ABB机器人码垛程序.docx
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ABB机器人码垛程序
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ABB机器人码垛程序（共10页）
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
IFtempintClkStartCLK2;
ELSE
ClkStopCLK2;
ENDIF
Else
ClkStopCLK2;
EndIF
Endproc
PROCInitAll（）
MoveHome;
ResetDO10_1JiaZhua;
ResetDO10_2YaBan;
ResetDO10_3ZhuaOK;
ResetDO10_4MaDuoOK;
Waittime;
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;
!
MoveLOffs（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）THEN
SetDO10_4MaDuoOK;
WaitDIDI10_2TuoPanOK,0;
SetDO\SDelay:
=,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）;
;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;
Waittime;
ResetDO10_1JiaZhua;
waittime;
!
WaittimenTimeGripper;
ENDPROC
PROCClose1（）
SetDO10_1JiaZhua;
Waittime;
WaitDIDI10_4Zhua1End,1;
SetDO10_2YaBan;
Waittime;
!
WaittimenTimeGripper;
WaitDIDI10_4Zhua1End,1;
!
WaitDIDI10_6Zhua2End,1;
ENDPROC
PROCCalculatePick（）
IFnJob=1THEN
pPick:
=pPick1;
ELSEIFnJob=2THEN
pPick:
=pPick1;
ENDIF
!
pAbovePick:
=pPick;
!
pAfterPick:
=pPick;
!
Pattern80;
!
CalculatePlace（）
IFnJob=1THEN
nBagL:
=nBag50L;
nBagW:
=nBag50W;
nBagH:
=nBag50H;
Pattern80;
ELSEIFnJob=2THEN
nBagL:
=nBag25L;
nBagW:
=nBag25W;
nBagH:
=nBag25H;
Pattern100;
ENDIF
!
pAbovePlace:
=pPlace1;
pAfterPlace:
=pAbovePlace;
ENDPROC
PROCPattern80（）
bTag:
=FALSE;
TESTnCount1+1
CASE1:
pPlace1:
=pBase180;
2:
pPlace1:
=pBase0;
3:
pPlace1:
=pBase90;
4:
pPlace1:
=pBase90;
5:
pPlace1:
=pBase90;
CASE6:
pPlace1:
=pBase180;
7:
pPlace1:
=pBase0;
8:
pPlace1:
=pBase270;
9:
pPlace1:
=pBase270;
10:
pPlace1:
=pBase270;
11:
pPlace1:
=pBase180;
CASE12:
pPlace1:
=pBase0;
13:
pPlace1:
=pBase90;
14:
pPlace1:
=pBase90;
15:
pPlace1:
=pBase90;
CASE16:
pPlace1:
=pBase180;
17:
pPlace1:
=pBase0;
18:
pPlace1:
=pBase270;
19:
pPlace1:
=pBase270;
20:
pPlace1:
=pBase270;
21:
pPlace1:
=pBase180;
CASE22:
pPlace1:
=pBase0;
23:
pPlace1:
=pBase90;
24:
pPlace1:
=pBase90;
25:
pPlace1:
=pBase90;
26:
pPlace1:
=pBase180;
27:
pPlace1:
=pBase0;
28:
pPlace1:
=pBase270;
29:
pPlace1:
=pBase270;
30:
pPlace1:
=pBase270;
31:
pPlace1:
=pBase180;
CASE32:
pPlace1:
=pBase0;
33:
pPlace1:
=pBase90;
34:
pPlace1:
=pBase90;
35:
pPlace1:
=pBase90;
36:
pPlace1:
=pBase180;
37:
pPlace1:
=pBase0;
38:
pPlace1:
=pBase270;
39:
pPlace1:
=pBase270;
40:
pPlace1:
=pBase270;
DEFAULT:
ErrWrite"WrongboxCount...","SingleboxmustbethelastoneofaPallet";
Stop;
EXIT;
ENDTEST
ENDPROC
PROCPattern100（）
bTag:
=FALSE;
TESTnCount1+1
CASE1:
pPlace1:
=p25Base270;
2:
pPlace1:
=p25Base0;
3:
pPlace1:
=p25Base90;
4:
pPlace1:
=p25Base180;
5:
pPlace1:
=p25Base270;
CASE6:
pPlace1:
=p25Base0;
7:
pPlace1:
=p25Base90;
8:
pPlace1:
=p25Base180;
9:
pPlace1:
=p25Base270;
10:
pPlace1:
=p25Base0;
11:
pPlace1:
=p25Base90;
12:
pPlace1:
=p25Base180;
13:
pPlace1:
=p25Base270;
CASE14:
pPlace1:
=p25Base0;
15:
pPlace1:
=p25Base90;
16:
pPlace1:
=p25Base180;
17:
pPlace1:
=p25Base270;
18:
pPlace1:
=p25Base0;
19:
pPlace1:
=p25Base90;
20:
pPlace1:
=p25Base180;
21:
pPlace1:
=p25Base270;
CASE22:
pPlace1:
=p25Base0;
23:
pPlace1:
=p25Base90;
24:
pPlace1:
=p25Base180;
25:
pPlace1:
=p25Base270;
26:
pPlace1:
=p25Base0;
27:
pPlace1:
=p25Base90;
28:
pPlace1:
=p25Base180;
29:
pPlace1:
=p25Base270;
CASE30:
pPlace1:
=p25Base0;
31:
pPlace1:
=p25Base90;
32:
pPlace1:
=p25Base180;
33:
pPlace1:
=p25Base270;
34:
pPlace1:
=p25Base0;
35:
pPlace1:
=p25Base90;
36:
pPlace1:
=p25Base180;
37:
pPlace1:
=p25Base270;
CASE38:
pPlace1:
=p25Base0;
39:
pPlace1:
=p25Base90;
40:
pPlace1:
=p25Base180;
41:
pPlace1:
=p25Base270;
42:
pPlace1:
=p25Base0;
43:
pPlace1:
=p25Base90;
44:
pPlace1:
=p25Base180;
45:
pPlace1:
=p25Base270;
CASE46:
pPlace1:
=p25Base0;
47:
pPlace1:
=p25Base90;
48:
pPlace1:
=p25Base180;
49:
pPlace1:
=p25Base270;
50:
pPlace1:
=p25Base0;
51:
pPlace1:
=p25Base90;
52:
pPlace1:
=p25Base180;
53:
pPlace1:
=p25Base270;
CASE54:
pPlace1:
=p25Base0;
55:
pPlace1:
=p25Base90;
56:
pPlace1:
=p25Base180;
57:
pPlace1:
=p25Base270;
58:
pPlace1:
=p25Base0;
59:
pPlace1:
=p25Base90;
60:
pPlace1:
=p25Base180;
61:
pPlace1:
=p25Base270;
CASE62:
pPlace1:
=p25Base0;
63:
pPlace1:
=p25Base90;
64:
pPlace1:
=p25Base180;
65:
pPlace1:
=p25Base270;
66:
pPlace1:
=p25Base0;
67:
pPlace1:
=p25Base90;
68:
pPlace1:
=p25Base180;
69:
pPlace1:
=p25Base270;
CASE70:
pPlace1:
=p25Base0;
71:
pPlace1:
=p25Base90;
72:
pPlace1:
=p25Base180;
73:
pPlace1:
=p25Base270;
74:
pPlace1:
=p25Base0;
75:
pPlace1:
=p25Base90;
76:
pPlace1:
=p25Base180;
77:
pPlace1:
=p25Base270;
CASE78:
pPlace1:
=p25Base0;
79:
pPlace1:
=p25Base90;
80:
pPlace1:
=p25Base180;
DEFAULT:
ErrWrite"WrongboxCount...","SingleboxmustbethelastoneofaPallet";
Stop;
EXIT;
ENDTEST
ENDPROC
ENDMODULE
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