码垛机器人程序代码.docx
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码垛机器人程序代码
码垛机器人程序代码
MODULEModule_stacking
VARnumDN250:
=0;
VARnumDN300:
=0;
VARnumDN350:
=0;
VARnumDN400:
=0;
VARnumDN450:
=0;
VARnumDN500:
=0;
VARnumDN600:
=0;
VARnumDN700:
=0;
VARnumDN750:
=0;
VARnumDN800:
=0;
VARnumDN900:
=0;
VARnumDN1000:
=0;
VARnumsinglelaxxxxyer_250:
=4;
VARnumsinglelaxxxxyer_300:
=4;
VARnumsinglelaxxxxyer_350:
=3;
VARnumsinglelaxxxxyer_400:
=3;
VARnumsinglelaxxxxyer_450:
=3;
VARnumsinglelaxxxxyer_500:
=4;
VARnumsinglelaxxxxyer_600:
=2;
VARnumsinglelaxxxxyer_700:
=2;
VARnumsinglelaxxxxyer_750:
=1;
VARnumsinglelaxxxxyer_800:
=1;
VARnumsinglelaxxxxyer_900:
=1;
VARnumsinglelaxxxxyer_1000:
=1;
!
..............................
VARnumTotallaxxxxyer_L_250:
=5;
VARnumTotallaxxxxyer_L_300:
=5;
VARnumTotallaxxxxyer_L_350:
=5;
VARnumTotallaxxxxyer_L_400:
=5;
VARnumTotallaxxxxyer_L_450:
=4;
VARnumTotallaxxxxyer_L_500:
=4;
VARnumTotallaxxxxyer_L_600:
=4;
VARnumTotallaxxxxyer_L_700:
=4;
VARnumTotallaxxxxyer_L_750:
=4;
VARnumTotallaxxxxyer_L_800:
=4;
VARnumTotallaxxxxyer_L_900:
=4;
VARnumTotallaxxxxyer_L_1000:
=4;
!
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VARnumTotallaxxxxyer_R_250:
=5;
VARnumTotallaxxxxyer_R_300:
=5;
VARnumTotallaxxxxyer_R_350:
=5;
VARnumTotallaxxxxyer_R_400:
=5;
VARnumTotallaxxxxyer_R_450:
=4;
VARnumTotallaxxxxyer_R_500:
=4;
VARnumTotallaxxxxyer_R_600:
=4;
VARnumTotallaxxxxyer_R_700:
=4;
VARnumTotallaxxxxyer_R_750:
=4;
VARnumTotallaxxxxyer_R_800:
=4;
VARnumTotallaxxxxyer_R_900:
=4;
VARnumTotallaxxxxyer_R_1000:
=4;
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VARboolOne_number:
=true;
VARbooltwo_number:
=true;
VARnumproducts_num:
=0;
VARnumOne_num:
=1;
VARnumtwo_num:
=1;
PERSnumnCouny_L:
=0;
PERSnumnCouny_R:
=0;
PERSnumnPickH:
=500;
PERSnumnPlaceh:
=500;
PERSboolbPallet_L:
=FALSE;
PERSintnumINTN1;
VARintnumintno1:
=0;
VARintnumintno2:
=0;
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VARboolflag1:
=FALSE;
VARboolflag2:
=FALSE;
VARboolflag3:
=FALSE;
VARboolflag4:
=FALSE;
VARboolflag5:
=FALSE;
VARboolflag6:
=FALSE;
VARboolflag7:
=FALSE;
VARboolflag8:
=FALSE;
VARboolflag9:
=FALSE;
VARboollock1:
=true;
VARboolDI7_2UP_Down1:
=FALSE;
VARboolDI4_1UP_Down1:
=FALSE;
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CHANPINZHONGXINJU!
varnumLine_1_array:
=0;
varnumLine_2_array:
=0;
varnumLine_Distance250:
=430;
varnumLine_Distance300:
=550;
varnumLine_Distance350:
=430;
varnumLine_Distance400:
=0;
varnumLine_Distance450:
=600;
varnumLine_Distance500:
=430;
varnumLine_Distance600:
=430;
varnumLine_Distance700:
=430;
varnumLine_Distance750:
=430;
varnumLine_Distance800:
=430;
varnumLine_Distance900:
=430;
varnumLine_Distance1000:
=430;
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FANGZHIDIANWEI!
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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:
=TRUE;
TPWrite"DN600";
ELSE
DN600:
=0;
flag1:
=False;
flag4:
=False;
endif
IFDI10_3num=1ANDDI11_7num=1ANDDI12_5num=1andflag1=FALSETHEN
DN500:
=15;
flag2:
=TRUE;
flag4:
=TRUE;
TPWrite"DN500";
ELSE
flag2:
=False;
flag4:
=False;
DN500:
=0;
endif
!
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IFDI11_7num=1ANDDI12_5num=1ANDflag1=FALSEANDflag2=FALSETHEN
DN1000:
=12;
flag9:
=TRUE;
TPWrite"DN1000";
ELSE
DN1000:
=0;
flag9:
=False;
endif
!
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IFDI12_5num=1ANDDI13_6num=1ANDflag1=FALSETHEN
DN900:
=11;
flag4:
=TRUE;
flag8:
=TRUE;
TPWrite"DN900";
ELSE
DN900:
=0;
flag4:
=False;
flag8:
=False;
endif
!
..............
IFDI11_7num=1ANDDI13_6num=1andflag1=FalseTHEN
DN800:
=13;
flag4:
=TRUE;
flag7:
=TRUE;
TPWrite"DN800";
ELSE
DN800:
=0;
flag4:
=False;
flag7:
=False;
endif
IFDI10_3num=1ANDDI13_6num=1ANDflag1=falseTHEN
DN750:
=9;
flag6:
=TRUE;
flag4:
=TRUE;
TPWrite"DN750";
ELSE
DN750:
=0;
flag6:
=False;
flag4:
=False;
endif
IFDI10_3num=1ANDDI12_5num=1ANDflag1=falseANDflag2=falseTHEN
DN700:
=8;
flag5:
=TRUE;
flag4:
=TRUE;
TPWrite"DN700";
ELSE
DN700:
=0;
flag5:
=False;
flag4:
=False;
endif
IFDI10_3num=1ANDDI11_7num=1andflag1=FALSEANDflag2=FALSETHEN
DN450:
=10;
flag4:
=TRUE;
TPWrite"DN450";
ELSE
DN450:
=0;
flag4:
=False;
endif
IFDI13_6num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag6=FalseANDflag7=FalseANDflag8=FalseTHEN
DN400:
=6;
TPWrite"DN400";
ELSE
DN400:
=0;
endif
IFDI12_5num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag8=FalseANDflag9=FalseTHEN
DN350:
=5;
TPWrite"DN350";
ELSE
DN350:
=0;
endiF
IFDI11_7num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag7=FalseANDflag9=FalseTHEN
DN300:
=7;
TPWrite"DN300";
ELSE
DN300:
=0;
endif
IFDI10_3num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag6=FalseTHEN
DN250:
=3;
TPWrite"DN250";
ELSE
DN250:
=0;
endif
ENDPROC
PROCstacking_program（）
!
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DN250!
!
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WHILEDN250=3DO
rDN250;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_250;
lock1:
=true;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_250;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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DN300!
!
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WHILEDN300=7DO
rDN300;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_300;
lock1:
=TRUE;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_300;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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DN350!
!
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WHILEDN350=5DO
rDN350;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_350;
lock1:
=TRUE;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_350;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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DN400!
!
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WHILEDN400=6DO
rDN400;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_400;
lock1:
=TRUE;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_400;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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!
DN450!
!
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WHILEDN450=10DO
rDN450;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_450;
lock1:
=TRUE;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_450;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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DN500!
!
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WHILEDN500=15DO
rDN500;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_Ltwo_number:
=FALSE;
place_1_500;
lock1:
=TRUE;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI7_2UP_Down1=TRUEANDnCouny_ROne_number:
=FALSE;
place_2_500;
lock1:
=TRUE;
ENDIF
ENDWHILE
!
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DN600!
!
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WHILEDN600=21DO
rDN600;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
=FALSE;
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_L
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