v100,z50,tool0;

MoveLcf{i},v50,fine,tool0;

SetVacunm_2;

WaitTime0.5;

MoveLOffs（cf{i},0,0,50）,v50,z50,tool0;

MoveLOffs（cf{i},0,0,100）,v200,z50,tool0;

MoveJCCD_point,v200,fine,tool0;

ResetAllowPhoto;

WaitTime0.2;

SetDOScene_Affirm,1;

WaitTime0.5;

SetAllowPhoto;

WaitTime1;

IFCCD_OK=1THEN

GO_OK3;