RobotStudio码垛工作站程序

RobotStudio码垛工作站程序MODULEMainMoudlePERStooldatatGripper:=[TRUE,[[0,0,160],[1,0,0,0]],[l,[1,0,1],[1,0,0,0],0,0,0]];PERSrobtargetpHome:=[[1518.35057503,0,877.822906024],[0,0,l,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];PERSrobtargetpPick:二[[151&360445356,-11.456071507,523.888125175],[0,0.000000009J,0],卜1,0,-l,0],[9E9,9E9,9E9,9E9,9E9,9E9]];PERSrobtargetpPlaceBase:=[[-285.531972806,1859.243453208,99.429150272],[0,0.000000358,1,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];PERSrobtargetpPlace:=[[314.468,1259.24,349.429],[0,3.58E・07,l,0],[l,0,l,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSrobtargetpActualPos:=[[1505,0,877.823],[1.81232E-06,0,-l,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];PERSboolbPalletFull:=TRUE;PERSnumnCount:=l;PROCMain()rlnitAll;WHILETRUEDOIFbPalletFull=FALSETHENrPick;rPlace;ELSEWaitTime0.3;ENDIFENDWHILEENDPROCPROCrInitAll()pActualPos:=CRobT(\tool:=tGripper);pActualPos.trans.z:=pHome.trans.z;MoveLpActualPos,v500,fine,tGripper\WObj:=wobj0;MoveJpHome,v500,fine,tGripper\WObj:=wobj0;bPalletFull:=FALSE;nCount:=l;ResetdoGripper;ENDPROCPROCrPick()MoveJOffs(pPick,0,0,300),v2000,z50,tGripper\WObj:=wobj0;WaitDIdiBoxInPos,1;MoveLpPick,v500,fine,tGripper\WObj:=wobj0;SetdoGripper;RobotStudio码垛工作站程序WaitDIdiVacuumOKJ;MoveLOffs(pPick,0,0,300),v500,z50,tGripper\WObj:=wobj0;ENDPROCPROCrPlace()rPosition;MoveJOffs(pPlace,050,300),v2000,z50,tGripper\WObj:=wobj0;MoveLpPlace,v500,fine4Gripper\WObj:=wobj0;ResetdoGripper;WaitDIdiVacuumOK,0;MoveLOffs(pPlace,0,0,300),v500,z50,tGripper\WObj:=wobj0;rPlaceRD;ENDPROCPROCrPlaceRD()IncrnCount;IFnCount>=l1THENnCount:=l;bPalletFull:=TRUE;MoveJpHome,vlOOOJine,tGripper\WObj:=wobjO;ENDIFENDPROCPROCrPosition()TESTnCountCASE1:pPlace:=RelTooi(pPlaceBase,0,0,0\Rz:=0);CASE2:pPlace:=RelTool(pPlaceBase,-600,0,0\Rz:=0);CASE3:pPlace:=RelTool(pPlaceBase,100,-500,0\Rz:=90);CASE4:pPlace:=RelTool(pPlaceBase,-300,-500,0\Rz:=90);CASE5:pPlace:=RelTool(pPlaceBase,-700r500,0\Rz:=90);CASE6:pPlace:=RelTool(pPlaceBase,100,-100,-250\Rz:=90);CASE7:pPlace:=RelTool(pPlaceBase,-300r100,-250\Rz:=90);CASE8:pPlace:=RelTool(pPlaceBase,-700r100,-250\Rz:=90);CASE9:pPlace:=RelTool(pPlaceBase,0r600,-250\Rz:=0);CASE10:pPlace:=RelTool(pPlaceBase,-600r600r250\Rz:=0);DEFAULT:Stop;RobotStudio码垛工作站程序ENDTESTENDPROCPROCrModifyOMoveLpHome,v1000,finejGripper\WObj:=wobj0;MoveLpPick,v1000,fine,tGripper\WObj:=wobj0;MoveLpPlaceBase.v1000,fine,tGripper\WObj:=wobj0;ENDPROCENDMODULE