ABB机器人码垛程序

ABB机器人码垛程序ABB机器人码垛程序ABB机器人码垛程序资料仅供参考文件编号：2022年4月ABB机器人码垛程序版本号：A修改号：1页次：1.0审核：批准:发布日期：MODULEMainModulePROCMain()TPErase;TPReadNumnCount1,"QingShuRuYiMaBaoShu!";TPReadNumnJob,"QingShuRuMoShi:50KG:=1,25KG:=2!";InitAll;WHILETRUEDOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROCclock2re()!tempint:=movstat; IFDI10_1Product0K=0orDI10_2TuoPanOK=0ThenIFtempint<thenClkStartCLK2;ELSEClkStopCLK2;ENDIFElseClkStopCLK2;EndIFEndprocPROCInitAll()MoveHome;ResetDO10_1JiaZhua;ResetDO10_2YaBan;ResetDO10_3ZhuaOK;ResetDO10_4MaDuoOK;Waittime;bPickPart:=FALSE;ClkResetCLK1;ClkStartCLK1;ClkResetCLK2;MoveLOffs(pPick,0,0,400),vFast,z10,tGripper\WObj:=wobj0;ENDPROCPROCPickIF()IFbPickPart=FALSEANDnJob<>0ANDDI10_1Product0K=1THEN !CalculatePick;MoveJOffs(pPick,0,0,400),vFast,z200,tGripper\WObj:=wobj0;!MoveLDOOffs(pPick,0,0,100),vFast,z20,tool0\WObj:=wobj0,DO10_1JiaZhua,1;MoveLpPick,vFast,fine,tGripper\WObj:=wobj0;Close1;GripLoadLoadFull;Accset50,50;HandshakeIF;bPickPart:=TRUE;ConfL\Off;MoveJpAfterPick,vFast,z60,tGripper\WObj:=wobj0;ENDIFENDPROCPROCPlaceOF()IFDI10_2TuoPanOK=1ANDbPickPart=TRUETHENCalculatePlace;ConfL\Off;!MoveLOffs(pOver,0,0,nOffsZ2),vFast,z200,tGripper; IFbTag=truethen Accset70,70; MoveJpAbovePlace,vFast,z10,tGripper\WObj:=wobj0; elseAccset90,90; MoveJpAbovePlace,vFast,z10,tGripper\WObj:=wobj0; EndifAccset100,100;!placefirstboxConfL\Off;!MoveLOffs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripper\WObj:=wobj0;MoveLpPlace1,vMiddle,fine,tGripper\WObj:=wobj0;Open1;ConfL\Off;MoveLOffs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripper\WObj:=wobj0;GripLoadLoadEmpty;Accset100,100;bPickPart:=FALSE;IncrnCount1;HandshakeOF;MoveJpAbovePick,vFast,z200,tGripper\WObj:=wobj0;MoveLOffs(pPick,0,0,400),vFast,z10,tGripper\WObj:=wobj0;!MoveJpHome,vFast,z200,tGripper;ENDIFENDPROCPROCHandshakeIF()IFnJob=1THEN!SetDO10_3ZhuaOK;ENDIFIFnJob=2THEN!SetDO10_3ZhuaOK;ENDIFENDPROCPROCHandshakeOF()IF(nCount1=40andnJob=1)or(nCount1=80andnJob=2)THENSetDO10_4MaDuoOK;WaitDIDI10_2TuoPanOK,0;SetDO\SDelay:=,DO10_4MaDuoOK,0;nCount1:=0;ClkStopCLK1;ClkStopCLK2;TPErase;nCycleCount:=ClkRead(CLK1);Waitingtime:=ClkRead(CLK2);TPWrite"Cycletime:"\Num:=nCycleCount;TPWrite"WaitingtimeinthisCycle:"\Num:=Waitingtime;ClkResetCLK2;ClkResetCLK1;ClkStartCLK1;ENDIFENDPROCPROCMoveHome() TempP1:=CRobT(\Tool:=tool0\WObj:=wobj0); ;MoveJTempP1,v1000,z20,tGripper;MoveJpHome,v1000,z20,tGripper;ENDPROCPROCReadType()IFnPriority=1ANDDI10_1Product0K=1THEN!nJob:=1;!IncrnPriority;ELSEIFnPriority=2ANDDI10_1Product0K=1THEN!nJob:=2;!IncrnPriority;ELSE!nJob:=0;!IncrnPriority;!IFnPriority>2nPriority:=1;ENDIFENDPROCPROCOpen1()ResetDO10_2YaBan;Waittime;ResetDO10_1JiaZhua;waittime;!WaittimenTimeGripper;ENDPROCPROCClose1()SetDO10_1JiaZhua;Waittime;WaitDIDI10_4Zhua1End,1;SetDO10_2YaBan;Waittime;!WaittimenTimeGripper;WaitDIDI10_4Zhua1End,1;!WaitDIDI10_6Zhua2End,1;ENDPROCPROCCalculatePick()IFnJob=1THENpPick:=pPick1;ELSEIFnJob=2THENpPick:=pPick1;ENDIF !pAbovePick:=pPick;!pAfterPick:=pPick;!Pattern80;!CalculatePlace()IFnJob=1THENnBagL:=nBag50L;nBagW:=nBag50W;nBagH:=nBag50H;Pattern80;ELSEIFnJob=2THENnBagL:=nBag25L;nBagW:=nBag25W;nBagH:=nBag25H;Pattern100;ENDIF !pAbovePlace:=pPlace1;pAfterPlace:=pAbovePlace;ENDPROCPROCPattern80()bTag:=FALSE;TESTnCount1+1CASE1:pPlace1:=pBase180;2:pPlace1:=pBase0;3:pPlace1:=pBase90;4:pPlace1:=pBase90;5:pPlace1:=pBase90; CASE6:pPlace1:=pBase180;7:pPlace1:=pBase0;8:pPlace1:=pBase270;9:pPlace1:=pBase270;10:pPlace1:=pBase270;11:pPlace1:=pBase180; CASE12:pPlace1:=pBase0;13:pPlace1:=pBase90;14:pPlace1:=pBase90;15:pPlace1:=pBase90; CASE16:pPlace1:=pBase180;17:pPlace1:=pBase0;18:pPlace1:=pBase270;19:pPlace1:=pBase270;20:pPlace1:=pBase270;21:pPlace1:=pBase180; CASE22:pPlace1:=pBase0;23:pPlace1:=pBase90;24:pPlace1:=pBase90;25:pPlace1:=pBase90;26:pPlace1:=pBase180;27:pPlace1:=pBase0;28:pPlace1:=pBase270;29:pPlace1:=pBase270;30:pPlace1:=pBase270;31:pPlace1:=pBase180; CASE32:pPlace1:=pBase0;33:pPlace1:=pBase90;34:pPlace1:=pBase90;35:pPlace1:=pBase90;36:pPlace1:=pBase180;37:pPlace1:=pBase0;38:pPlace1:=pBase270;39:pPlace1:=pBase270;40:pPlace1:=pBase270; DEFAULT:ErrWrite"WrongboxCount...","SingleboxmustbethelastoneofaPallet";Stop;EXIT;ENDTESTENDPROCPROCPattern100()bTag:=FALSE;TESTnCount1+1CASE1:pPlace1:=p25Base270;2:pPlace1:=p25Base0;3:pPlace1:=p25Base90;4:pPlace1:=p25Base180;5:pPlace1:=p25Base270; CASE6:pPlace1:=p25Base0;7:pPlace1:=p25Base90;8:pPlace1:=p25Base180;9:pPlace1:=p25Base270;10:pPlace1:=p25Base0;11:pPlace1:=p25Base90;12:pPlace1:=p25Base180;13:pPlace1:=p25Base270; CASE14:pPlace1:=p25Base0;15:pPlace1:=p25Base90;16:pPlace1:=p25Base180;17:pPlace1:=p25Base270;18:pPlace1:=p25Base0;19:pPlace1:=p25Base90;20:pPlace1:=p25Base180;21:pPlace1:=p25Base270; CASE22:pPlace1:=p25Base0;23:pPlace1:=p25Base90;24:pPlace1:=p25Base180;25:pPlace1:=p25Base270;26:pPlace1:=p25Base0;27:pPlace1:=p25Base90;28:pPlace1:=p25Base180;29:pPlace1:=p25Base270; CASE30:pPlace1:=p25Base0;31:pPlace1:=p25Base90;32:pPlace1:=p25Base180;33:pPlace1:=p25Base270;34:pPlace1:=p25Base0;35:pPlace1:=p25Base90;36:pPlace1:=p25Base180;37:pPlace1:=p25Base270; CASE38:pPlace1:=p25Base0;39:pPlace1:=p25Base90;40:pPlace1:=p25Base180;41:pPlace1:=p25Base270;42:pPlace1:=p25Base0;43:pPlace1:=p25Base90;44:pPlace1:=p25Base180;45:pPlace1:=p25Base270; CASE46:pPlace1:=p25Base0;47:pPlace1:=p25Base90;48:pPlace1:=p25Base180;49:pPlace1:=p25Base270;50:pPlace1:=p25Base0;51:pPlace1:=p25Base90;52:pPlace1:=p25Base180;53:pPlace1:=p25Base270; CASE54:pPlace1:=p25Base0;55:pPlace1:=p25Base90;56:pPlace1:=p25Base180;57:pPlace1:=p25Base270;