ABB机器人码垛程序Word格式.docx

1、ENDWHILEENDPROCPROC clock2re（）!tempint:=movstat; IF DI10_1Product0K = 0 or DI10_2TuoPanOK = 0 ThenIF tempint0、25 thenClkStart CLK2;ELSEClkStop CLK2;ENDIFElseEndIFEndprocPROC InitAll（）MoveHome;Reset DO10_1JiaZhua;Reset DO10_2YaBan;Reset DO10_3ZhuaOK;Reset DO10_4MaDuoOK;Waittime 0、5;bPickPart:=FALSE;C

2、lkReset CLK1;ClkStart CLK1;ClkReset CLK2;MoveL Offs（pPick,0,0,400）, vFast, z10, tGripperWObj:=wobj0;PROC PickIF（）IF bPickPart = FALSE AND nJob 0 AND DI10_1Product0K = 1 THENCalculatePick;MoveJ Offs（pPick,0,0,400）, vFast, z200, tGripperWObj:MoveLDO Offs（pPick,0,0,100）, vFast, z20, tool0WObj:=wobj0, D

3、O10_1JiaZhua, 1;MoveL pPick, vFast, fine, tGripperWObj:Close1;GripLoad LoadFull;Accset 50,50;HandshakeIF;=TRUE;ConfLOff;MoveJ pAfterPick, vFast, z60, tGripperWObj:PROC PlaceOF（）IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THENCalculatePlace;MoveL Offs（pOver,0,0,nOffsZ2）, vFast, z200, tGripper; IF bTag

4、=true then Accset 70, 70; MoveJ pAbovePlace, vFast, z10, tGripperWObj: elseAccset 90, 90; EndifAccset 100,100; place first boxMoveL Offs（pPlace1,nOffsX1,nOffsY1,nOffsZ1）,vTurn,z10,tGripperWObj:MoveL pPlace1, vMiddle, fine, tGripperWObj:Open1;MoveL Offs（pPlace1,0,0,nOffsZ1）,vMiddle,z5,tGripperWObj:Gr

5、ipLoad LoadEmpty;Incr nCount1;HandshakeOF;MoveJ pAbovePick, vFast, z200, tGripperWObj:MoveJ pHome, vFast, z200, tGripper;PROC HandshakeIF（）IF nJob=1 THENSet DO10_3ZhuaOK;IF nJob=2 THENPROC HandshakeOF（）IF （nCount1=40 and nJob =1） or （nCount1=80 and nJob =2） THENSet DO10_4MaDuoOK;WaitDI DI10_2TuoPanO

6、K, 0;SetDOSDelay:=0、5,DO10_4MaDuoOK,0;nCount1:=0;ClkStop CLK1;nCycleCount:=ClkRead（CLK1）;Waitingtime:=ClkRead（CLK2）;TPWrite Cycle time: Num:=nCycleCount;Waiting time in this Cycle:=Waitingtime;PROC MoveHome（） TempP1:=CRobT（Tool:=tool0 WObj:=wobj0）; TempP1、trans、z:=500 ; MoveJ TempP1, v1000, z20, tGr

7、ipper;MoveJ pHome, v1000, z20, tGripper;PROC ReadType（）IF nPriority = 1 AND DI10_1Product0K = 1 THENnJob:=1; Incr nPriority;ELSEIF nPriority = 2 AND DI10_1Product0K = 1 THEN=2;Incr nPriority;IF nPriority2 nPriority:PROC Open1（）Waittime 0、0;waittime 0、1;Waittime nTimeGripper;PROC Close1（）Set DO10_1Ji

8、aZhua;WaitDI DI10_4Zhua1End, 1;Set DO10_2YaBan;WaitDI DI10_6Zhua2End, 1;PROC CalculatePick（）IF nJob = 1 THENpPick:=pPick1;ELSEIF nJob = 2 THENENDIF pAbovePick:=pPick;pAfterPick:Pattern80;pAbovePick、trans、z:= pAfterPick、trans、z;pAbovePick、trans、y:= pAfterPick、trans、y-500;pAfterPick、trans、y:PROC Calcu

9、latePlace（）nBagL:=nBag50L;nBagW:=nBag50W;nBagH:=nBag50H;=nBag25L;=nBag25W;=nBag25H;Pattern100;pAbovePlace:=pPlace1;pAfterPlace:=pAbovePlace;PROC Pattern80（）bTag:TEST nCount1+1CASE 1:pPlace1:=pBase180;pPlace1、trans、x:=pPlace1、trans、x;pPlace1、trans、y:=pPlace1、trans、y;pPlace1、trans、z:=pPlace1、trans、z;nOffsX1:nOffsY1:nOffsZ1:=500;nOffsZ2:=-500;nLevel:bTwice:pAfterPick、trans、z:=pPick、trans、z+400;pAbovePlace、trans、z:=True;CASE 2:=pBase0;=nBagH*1、2;CASE 3:=pBase90;=pPlace1、trans、y+25;CASE 4:=pPlace1、trans、x+2*nBagW;