ABB机器人码垛程序

精选文库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, tGripperWObj:=wobj0; ENDPROC PROC PickIF() IF bPickPart = FALSE AND nJob 0 AND DI10_1Product0K = 1 THEN !CalculatePick; MoveJ Offs(pPick,0,0,400), vFast, z200, tGripperWObj:=wobj0; !MoveLDO Offs(pPick,0,0,100), vFast, z20, tool0WObj:=wobj0, DO10_1JiaZhua, 1; MoveL pPick, vFast, fine, tGripperWObj:=wobj0; Close1; GripLoad LoadFull; Accset 50,50; HandshakeIF; bPickPart:=TRUE; ConfLOff; MoveJ pAfterPick, vFast, z60, tGripperWObj:=wobj0; ENDIF ENDPROC PROC PlaceOF() IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THEN CalculatePlace; ConfLOff; !MoveL Offs(pOver,0,0,nOffsZ2), vFast, z200, tGripper; IF bTag=true then Accset 70, 70; MoveJ pAbovePlace, vFast, z10, tGripperWObj:=wobj0; else Accset 90, 90; MoveJ pAbovePlace, vFast, z10, tGripperWObj:=wobj0; Endif Accset 100,100; ! place first box ConfLOff; !MoveL Offs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripperWObj:=wobj0; MoveL pPlace1, vMiddle, fine, tGripperWObj:=wobj0; Open1; ConfLOff; MoveL Offs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripperWObj:=wobj0; GripLoad LoadEmpty; Accset 100,100; bPickPart:=FALSE; Incr nCount1; HandshakeOF; MoveJ pAbovePick, vFast, z200, tGripperWObj:=wobj0; MoveL Offs(pPick,0,0,400), vFast, z10, tGripperWObj:=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; SetDOSDelay:=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 nPriority2 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:=