ABB机器人码垛程序.docx
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ABB机器人码垛程序
MODULEMainModule
PROCMain（）
TPErase;
TPReadNumnCount1,"QingShuRuYiMaBaoShu!
";
TPReadNumnJob,"QingShuRuMoShi:
50KG:
=1,25KG:
=2!
";InitAll;
WHILETRUEDO
ReadType;clock2re;PickIF;clock2re;PlaceOF;
ENDWHILE
ENDPROC
PROCclock2re（）!
tempint:
=movstat;
IFDI10_1Product0K=0orDI10_2TuoPanOK=0Then
IFtempint<0.25thenClkStartCLK2;
ELSE
ClkStopCLK2;
ENDIF
Else
ClkStopCLK2;
EndIF
Endproc
PROCInitAll（）MoveHome;
ResetDO10_1JiaZhua;
ResetDO10_2YaBan;
ResetDO10_3ZhuaOK;
ResetDO10_4MaDuoOK;
Waittime0.5;
bPickPart:
=FALSE;
ClkResetCLK1;
ClkStartCLK1;
ClkResetCLK2;
MoveLOffs（pPick,0,0,400）,vFast,z10,tGripper\WObj:
=wobj0;ENDPROC
PROCPickIF（）
IFbPickPart=FALSEANDnJob<>0ANDDI10_1Product0K=1THEN
!
CalculatePick;
MoveJOffs（pPick,0,0,400）,vFast,z200,tGripper\WObj:
=wobj0;
!
MoveLDOOffs（pPick,0,0,100）,vFast,z20,tool0\WObj:
=wobj0,
DO10_1JiaZhua,1;
MoveLpPick,vFast,fine,tGripper\WObj:
=wobj0;Close1;
GripLoadLoadFull;
Accset50,50;
HandshakeIF;bPickPart:
=TRUE;ConfL\Off;
MoveJpAfterPick,vFast,z60,tGripper\WObj:
=wobj0;
ENDIF
ENDPROC
PROCPlaceOF（）
IFDI10_2TuoPanOK=1ANDbPickPart=TRUETHEN
CalculatePlace;
ConfL\Off;
!
MoveLOffs（pOver,0,0,nOffsZ2）,vFast,z200,tGripper;
IFbTag=truethen
Accset70,70;
MoveJpAbovePlace,vFast,z10,tGripper\WObj:
=wobj0;
else
Accset90,90;
MoveJpAbovePlace,vFast,z10,tGripper\WObj:
=wobj0;Endif
Accset100,100;
!
placefirstbox
ConfL\Off;
!
MoveL
Offs（pPlace1,nOffsX1,nOffsY1,nOffsZ1）,vTurn,z10,tGripper\WObj:
=wobj0;
MoveLpPlace1,vMiddle,fine,tGripper\WObj:
=wobj0;
Open1;
ConfL\Off;
MoveLOffs（pPlace1,0,0,nOffsZ1）,vMiddle,z5,tGripper\WObj:
=wobj0;
GripLoadLoadEmpty;
Accset100,100;bPickPart:
=FALSE;
IncrnCount1;
HandshakeOF;
MoveJpAbovePick,vFast,z200,tGripper\WObj:
=wobj0;
MoveLOffs（pPick,0,0,400）,vFast,z10,tGripper\WObj:
=wobj0;
!
MoveJpHome,vFast,z200,tGripper;
ENDIF
ENDPROC
PROCHandshakeIF（）
IFnJob=1THEN
!
SetDO10_3ZhuaOK;ENDIF
IFnJob=2THEN
!
SetDO10_3ZhuaOK;ENDIF
ENDPROC
PROCHandshakeOF（）
IF（nCount1=40andnJob=1）or（nCount1=80andnJob=2）THENSetDO10_4MaDuoOK;
WaitDIDI10_2TuoPanOK,0;
SetDO\SDelay:
=0.5,DO10_4MaDuoOK,0;
nCount1:
=0;
ClkStopCLK1;
ClkStopCLK2;
TPErase;
nCycleCount:
=ClkRead（CLK1）;
Waitingtime:
=ClkRead（CLK2）;
TPWrite"Cycletime:
"\Num:
=nCycleCount;
TPWrite"WaitingtimeinthisCycle:
"\Num:
=Waitingtime;
ClkResetCLK2;
ClkResetCLK1;
ClkStartCLK1;
ENDIF
ENDPROC
PROCMoveHome（）
TempP1:
=CRobT（\Tool:
=tool0\WObj:
=wobj0）;
TempP1.trans.z:
=500;MoveJTempP1,v1000,z20,tGripper;
MoveJpHome,v1000,z20,tGripper;
ENDPROC
PROCReadType（）
IFnPriority=1ANDDI10_1Product0K=1THEN!
nJob:
=1;
!
IncrnPriority;
ELSEIFnPriority=2ANDDI10_1Product0K=1THEN!
nJob:
=2;
!
IncrnPriority;
ELSE
!
nJob:
=0;
!
IncrnPriority;
!
IFnPriority>2nPriority:
=1;ENDIF
ENDPROC
PROCOpen1（）
ResetDO10_2YaBan;
Waittime0.0;
ResetDO10_1JiaZhua;waittime0.1;
!
WaittimenTimeGripper;ENDPROC
PROCClose1（）
SetDO10_1JiaZhua;
Waittime0.0;
WaitDIDI10_4Zhua1End,1;
SetDO10_2YaBan;
Waittime0.0;
!
WaittimenTimeGripper;
WaitDIDI10_4Zhua1End,1;
!
WaitDIDI10_6Zhua2End,1;ENDPROC
PROCCalculatePick（）IFnJob=1THEN
pPick:
=pPick1;
ELSEIFnJob=2THENpPick:
=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;
ENDPROC
PROCCalculatePlace（）
IFnJob=1THENnBagL:
=nBag50L;nBagW:
=nBag50W;nBagH:
=nBag50H;Pattern80;
ELSEIFnJob=2THENnBagL:
=nBag25L;nBagW:
=nBag25W;nBagH:
=nBag25H;Pattern100;
ENDIF
!
pAbovePlace:
=pPlace1;pAfterPlace:
=pAbovePlace;
ENDPROC
PROCPattern80（）bTag:
=FALSE;
TESTnCount1+1
CASE1:
pPlace1:
=pBase180;
pPlace1.trans.x:
=pPlace1.trans.x;
pPlace1.trans.y:
=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;
CASE2:
pPlace1:
=pBase0;
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;
CASE3:
pPlace1:
=pBase90;
pPlace1.trans.x:
=pPlace1.trans.x;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;
CASE4:
pPlace1:
=pBase90;
pPlace1.trans.x:
=pPlace1.trans.x+2*nBagW;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;
CASE5:
pPlace1:
=pBase90;
pPlace1.trans.x:
=pPlace1.trans.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
CASE6:
nOffsZ2:
=-500;
nLevel:
=1;
bTwice:
=FALSE;
pAfterPick.trans.z:
=pPick.trans.z+400;
pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE7:
pPlace1:
=pBase0;
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;
CASE8:
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;
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;
CASE10:
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:
=pPick.trans.z+400;
!
Layer3
CASE11:
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;
pAbovePlace.trans.z:
=pPick.trans.z+400;bTag:
=True;
CASE12:
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;pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE13:
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+400;
CASE14:
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.trans.z:
=pPick.trans.z+400;
pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE15:
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:
=FALSE;
pAfterPick.trans.z:
=pPick.trans.z+400;
pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
!
layer4
CASE16:
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+400;pAbovePlace:
=pPlace1;pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE17:
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:
=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;
CASE18:
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:
=FALSE;
pAfterPick.trans.z:
=pPick.trans.z+400;
pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE19:
pPlace1:
=pBase270;
pPlace1.trans.x:
=pPlace1.trans.x+2*nBagW-25;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:
=2;
bTwice:
=FALSE;pAfterPick.trans.z:
=pPick.trans.z+400;pAbovePlace:
=pPlace1;
pAbovePlace.trans.z:
=pPick.trans.z+400;
CASE20:
pPlace1:
=pBase270;
pPlace1.tra
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