ABB机器人码垛程序范本模板.docx

1、ABB机器人码垛程序范本模板MODULE MainModulePROC Main(）TPErase；TPReadNum nCount1, Qing Shu Ru Yi Ma Bao Shu！” ;TPReadNum nJob, ”Qing Shu Ru Mo Shi：50KG：=1,25KG：=2!；InitAll;WHILE TRUE DOReadType;clock2re;PickIF;clock2re；PlaceOF;ENDWHILEENDPROCPROC clock2re（)!tempint:=movstat; IF DI10_1Product0K = 0 or DI10_2TuoPa

2、nOK = 0 ThenIF tempint 0 AND DI10_1Product0K = 1 THEN !CalculatePick；MoveJ Offs(pPick，0，0，400)， vFast， z200, tGripperWObj：=wobj0;！MoveLDO Offs(pPick，0,0,100）， vFast, z20, tool0WObj：=wobj0， DO10_1JiaZhua, 1;MoveL pPick， vFast, fine， tGripperWObj:=wobj0;Close1；GripLoad LoadFull;Accset 50,50;HandshakeI

3、F；bPickPart:=TRUE;ConfLOff;MoveJ pAfterPick, vFast, z60， tGripperWObj：=wobj0;ENDIFENDPROCPROC PlaceOF(）IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THENCalculatePlace;ConfLOff；！MoveL Offs（pOver，0,0，nOffsZ2), vFast, z200， tGripper; IF bTag=true then Accset 70， 70； MoveJ pAbovePlace, vFast， z10， tGrippe

4、rWObj:=wobj0； elseAccset 90, 90； MoveJ pAbovePlace， vFast， z10， tGripperWObj:=wobj0； EndifAccset 100，100;! place first boxConfLOff;！MoveL Offs(pPlace1,nOffsX1，nOffsY1,nOffsZ1）,vTurn,z10，tGripperWObj:=wobj0；MoveL pPlace1, vMiddle, fine, tGripperWObj：=wobj0；Open1;ConfLOff；MoveL Offs（pPlace1，0,0，nOffsZ

5、1），vMiddle,z5，tGripperWObj：=wobj0；GripLoad LoadEmpty；Accset 100,100；bPickPart：=FALSE；Incr nCount1；HandshakeOF;MoveJ pAbovePick， vFast, z200, tGripperWObj：=wobj0；MoveL Offs(pPick，0，0,400)， vFast， z10, tGripperWObj：=wobj0;！MoveJ pHome， vFast, z200, tGripper；ENDIFENDPROCPROC HandshakeIF(）IF nJob=1 THEN

6、!Set DO10_3ZhuaOK；ENDIFIF nJob=2 THEN!Set DO10_3ZhuaOK；ENDIFENDPROCPROC HandshakeOF(）IF (nCount1=40 and nJob =1) or （nCount1=80 and nJob =2） THENSet DO10_4MaDuoOK;WaitDI DI10_2TuoPanOK， 0;SetDOSDelay：=0.5,DO10_4MaDuoOK，0;nCount1:=0;ClkStop CLK1；ClkStop CLK2;TPErase;nCycleCount:=ClkRead（CLK1）；Waiting

7、time：=ClkRead(CLK2）；TPWrite Cycle time： Num:=nCycleCount；TPWrite Waiting time in this Cycle： ”Num：=Waitingtime;ClkReset CLK2；ClkReset CLK1；ClkStart CLK1；ENDIFENDPROCPROC MoveHome() TempP1：=CRobT(Tool:=tool0 WObj:=wobj0)； TempP1。trans.z:=500 ; MoveJ TempP1, v1000， z20， tGripper;MoveJ pHome， v1000， z2

8、0, tGripper；ENDPROCPROC ReadType(）IF nPriority = 1 AND DI10_1Product0K = 1 THEN！nJob:=1;! Incr nPriority；ELSEIF nPriority = 2 AND DI10_1Product0K = 1 THEN!nJob:=2;!Incr nPriority；ELSE!nJob:=0;！Incr nPriority;!IF nPriority2 nPriority:=1；ENDIFENDPROCPROC Open1（)Reset DO10_2YaBan;Waittime 0。0;Reset DO1

9、0_1JiaZhua;waittime 0。1;！Waittime nTimeGripper;ENDPROCPROC Close1（）Set DO10_1JiaZhua；Waittime 0。0；WaitDI DI10_4Zhua1End, 1;Set DO10_2YaBan；Waittime 0.0;!Waittime nTimeGripper；WaitDI DI10_4Zhua1End， 1；!WaitDI DI10_6Zhua2End, 1;ENDPROCPROC CalculatePick（）IF nJob = 1 THENpPick:=pPick1；ELSEIF nJob = 2 T

10、HENpPick:=pPick1;ENDIF !pAbovePick：=pPick；!pAfterPick:=pPick；！Pattern80；！pAbovePick.trans。z:= pAfterPick。trans。z;!pAbovePick.trans。y：= pAfterPick。trans.y500;！pAfterPick.trans。y:= pAfterPick。trans.y500；ENDPROCPROC CalculatePlace()IF nJob = 1 THENnBagL:=nBag50L；nBagW:=nBag50W;nBagH：=nBag50H；Pattern80；

11、ELSEIF nJob = 2 THENnBagL：=nBag25L;nBagW:=nBag25W;nBagH：=nBag25H；Pattern100;ENDIF !pAbovePlace：=pPlace1;pAfterPlace:=pAbovePlace；ENDPROCPROC Pattern80(）bTag:=FALSE;TEST nCount1+1CASE 1:pPlace1：=pBase180；pPlace1.trans。x:=pPlace1.trans。x;pPlace1.trans。y：=pPlace1.trans.y;pPlace1。trans.z：=pPlace1。trans。

12、z；nOffsX1:=0；nOffsY1：=0;nOffsZ1:=500;nOffsZ2:=500;nLevel：=1；bTwice：=FALSE；pAfterPick.trans.z:=pPick.trans。z+400；pAbovePlace：=pPlace1；pAbovePlace.trans.z：=pPick。trans。z+400；bTag：=True；CASE 2：pPlace1:=pBase0；pPlace1。trans.x:=pPlace1.trans。x；pPlace1.trans.y:=pPlace1。trans。y;pPlace1。trans。z:=pPlace1.tra

13、ns.z；nOffsX1：=0；nOffsY1:=0；nOffsZ1：=nBagH*1。2;nOffsZ2:=500；nLevel：=1;bTwice:=FALSE；pAfterPick.trans。z：=pPick.trans。z+400;pAbovePlace：=pPlace1;pAbovePlace.trans.z:=pPick。trans。z+400;CASE 3:pPlace1:=pBase90；pPlace1.trans.x：=pPlace1。trans.x;pPlace1。trans。y：=pPlace1。trans。y+25；pPlace1。trans.z：=pPlace1.t

14、rans.z；nOffsX1:=0；nOffsY1:=0;nOffsZ1:=nBagH*1.2；nOffsZ2：=-500；nLevel：=1；bTwice:=FALSE；pAfterPick。trans.z:=pPick。trans.z+400；pAbovePlace:=pPlace1;pAbovePlace.trans。z：=pPick。trans.z+400;CASE 4：pPlace1:=pBase90;pPlace1。trans。x：=pPlace1。trans。x+2nBagW；pPlace1.trans.y：=pPlace1.trans。y+25；pPlace1.trans.z：

15、=pPlace1.trans。z;nOffsX1:=0；nOffsY1:=0;nOffsZ1：=nBagH*1.2;nOffsZ2：=-500;nLevel:=1;bTwice:=FALSE；pAfterPick.trans。z:=pPick.trans。z+400;pAbovePlace:=pPlace1；pAbovePlace.trans。z:=pPick。trans.z+400；CASE 5:pPlace1:=pBase90;pPlace1。trans。x:=pPlace1.trans.x+nBagW；pPlace1.trans。y：=pPlace1.trans。y+25；pPlace1

16、.trans.z:=pPlace1.trans.z+20；nOffsX1:=0；nOffsY1：=0；nOffsZ1:=nBagH1.2；nOffsZ2:=-500;nLevel:=1;bTwice：=FALSE;pAfterPick。trans。z：=pPick。trans。z+400;pAbovePlace:=pPlace1;pAbovePlace.trans。z：=pPick。trans。z+400;！Layer2 CASE 6:pPlace1:=pBase180;pPlace1.trans。x:=pPlace1.trans。x;pPlace1.trans。y：=pPlace1。tran

17、s.y+nBagL-5;pPlace1.trans.z：=pPlace1.trans.z+nBagH;nOffsX1：=0；nOffsY1:=0；nOffsZ1:=nBagH1。2；nOffsZ2：=-500;nLevel：=1；bTwice：=FALSE;pAfterPick。trans。z:=pPick.trans。z+400;pAbovePlace：=pPlace1；pAbovePlace。trans.z:=pPick。trans.z+400；CASE 7:pPlace1：=pBase0;pPlace1。trans.x：=pPlace1。trans.x;pPlace1.trans。y:=

18、pPlace1.trans.y+nBagL5;pPlace1.trans.z：=pPlace1。trans。z+nBagH;nOffsX1：=0;nOffsY1:=0；nOffsZ1:=nBagH1。2；nOffsZ2：=500;nLevel：=1;bTwice：=FALSE；pAfterPick.trans。z:=pPick。trans。z+400；pAbovePlace:=pPlace1；pAbovePlace。trans.z:=pPick。trans.z+400;CASE 8：pPlace1：=pBase270;pPlace1。trans.x：=pPlace1.trans。x;pPlac

19、e1.trans。y：=pPlace1。trans。y;pPlace1。trans.z：=pPlace1.trans.z;nOffsX1：=0;nOffsY1:=0；nOffsZ1:=nBagH*1。2；nOffsZ2:=-500；nLevel:=1;bTwice:=FALSE;pAfterPick。trans。z：=pPick.trans.z+400；pAbovePlace：=pPlace1;pAbovePlace。trans.z：=pPick.trans。z+400；CASE 9：pPlace1：=pBase270;pPlace1.trans.x:=pPlace1.trans.x+2nBa

20、gW25;pPlace1.trans.y：=pPlace1.trans.y；pPlace1。trans。z:=pPlace1.trans.z；nOffsX1:=0;nOffsY1:=0；nOffsZ1:=nBagH1.2;nOffsZ2:=-500;nLevel：=2;bTwice:=FALSE;pAfterPick。trans.z:=pPick。trans。z+400；pAbovePlace：=pPlace1；pAbovePlace.trans.z:=pPick。trans。z+400；CASE 10：pPlace1：=pBase270;pPlace1。trans.x：=pPlace1.tr

21、ans。x+nBagW；pPlace1.trans.y：=pPlace1。trans.y;pPlace1。trans。z：=pPlace1。trans。z；nOffsX1:=0；nOffsY1：=0;nOffsZ1:=nBagH*1.2；nOffsZ2：=-500;nLevel:=2;bTwice:=FALSE；pAfterPick。trans。z：=pPick.trans。z+400；pAbovePlace:=pPlace1;pAbovePlace。trans.z：=pPick。trans.z+400；!Layer3CASE 11:pPlace1：=pBase180；pPlace1.tran

22、s。x:=pPlace1.trans.x;pPlace1.trans。y:=pPlace1。trans。y;pPlace1.trans.z:=pPlace1。trans.z+2*nBagH;nOffsX1:=0；nOffsY1：=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500；nLevel：=1；bTwice：=FALSE；pAfterPick。trans。z：=pPick。trans。z+400；pAbovePlace：=pPlace1；pAbovePlace.trans.z:=pPick.trans。z+400;bTag：=True; CASE 12:pPlace1：

23、=pBase0；pPlace1.trans。x:=pPlace1。trans。x;pPlace1。trans.y：=pPlace1.trans。y;pPlace1。trans.z:=pPlace1。trans。z+2*nBagH；nOffsX1:=0;nOffsY1:=0;nOffsZ1：=nBagH*1.2；nOffsZ2:=-500；nLevel:=1；bTwice：=FALSE;pAfterPick。trans。z:=pPick.trans。z+400;pAbovePlace:=pPlace1；pAbovePlace。trans。z：=pPick。trans.z+400；CASE 13:

24、pPlace1:=pBase90;pPlace1.trans.x：=pPlace1.trans。x；pPlace1。trans.y：=pPlace1。trans。y+25；pPlace1.trans。z:=pPlace1.trans。z+2*nBagH;nOffsX1：=0；nOffsY1:=0；nOffsZ1:=nBagH*1。2;nOffsZ2:=500；nLevel:=1;bTwice：=FALSE；pAfterPick。trans。z：=pPick.trans。z+400；pAbovePlace:=pPlace1；pAbovePlace。trans。z:=pPick。trans。z+4

25、00；CASE 14：pPlace1：=pBase90；pPlace1。trans.x：=pPlace1.trans。x+2*nBagW;pPlace1。trans。y:=pPlace1。trans。y+25；pPlace1。trans.z:=pPlace1.trans。z+2*nBagH；nOffsX1：=0;nOffsY1:=0;nOffsZ1:=nBagH1.2;nOffsZ2:=500；nLevel:=1；bTwice：=FALSE;pAfterPick。trans.z:=pPick.trans。z+400;pAbovePlace:=pPlace1；pAbovePlace.trans。

26、z：=pPick。trans。z+400;CASE 15:pPlace1:=pBase90；pPlace1。trans.x：=pPlace1.trans.x+nBagW;pPlace1。trans。y：=pPlace1.trans。y+25；pPlace1。trans.z:=pPlace1.trans。z+2nBagH;nOffsX1：=0；nOffsY1:=0；nOffsZ1：=nBagH1.2;nOffsZ2：=-500；nLevel：=1；bTwice：=FALSE;pAfterPick.trans。z：=pPick.trans。z+400；pAbovePlace:=pPlace1；pA

27、bovePlace.trans。z：=pPick.trans.z+400;!layer4 CASE 16：pPlace1：=pBase180;pPlace1.trans.x:=pPlace1.trans.x;pPlace1。trans.y：=pPlace1.trans。y+nBagL-5；pPlace1。trans。z：=pPlace1。trans.z+3*nBagH+80；nOffsX1:=0；nOffsY1:=0;nOffsZ1：=nBagH*1。2;nOffsZ2：=300;nLevel：=1；bTwice：=FALSE；pAfterPick.trans.z:=pPick。trans。z

28、+400；pAbovePlace:=pPlace1；pAbovePlace.trans。z：=pPick.trans。z+400;CASE 17：pPlace1：=pBase0；pPlace1。trans。x:=pPlace1.trans。x；pPlace1。trans.y：=pPlace1。trans。y+nBagL5;pPlace1。trans。z：=pPlace1。trans。z+3*nBagH；nOffsX1:=0；nOffsY1：=0;nOffsZ1：=nBagH*1。2;nOffsZ2：=-300;nLevel：=1;bTwice:=FALSE；pAfterPick。trans.z：=pPick.trans。z+400；pAbovePlace：=pPlace1;pAbovePlace.trans。z:=pPick.trans.z+400；CASE 18:pPlace1:=pBase270;pPlace1。trans.x:=pPlace1.trans。x;pPlace1.trans。y：=pPlace1。trans。y;pPlace1.trans。z:=pPlace1。trans.z+2nBagH;nOffsX1:=0;nOffsY1：=0;nOffsZ1:=nBagH1。2;nOffsZ2：=-300；nLevel:=1；bTwice：=