码垛机器人程序代码Word下载.docx

1、=2;VAR num singlelaxxxxyer_700:VAR num singlelaxxxxyer_750:=1;VAR num singlelaxxxxyer_800:VAR num singlelaxxxxyer_900:VAR num singlelaxxxxyer_1000:!.VAR num Totallaxxxxyer_L_250:=5;VAR num Totallaxxxxyer_L_300:VAR num Totallaxxxxyer_L_350:VAR num Totallaxxxxyer_L_400:VAR num Totallaxxxxyer_L_450:VAR

2、 num Totallaxxxxyer_L_500:VAR num Totallaxxxxyer_L_600:VAR num Totallaxxxxyer_L_700:VAR num Totallaxxxxyer_L_750:VAR num Totallaxxxxyer_L_800:VAR num Totallaxxxxyer_L_900:VAR num Totallaxxxxyer_L_1000:VAR num Totallaxxxxyer_R_250:VAR num Totallaxxxxyer_R_300:VAR num Totallaxxxxyer_R_350:VAR num Tota

3、llaxxxxyer_R_400:VAR num Totallaxxxxyer_R_450:VAR num Totallaxxxxyer_R_500:VAR num Totallaxxxxyer_R_600:VAR num Totallaxxxxyer_R_700:VAR num Totallaxxxxyer_R_750:VAR num Totallaxxxxyer_R_800:VAR num Totallaxxxxyer_R_900:VAR num Totallaxxxxyer_R_1000:VAR bool One_number:=true;VAR bool two_number:VAR

4、num products_num:VAR num One_num:VAR num two_num:PERS num nCouny_L: PERS num nCouny_R:PERS num nPickH:=500;PERS num nPlaceh:PERS bool bPallet_L:=FALSE;PERS intnum INTN1;VAR intnum intno1:VAR intnum intno2:VAR bool flag1:VAR bool flag2:VAR bool flag3:VAR bool flag4:VAR bool flag5:VAR bool flag6:VAR b

5、ool flag7:VAR bool flag8:VAR bool flag9:VAR bool lock1:VAR bool DI7_2UP_Down1:VAR bool DI4_1UP_Down1: CHAN PIN ZHONG XIN JU!var num Line_1_array:var num Line_2_array:var num Line_Distance250 :=430;var num Line_Distance300 :=550;var num Line_Distance350 :var num Line_Distance400 :var num Line_Distanc

6、e450 :=600;var num Line_Distance500 :var num Line_Distance600 :var num Line_Distance700 :var num Line_Distance750 :var num Line_Distance800 :var num Line_Distance900 :var num Line_Distance1000 :FANG ZHI DIAN WEI!CONST speeddata speed1:=100050050001000;CONST speeddata speed2:=50050010001000;CONST spe

7、eddata speed3:=30050050001000;PROC main（）rInitAll;MoveJ HOMEspeed1z100GripperTool1WObj:=wobj0;WHILE TRUE DODI7_DI4_INTERRUPT;option_program;stacking_program;ENDWHILEENDPROCPROC option_program（） IF DI10_3num=1 AND DI11_7num=1 AND DI12_5num=1 AND DI13_6num=1 THEN DN600:=21; flag1:=TRUE; flag4: TPWrite

8、 DN600; ELSE =False;endif IF DI10_3num=1 AND DI11_7num=1 AND DI12_5num=1 and flag1=FALSE THEN DN500:=15; flag2:DN500 endif.IF DI11_7num=1 AND DI12_5num=1 AND flag1=FALSE AND flag2=FALSE THEN DN1000:=12; flag9:DN1000 IF DI12_5num=1 AND DI13_6num=1 AND flag1=FALSE THEN DN900:=11; flag8:DN900. IF DI11_

9、7num=1 AND DI13_6num=1 and flag1=False THEN DN800:=13; flag7:DN800IF DI10_3num=1 AND DI13_6num=1 AND flag1=false THEN DN750:=9; flag6:DN750IF DI10_3num=1 AND DI12_5num=1 AND flag1=false AND flag2=false THEN DN700:=8; flag5:DN700IF DI10_3num=1 AND DI11_7num=1 and flag1=FALSE AND flag2=FALSE THEN DN45

10、0:=10;DN450IF DI13_6num=1 AND flag4=FALSE AND flag2=FALSE and flag1=FALSE AND flag6=False AND flag7=False AND flag8=False THEN DN400:=6;DN400IF DI12_5num=1 AND flag4=FALSE AND flag2=FALSE and flag1=FALSE AND flag5=FALSE AND flag8=False AND flag9=False THEN DN350:TPWrite DN350ELSE endiFIF DI11_7num=1

11、 AND flag4=FALSE AND flag2=FALSE and flag1=FALSE AND flag7=False AND flag9=False THEN DN300:=7;DN300IF DI10_3num=1 AND flag4=FALSE AND flag2=FALSE and flag1=FALSE AND flag5=FALSE AND flag6=False THEN DN250:DN250PROC stacking_program（） !DN250!WHILE DN250=3 DO rDN250;AccSet 1010;VelSet 1003000; IF DI1

12、_Prepare=1 AND DI3_conveyor_STOP=1 AND DI15_start=1 AND lock1=true THEN Pick_Materials; lock1: ENDIF IF DI4_1UP_Down1=TRUE AND nCouny_L Totallaxxxxyer_L_250 AND One_number=TRUE AND DI15_start=0 and lock1=false THEN two_number: place_1_250; ENDIF IF DI1_Prepare=1 AND DI3_conveyor_STOP=1 AND DI15_star

13、t=1 AND lock1=true THEN IF DI7_2UP_Down1=TRUE AND nCouny_R Totallaxxxxyer_R_250 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN One_number: place_2_250;DN300!WHILE DN300=7 DO rDN300; Totallaxxxxyer_L_300 AND One_number=TRUE AND DI15_start=0 and lock1=false THEN place_1_300; Totallaxxxxyer_

14、R_300 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN place_2_300;DN350! WHILE DN350=5 DO rDN350; Totallaxxxxyer_L_350 AND One_number=TRUE AND DI15_start=0 and lock1=false THEN place_1_350; Totallaxxxxyer_R_350 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN place_2_350;DN400!WHI

15、LE DN400=6 DO rDN400; Totallaxxxxyer_L_400 AND One_number=TRUE AND DI15_start=0 and lock1=false THEN place_1_400;Totallaxxxxyer_R_400 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN place_2_400;DN450!WHILE DN450=10 DO rDN450; Totallaxxxxyer_L_450 AND One_number=TRUE AND DI15_start=0 and lo

16、ck1=false THEN place_1_450;Totallaxxxxyer_R_450 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN place_2_450;DN500!WHILE DN500=15 DO rDN500; AccSet 1010; Totallaxxxxyer_L_500 AND One_number=TRUE AND DI15_start=0 and lock1=false THEN place_1_500; Totallaxxxxyer_R_500 AND two_number=TRUE AND DI15_start=0 and lock1=false THEN place_2_500;DN600!WHILE DN600=21 DO rDN600; Totallaxxxxyer_L_600 AND One_number