ABB机器人分拣程序样例

MODULE AMDPROC QuLiao()QuFuZhi;MoveL Offs(D,0,0,60), v200, z50, tool0;MoveL D, v200, fine, tool0;Set Vacunm_2;WaitTime 0.3;MoveL Offs(D,0,0,60), v200, fine, tool0;ENDPROCPROC QuFuZhi()IF reg5 = 2 THENIF reg1 = 3 THENreg1 := 0;ENDIFreg1 := reg1 + 1;TEST reg1CASE 1:D := by1;CASE 2:D := by2;CASE 3:D := by3;ENDTESTENDIFIF 3 = reg5 AND reg5 = 5 THENIF reg2 = 3 THENreg2 := 0;ENDIFreg2 := reg2 + 1;TEST reg2CASE 1:D := y1;CASE 2:D := y2;CASE 3:D := y3;ENDTESTENDIFIF 6 = reg5 AND reg5 = 7 THENIF reg3 = 2 THENreg3 := 0;ENDIFreg3 := reg3 + 1;TEST reg3CASE 1:D := cf1;CASE 2:D := cf2;ENDTESTENDIFIF 8 = reg5 AND reg5 = 9 THENIF reg4 = 2 THENreg4 := 0;ENDIFreg4 := reg4 + 1;TEST reg4CASE 1:D := f1;CASE 2:D := f2;ENDTESTENDIFENDPROCPROC FangWuLiao()FangFuZhi;MoveL Offs(D,0,0,60), v200, z50, tool0;MoveL D, v200, fine, tool0;Reset Vacunm_2;WaitTime 0.1;Set BVAC_1;WaitTime 0.3;Reset BVAC_1;MoveL Offs(D,0,0,60), v200, fine, tool0;MoveL pz10, v200, fine, tool0;ENDPROCPROC FangFuZhi()reg5 := reg5 + 1;TEST reg5CASE 1:D := by1f1;CASE 2:D := by1f2;CASE 3:D := by1f3;CASE 4:D := y1f1;CASE 5:D := y1f2;CASE 6:D := y1f3;CASE 7:D := cf1f1;CASE 8:D := cf1f2;CASE 9:D := f1f1;CASE 10:D := f1f2;ENDTESTENDPROCPROC PaiZhao()Reset Scene_Affirm;Reset AllowPhoto;MoveL pz10, v200, z50, tool0;SetGO GO10_11_14, 1;IF reg5 = 1 THENSetGO GO10_11_14, 5;ENDIFIF 1 = reg5 AND reg5 = 2 THENSetGO GO10_11_14, 5;ENDIFIF 2 reg5 AND reg5 = 4 THENSetGO GO10_11_14, 6;ENDIFIF reg5 = 5 THENSetGO GO10_11_14, 2;ENDIFIF reg5 = 6 THENSetGO GO10_11_14, 3;ENDIFIF reg5 = 7 THENSetGO GO10_11_14, 7;ENDIFIF reg5 = 8 THENSetGO GO10_11_14, 4;ENDIFIF reg5 = 9 THENSetGO GO10_11_14, 8;ENDIFSet Scene_Affirm;MoveL pz, v200, fine, tool0;WaitTime 0.8;Set AllowPhoto;WaitTime 0.3;IF CCD_OK = 1 THENMoveL pz10, v200, z50, tool0;FangWuLiao;ELSEMoveL pz10, v200, z50, tool0;NG;ENDIFENDPROCPROC NG()MoveL Offs(D,0,0,60), v200, z50, tool0;MoveL D, v200, fine, tool0;Reset Vacunm_2;Set BVAC_1;WaitTime 0.4;Reset BVAC_1;WaitTime 0.3;MoveL Offs(D,0,0,60), v200, fine, tool0;EN