码垛机器人程序代码Word下载.docx

码垛机器人程序代码Word下载.docx

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=2;

VARnumsinglelaxxxxyer_700:

VARnumsinglelaxxxxyer_750:

=1;

VARnumsinglelaxxxxyer_800:

VARnumsinglelaxxxxyer_900:

VARnumsinglelaxxxxyer_1000:

!

..............................

VARnumTotallaxxxxyer_L_250:

=5;

VARnumTotallaxxxxyer_L_300:

VARnumTotallaxxxxyer_L_350:

VARnumTotallaxxxxyer_L_400:

VARnumTotallaxxxxyer_L_450:

VARnumTotallaxxxxyer_L_500:

VARnumTotallaxxxxyer_L_600:

VARnumTotallaxxxxyer_L_700:

VARnumTotallaxxxxyer_L_750:

VARnumTotallaxxxxyer_L_800:

VARnumTotallaxxxxyer_L_900:

VARnumTotallaxxxxyer_L_1000:

VARnumTotallaxxxxyer_R_250:

VARnumTotallaxxxxyer_R_300:

VARnumTotallaxxxxyer_R_350:

VARnumTotallaxxxxyer_R_400:

VARnumTotallaxxxxyer_R_450:

VARnumTotallaxxxxyer_R_500:

VARnumTotallaxxxxyer_R_600:

VARnumTotallaxxxxyer_R_700:

VARnumTotallaxxxxyer_R_750:

VARnumTotallaxxxxyer_R_800:

VARnumTotallaxxxxyer_R_900:

VARnumTotallaxxxxyer_R_1000:

VARboolOne_number:

=true;

VARbooltwo_number:

VARnumproducts_num:

VARnumOne_num:

VARnumtwo_num:

PERSnumnCouny_L:

PERSnumnCouny_R:

PERSnumnPickH:

=500;

PERSnumnPlaceh:

PERSboolbPallet_L:

=FALSE;

PERSintnumINTN1;

VARintnumintno1:

VARintnumintno2:

VARboolflag1:

VARboolflag2:

VARboolflag3:

VARboolflag4:

VARboolflag5:

VARboolflag6:

VARboolflag7:

VARboolflag8:

VARboolflag9:

VARboollock1:

VARboolDI7_2UP_Down1:

VARboolDI4_1UP_Down1:

CHANPINZHONGXINJU!

varnumLine_1_array:

varnumLine_2_array:

varnumLine_Distance250:

=430;

varnumLine_Distance300:

=550;

varnumLine_Distance350:

varnumLine_Distance400:

varnumLine_Distance450:

=600;

varnumLine_Distance500:

varnumLine_Distance600:

varnumLine_Distance700:

varnumLine_Distance750:

varnumLine_Distance800:

varnumLine_Distance900:

varnumLine_Distance1000:

FANGZHIDIANWEI!

CONSTspeeddataspeed1:

=[100050050001000];

CONSTspeeddataspeed2:

=[50050010001000];

CONSTspeeddataspeed3:

=[30050050001000];

PROCmain（）

rInitAll;

MoveJHOMEspeed1z100GripperTool1\WObj:

=wobj0;

WHILETRUEDO

DI7_DI4_INTERRUPT;

option_program;

stacking_program;

ENDWHILE

ENDPROC

PROCoption_program（）

IFDI10_3num=1ANDDI11_7num=1ANDDI12_5num=1ANDDI13_6num=1THEN

DN600:

=21;

flag1:

=TRUE;

flag4:

TPWrite"

DN600"

;

ELSE

=False;

endif

IFDI10_3num=1ANDDI11_7num=1ANDDI12_5num=1andflag1=FALSETHEN

DN500:

=15;

flag2:

DN500"

endif

....................

IFDI11_7num=1ANDDI12_5num=1ANDflag1=FALSEANDflag2=FALSETHEN

DN1000:

=12;

flag9:

DN1000"

IFDI12_5num=1ANDDI13_6num=1ANDflag1=FALSETHEN

DN900:

=11;

flag8:

DN900"

..............

IFDI11_7num=1ANDDI13_6num=1andflag1=FalseTHEN

DN800:

=13;

flag7:

DN800"

IFDI10_3num=1ANDDI13_6num=1ANDflag1=falseTHEN

DN750:

=9;

flag6:

DN750"

IFDI10_3num=1ANDDI12_5num=1ANDflag1=falseANDflag2=falseTHEN

DN700:

=8;

flag5:

DN700"

IFDI10_3num=1ANDDI11_7num=1andflag1=FALSEANDflag2=FALSETHEN

DN450:

=10;

DN450"

IFDI13_6num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag6=FalseANDflag7=FalseANDflag8=FalseTHEN

DN400:

=6;

DN400"

IFDI12_5num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag8=FalseANDflag9=FalseTHEN

DN350:

TPWrite"

DN350"

ELSE

endiF

IFDI11_7num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag7=FalseANDflag9=FalseTHEN

DN300:

=7;

DN300"

IFDI10_3num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag6=FalseTHEN

DN250:

DN250"

PROCstacking_program（）

!

DN250!

WHILEDN250=3DO

rDN250;

AccSet1010;

VelSet1003000;

IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN

Pick_Materials;

lock1:

ENDIF

IFDI4_1UP_Down1=TRUEANDnCouny_L<

Totallaxxxxyer_L_250ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

two_number:

place_1_250;

ENDIF

IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN

IFDI7_2UP_Down1=TRUEANDnCouny_R<

Totallaxxxxyer_R_250ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

One_number:

place_2_250;

DN300!

WHILEDN300=7DO

rDN300;

Totallaxxxxyer_L_300ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_1_300;

Totallaxxxxyer_R_300ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_2_300;

DN350!

WHILEDN350=5DO

rDN350;

Totallaxxxxyer_L_350ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_1_350;

Totallaxxxxyer_R_350ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_2_350;

DN400!

WHILEDN400=6DO

rDN400;

Totallaxxxxyer_L_400ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_1_400;

Totallaxxxxyer_R_400ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_2_400;

DN450!

WHILEDN450=10DO

rDN450;

Totallaxxxxyer_L_450ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_1_450;

Totallaxxxxyer_R_450ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_2_450;

DN500!

WHILEDN500=15DO

rDN500;

AccSet1010;

Totallaxxxxyer_L_500ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_1_500;

Totallaxxxxyer_R_500ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN

place_2_500;

DN600!

WHILEDN600=21DO

rDN600;

Totallaxxxxyer_L_600ANDOne_number