ABB机器人码垛程序Word下载.docx

ABB机器人码垛程序Word下载.docx

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IFtempint<

then

ClkStartCLK2;

ELSE

ClkStopCLK2;

ENDIF

Else

EndIF

Endproc

PROCInitAll（）

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;

PROCPickIF（）

IFbPickPart=FALSEANDnJob<

>

0ANDDI10_1Product0K=1THEN

CalculatePick;

MoveJOffs（pPick,0,0,400）,vFast,z200,tGripper\WObj:

MoveLDOOffs（pPick,0,0,100）,vFast,z20,tool0\WObj:

=wobj0,DO10_1JiaZhua,1;

MoveLpPick,vFast,fine,tGripper\WObj:

Close1;

GripLoadLoadFull;

Accset50,50;

HandshakeIF;

=TRUE;

ConfL\Off;

MoveJpAfterPick,vFast,z60,tGripper\WObj:

PROCPlaceOF（）

IFDI10_2TuoPanOK=1ANDbPickPart=TRUETHEN

CalculatePlace;

MoveLOffs（pOver,0,0,nOffsZ2）,vFast,z200,tGripper;

IFbTag=truethen

Accset70,70;

MoveJpAbovePlace,vFast,z10,tGripper\WObj:

else

Accset90,90;

Endif

Accset100,100;

placefirstbox

MoveLOffs（pPlace1,nOffsX1,nOffsY1,nOffsZ1）,vTurn,z10,tGripper\WObj:

MoveLpPlace1,vMiddle,fine,tGripper\WObj:

Open1;

MoveLOffs（pPlace1,0,0,nOffsZ1）,vMiddle,z5,tGripper\WObj:

GripLoadLoadEmpty;

IncrnCount1;

HandshakeOF;

MoveJpAbovePick,vFast,z200,tGripper\WObj:

MoveJpHome,vFast,z200,tGripper;

PROCHandshakeIF（）

IFnJob=1THEN

SetDO10_3ZhuaOK;

IFnJob=2THEN

PROCHandshakeOF（）

IF（nCount1=40andnJob=1）or（nCount1=80andnJob=2）THEN

SetDO10_4MaDuoOK;

WaitDIDI10_2TuoPanOK,0;

SetDO\SDelay:

=,DO10_4MaDuoOK,0;

nCount1:

=0;

ClkStopCLK1;

nCycleCount:

=ClkRead（CLK1）;

Waitingtime:

=ClkRead（CLK2）;

TPWrite"

Cycletime:

"

\Num:

=nCycleCount;

WaitingtimeinthisCycle:

=Waitingtime;

PROCMoveHome（）

TempP1:

=CRobT（\Tool:

=tool0\WObj:

=wobj0）;

;

MoveJTempP1,v1000,z20,tGripper;

MoveJpHome,v1000,z20,tGripper;

PROCReadType（）

IFnPriority=1ANDDI10_1Product0K=1THEN

nJob:

=1;

IncrnPriority;

ELSEIFnPriority=2ANDDI10_1Product0K=1THEN

=2;

IncrnPriority;

IFnPriority>

2nPriority:

PROCOpen1（）

waittime;

WaittimenTimeGripper;

PROCClose1（）

SetDO10_1JiaZhua;

WaitDIDI10_4Zhua1End,1;

SetDO10_2YaBan;

WaitDIDI10_6Zhua2End,1;

PROCCalculatePick（）

IFnJob=1THEN

pPick:

=pPick1;

ELSEIFnJob=2THEN

ENDIF

pAbovePick:

=pPick;

pAfterPick:

Pattern80;

CalculatePlace（）

nBagL:

=nBag50L;

nBagW:

=nBag50W;

nBagH:

=nBag50H;

=nBag25L;

=nBag25W;

=nBag25H;

Pattern100;

pAbovePlace:

=pPlace1;

pAfterPlace:

=pAbovePlace;

PROCPattern80（）

bTag:

TESTnCount1+1

CASE1:

pPlace1:

=pBase180;

2:

=pBase0;

3:

=pBase90;

4:

5:

CASE6:

7:

8:

=pBase270;

9:

10:

11:

CASE12:

13:

14:

15:

CASE16:

17:

18:

19:

20:

21:

CASE22:

23:

24:

25:

26:

27:

28:

29:

30:

31:

CASE32:

33:

34:

35:

36:

37:

38:

39:

40:

DEFAULT:

ErrWrite"

WrongboxCount..."

"

SingleboxmustbethelastoneofaPallet"

Stop;

EXIT;

ENDTEST

PROCPattern100（）

=p25Base270;

=p25Base0;

=p25Base90;

=p25Base180;

12:

CASE14:

16:

CASE30:

32:

CASE38:

41:

42:

43:

44:

45:

CASE46:

47:

48:

49:

50:

51:

52:

53:

CASE54:

55:

56:

57:

58:

59:

60:

61:

CASE62:

63:

64:

65:

66:

67:

68:

69:

CASE70:

71:

72:

73:

74:

75:

76:

77:

CASE78:

79:

80:

ENDMODULE