ABB
机器人码垛程序
MODULE MainModule
PROC 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 DO
ReadType;
clock2re;
PickIF;
clock2re;
PlaceOF;
ENDWHILE
ENDPROC
PROC clock2re()
!tempint:=movstat;
IF DI10_1Product0K = 0 or DI10_2TuoPanOK = 0 Then
IF tempint<0
、
25 then
ClkStart CLK2;
ELSE
ClkStop CLK2;
ENDIF
Else
ClkStop CLK2;
EndIF
Endproc
PROC 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, tGripper\WObj:=wobj0;
ENDPROC
PROC PickIF()
IF bPickPart = FALSE AND nJob <> 0 AND DI10_1Product0K = 1
THEN
!CalculatePick;
MoveJ Offs(pPick,0,0,400), vFast, z200,
tGripper\WObj:=wobj0;
!MoveLDO Offs(pPick,0,0,100), vFast, z20, tool0\WObj:=wobj0,
DO10_1JiaZhua, 1;
MoveL pPick, vFast, fine, tGripper\WObj:=wobj0;
Close1;
GripLoad LoadFull;
Accset 50,50;
HandshakeIF;
bPickPart:=TRUE;
ConfL\Off;
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