ABB机器人码垛程序.docx

1、ABB机器人码垛程序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_2TuoPanOK =

2、0 ThenIF tempint0.25 thenClkStart CLK2;ELSEClkStop CLK2;ENDIFElseClkStop CLK2;EndIFEndprocPROC InitAll()MoveHome;Reset DO10_1JiaZhua;Reset DO10_2YaBan;Reset DO10_3ZhuaOK;Reset DO10_4MaDuoOK;Waittime 0.5;bPickPart:=FALSE;ClkReset CLK1;ClkStart CLK1;ClkReset CLK2;MoveL Offs(pPick,0,0,400), vFast, z10,

3、 tGripperWObj:=wobj0;ENDPROCPROC PickIF()IF bPickPart = FALSE AND nJob 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;

4、Close1;GripLoad LoadFull;Accset 50,50;HandshakeIF;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 Accse

5、t 70, 70; MoveJ pAbovePlace, vFast, z10, tGripperWObj:=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:=wo

6、bj0;Open1;ConfLOff;MoveL Offs(pPlace1,0,0,nOffsZ1),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, tGrip

7、per;ENDIFENDPROCPROC HandshakeIF()IF nJob=1 THEN!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

8、 CLK2;TPErase;nCycleCount:=ClkRead(CLK1);Waitingtime:=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 Temp

9、P1, v1000, z20, tGripper;MoveJ pHome, v1000, z20, 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

10、Open1()Reset DO10_2YaBan;Waittime 0.0;Reset DO10_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()

11、IF nJob = 1 THENpPick:=pPick1;ELSEIF nJob = 2 THENpPick:=pPick1;ENDIF !pAbovePick:=pPick;!pAfterPick:=pPick;!Pattern80;!pAbovePick.trans.z:= pAfterPick.trans.z;!pAbovePick.trans.y:= pAfterPick.trans.y-500;!pAfterPick.trans.y:= pAfterPick.trans.y-500;ENDPROCPROC CalculatePlace()IF nJob = 1 THENnBagL:

12、=nBag50L;nBagW:=nBag50W;nBagH:=nBag50H;Pattern80;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

13、:=pPlace1.trans.y;pPlace1.trans.z:=pPlace1.trans.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.tra

14、ns.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 3:pPlace1:=pBase90;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.tra

15、ns.y:=pPlace1.trans.y+25;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 4:pPlace1:=pBase90;pPlace1.trans.x:=pPlace1.trans.x+2*nBagW;

16、pPlace1.trans.y:=pPlace1.trans.y+25;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 5:pPlace1:=pBase90;pPlace1.trans.x:=pPlace1.trans

17、.x+nBagW;pPlace1.trans.y:=pPlace1.trans.y+25;pPlace1.trans.z:=pPlace1.trans.z+20;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;!Layer2 CASE 6:pPlace1:=pBase180;pPlace1.t

18、rans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y+nBagL-5;pPlace1.trans.z:=pPlace1.trans.z+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 7:pPlace1:=pBa

19、se0;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y+nBagL-5;pPlace1.trans.z:=pPlace1.trans.z+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 8

20、:pPlace1:=pBase270;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.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

21、9:pPlace1:=pBase270;pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25;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

22、.z+400;CASE 10:pPlace1:=pBase270;pPlace1.trans.x:=pPlace1.trans.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:=pPi

23、ck.trans.z+400;!Layer3CASE 11:pPlace1:=pBase180;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;pAboveP

24、lace.trans.z:=pPick.trans.z+400;bTag:=True; CASE 12:pPlace1:=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;pAbovePl

25、ace:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+400;CASE 13: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+

26、400;pAbovePlace:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+400;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:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAfterPick.tra

27、ns.z:=pPick.trans.z+400;pAbovePlace:=pPlace1;pAbovePlace.trans.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+2*nBagH;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=1;bTwice:=FA

28、LSE;pAfterPick.trans.z:=pPick.trans.z+400;pAbovePlace:=pPlace1;pAbovePlace.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;nOffs

29、Z2:=-300;nLevel:=1;bTwice:=FALSE;pAfterPick.trans.z:=pPick.trans.z+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+nBagL-5;pPlace1.trans.z:=pPlace1.trans.z+3*nBagH;nOffsX1:=0;nOffsY1:=0;nOffsZ1:

30、=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+2*nBagH;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;nLevel:=1;bTwice:=FALS