ABB机器人码垛程序

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 tempint 0 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 WO bj 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 DO10 3ZhuaOK ENDIF ENDPROC PROC HandshakeOF IF nCount1 40 and nJob 1 or nCount1 80 and nJob 2 THEN Set DO10 4MaDuoOK WaitDI DI10 2TuoPanOK 0 SetDO SDelay 0 5 DO10 4MaDuoOK 0 nCount1 0 ClkStop CLK1 ClkStop CLK2 TPErase nCycleCount ClkRead CLK1 Waitingtime ClkRead CLK2 TPWrite Cycle time Num nCycleCount TPWrite Waiting time in this Cycle Num Waitingtime ClkReset CLK2 ClkReset CLK1 ClkStart CLK1 ENDIF ENDPROC PROC MoveHome TempP1 CRobT Tool tool0 WObj wobj0 TempP1 trans z 500 MoveJ TempP1 v1000 z20 tGripper MoveJ pHome v1000 z20 tGripper ENDPROC PROC ReadType IF nPriority 1 AND DI10 1Product0K 1 THEN nJob 1 Incr nPriority ELSEIF nPriority 2 AND DI10 1Product0K 1 THEN nJob 2 Incr nPriority ELSE nJob 0 Incr nPriority IF nPriority 2 nPriority 1 ENDIF ENDPROC PROC Open1 Reset DO10 2YaBan Waittime 0 0 Reset DO10 1JiaZhua waittime 0 1 Waittime nTimeGripper ENDPROC PROC Close1 Set DO10 1JiaZhua Waittime 0 0 WaitDI DI10 4Zhua1End 1 Set DO10 2YaBan Waittime 0 0 Waittime nTimeGripper WaitDI DI10 4Zhua1End 1 WaitDI DI10 6Zhua2End 1 ENDPROC PROC CalculatePick IF nJob 1 THEN pPick pPick1 ELSEIF nJob 2 THEN pPick pPick1 ENDIF pAbovePick pPick pAfterPick pPick Pattern80 pAbovePick trans z pAfterPick trans z pAbovePick trans y pAfterPick trans y 500 pAfterPick trans y pAfterPick trans y 500 ENDPROC PROC CalculatePlace IF nJob 1 THEN nBagL nBag50L nBagW nBag50W nBagH nBag50H Pattern80 ELSEIF nJob 2 THEN nBagL nBag25L nBagW nBag25W nBagH nBag25H Pattern100 ENDIF pAbovePlace pPlace1 pAfterPlace pAbovePlace ENDPROC PROC Pattern80 bTag FALSE TEST nCount1 1 CASE 1 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 500 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 bTag True CASE 2 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 3 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 4 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x 2 nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 5 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 20 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 Layer2 CASE 6 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 7 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 8 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 9 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x 2 nBagW 25 pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 10 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 Layer3 CASE 11 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 bTag True CASE 12 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 13 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 14 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x 2 nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 15 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 layer4 CASE 16 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 3 nBagH 80 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 17 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 3 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 18 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 19 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x 2 nBagW 25 pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 CASE 20 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 2 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 400 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 400 layer5 CASE 21 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 4 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 bTag True CASE 22 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 4 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 CASE 23 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 4 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 CASE 24 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x 2 nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 4 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 CASE 25 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 4 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 300 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 layer6 CASE 26 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 5 nBagH 50 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 nBagH CASE 27 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 5 nBagH 50 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 nBagH CASE 28 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 4 nBagH 45 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 nBagH CASE 29 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x 2 nBagW 25 pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 4 nBagH 45 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 500 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 nBagH CASE 30 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 4 nBagH 45 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 500 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 500 nBagH layer7 CASE 31 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 6 nBagH nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 2 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 2 nBagH bTag True CASE 32 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 6 nBagH 40 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 2 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 2 nBagH CASE 33 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 6 nBagH 40 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 2 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 2 nBagH CASE 34 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x 2 nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 6 nBagH 40 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 2 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 2 nBagH CASE 35 pPlace1 pBase90 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y 25 pPlace1 trans z pPlace1 trans z 6 nBagH 40 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 2 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 2 nBagH layer8 CASE 36 pPlace1 pBase180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 7 nBagH 40 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 3 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 3 nBagH CASE 37 pPlace1 pBase0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagL 5 pPlace1 trans z pPlace1 trans z 7 nBagH 60 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 3 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 3 nBagH CASE 38 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 6 nBagH 60 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 450 3 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 3 nBagH CASE 39 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x 2 nBagW 30 pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 6 nBagH 60 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 450 3 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 3 nBagH CASE 40 pPlace1 pBase270 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z 6 nBagH 60 nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 100 nLevel 2 bTwice FALSE pAfterPick trans z pPick trans z 450 3 nBagH pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 450 3 nBagH DEFAULT ErrWrite Wrong box Count Single box must be the last one of a Pallet Stop EXIT ENDTEST ENDPROC PROC Pattern100 bTag FALSE TEST nCount1 1 CASE 1 pPlace1 p25Base270 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 600 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 bTag True CASE 2 pPlace1 p25Base0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 3 pPlace1 p25Base90 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 4 pPlace1 p25Base180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 5 pPlace1 p25Base270 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 500 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 6 pPlace1 p25Base0 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagW pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 7 pPlace1 p25Base90 pPlace1 trans x pPlace1 trans x nBagW pPlace1 trans y pPlace1 trans y pPlace1 trans z pPlace1 trans z nOffsX1 0 nOffsY1 0 nOffsZ1 nBagH 1 2 nOffsZ2 500 nLevel 1 bTwice FALSE pAfterPick trans z pPick trans z 500 pAbovePlace pPlace1 pAbovePlace trans z pPick trans z 700 CASE 8 pPlace1 p25Base180 pPlace1 trans x pPlace1 trans x pPlace1 trans y pPlace1 trans y nBagW pPlace1 trans z pPlace1 trans z nOffsX1 0 nOff