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1、MODULE MainModulePROC 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 DOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROC clock2re()!tempint:=movstat;IF DI10_1Product0K = 0 or DI1

2、0_2TuoPanOK = 0 ThenIF tempint<0.25 thenClkStart CLK2;ELSEClkStop CLK2;ENDIFElseClkStop CLK2;EndIFEndprocPROC 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

3、,400), vFast, z10, tGripperWObj:=wobj0;ENDPROCPROC 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,

4、fine, tGripperWObj:=wobj0;Close1;GripLoad LoadFull;Accset 50,50;HandshakeIF;bPickPart:=TRUE;ConfLOff;MoveJ pAfterPick, vFast, z60, tGripperWObj:=wobj0;ENDIFENDPROCPROC PlaceOF()IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THENCalculatePlace;ConfLOff;!MoveL Offs(pOver,0,0,nOffsZ2), vFast, z200, tGrippe

5、r;IF bTag=true thenAccset 70, 70;MoveJ pAbovePlace, vFast, z10, tGripperWObj:=wobj0;elseAccset 90, 90;MoveJ pAbovePlace, vFast, z10, tGripperWObj:=wobj0;EndifAccset 100,100;! place first box ConfLOff;!MoveLOffs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripperWObj:=wobj0; MoveL pPlace1, vMiddle, f

6、ine, 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 p

7、Home, vFast, z200, tGripper;ENDIFENDPROCPROC HandshakeIF()IF nJob=1 THEN!Set DO10_3ZhuaOK;ENDIFIF nJob=2 THEN!Set DO10_3ZhuaOK;ENDIFENDPROCPROC 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;nCount

8、1:=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;ENDIFENDPROCPROC MoveHome()MoveJ pHome, v1000, z20,

9、 tGripper;ENDPROCPROC 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;ENDIFENDPROCPROC Open1()Reset DO10_2YaBan;Waittime 0.0;Reset D

10、O10_1JiaZhua;waittime 0.1;!Waittime nTimeGripper;ENDPROCPROC 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;ENDPROCPROC CalculatePick()IF nJob = 1 THENpPick:=pPick1;ELSEIF nJob = 2

11、 THENpPick:=pPick1;ENDIF!pAbovePick:=pPick;!pAfterPick:=pPick;!Pattern80;ENDPROCPROC CalculatePlace()IF nJob = 1 THENnBagL:=nBag50L;nBagW:=nBag50W;nBagH:=nBag50H;Pattern80;ELSEIF nJob = 2 THENnBagL:=nBag25L;nBagW:=nBag25W;nBagH:=nBag25H;Pattern100;ENDIF!pAbovePlace:=pPlace1;pAfterPlace:=pAbovePlace;

12、ENDPROCPROC Pattern80()bTag:=FALSE;TEST nCount1+1CASE 1:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 2:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace

13、1;CASE 3:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 4:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 5:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOff

14、sZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;!Layer2CASE 6:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 7:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice

15、:=FALSE;pAbovePlace:=pPlace1;CASE 8:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 9:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 10:pPlace1:=pBas

16、e270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;!Layer3CASE 11:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 12:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffs

17、Z1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 13:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 14:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALS

18、E;pAbovePlace:=pPlace1;CASE 15:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;!layer4CASE 16:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 17:pPlace1:=pB

19、ase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 18:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 19:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nO

20、ffsZ2:=-300;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 20:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;!layer5CASE 21:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbov

21、ePlace:=pPlace1;bTag:=True;CASE 22:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 23:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 24:pPlace1:=pBase90

22、;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 25:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;!layer6CASE 26:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;

23、nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 27:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 28:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:

24、=pPlace1;CASE 29:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 30:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;!layer7CASE 31:pPlace1:=pBase180;nOffsX

25、1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 32:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 33:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffs

26、Z2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 34:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 35:pPlace1:=pBase90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPla

27、ce1;!layer8CASE 36:pPlace1:=pBase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 37:pPlace1:=pBase0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 38:pPlace1:=pBase270;nOffsX1:=0;nOff

28、sY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=100;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 39:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=100;nLevel:=2;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 40:pPlace1:=pBase270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=100;nLevel:=2;b

29、Twice:=FALSE;pAbovePlace:=pPlace1;DEFAULT:ErrWrite "Wrong box Count.","Single box must be the last one of aPallet"Stop;EXIT;ENDTESTENDPROCPROC Pattern100()bTag:=FALSE;TEST nCount1+1CASE 1:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=600;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE

30、;pAbovePlace:=pPlace1;bTag:=True;CASE 2:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 3:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 4:pPlace1:=p25B

31、ase180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 5:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 6:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:

32、=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 7:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 8:pPlace1:=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CA

33、SE 9:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 10:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 11:pPlace1:=p25Base90;nOffsX1:=0;nOffsY

34、1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 12:pPlace1:=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 13:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*2;nOffsZ2:=-500;nLevel:=1;bTwi

35、ce:=FALSE;pAbovePlace:=pPlace1;CASE 14:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 15:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 16:pPlace1:

36、=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 17:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 18:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1

37、:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 19:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 20:pPlace1:=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=F

38、ALSE;pAbovePlace:=pPlace1;CASE 21:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 22:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 23:pPlace1:=p25

39、Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 24:pPlace1:=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 25:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nO

40、ffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;bTag:=True;CASE 26:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 27:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;

41、pAbovePlace:=pPlace1;CASE 28:pPlace1:=p25Base180;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 29:pPlace1:=p25Base270;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 30:pPlace1:=p25Base0;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAbovePlace:=pPlace1;CASE 31:pPlace1:=p25Base90;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH

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