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    RobotStudio码垛工作站程序

    IT圈 admin 31浏览 0评论

    2024年4月22日发(作者：束代容)

    MODULE MainMoudle

    PERS tooldata

    tGripper:=[TRUE,[[0,0,160],[1,0,0,0]],[1,[1,0,1],[1,0,0,0],0,0,0]];

    PERS robtarget

    pHome:=[[1518.,0,],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPick:=[[,,],[0,,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPlaceBase:=[[,,],[0,,1,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPlace:=[[,,],[0,,1,0],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09

    ]];

    PERS robtarget

    pActualPos:=[[1505,0,],[,0,-1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9

    E+09,9E+09]];

    PERS bool bPalletFull:=TRUE;

    PERS num nCount:=1;

    PROC Main()

    rInitAll;

    WHILE TRUE DO

    IF bPalletFull=FALSE THEN

    rPick;

    rPlace;

    ELSE

    WaitTime ;

    ENDIF

    ENDWHILE

    ENDPROC

    PROC rInitAll()

    pActualPos:=CRobT(tool:=tGripper);

    MoveL

    pActualPos,v500,fine,tGripperWObj:=wobj0;

    MoveJ pHome,v500,fine,tGripperWObj:=wobj0;

    bPalletFull:=FALSE;

    nCount:=1;

    Reset doGripper;

    ENDPROC

    PROC rPick()

    MoveJ

    Offs(pPick,0,0,300),v2000,z50,tGripperWObj:=wobj0;

    WaitDI diBoxInPos,1;

    MoveL pPick,v500,fine,tGripperWObj:=wobj0;

    Set doGripper;

    WaitDI diVacuumOK,1;

    MoveL

    Offs(pPick,0,0,300),v500,z50,tGripperWObj:=wobj0;

    ENDPROC

    PROC rPlace()

    rPosition;

    MoveJ

    Offs(pPlace,0,0,300),v2000,z50,tGripperWObj:=wobj0;

    MoveL pPlace,v500,fine,tGripperWObj:=wobj0;

    Reset doGripper;

    WaitDI diVacuumOK,0;

    MoveL

    Offs(pPlace,0,0,300),v500,z50,tGripperWObj:=wobj0;

    rPlaceRD;

    ENDPROC

    PROC rPlaceRD()

    Incr nCount;

    IF nCount>=11 THEN

    nCount:=1;

    bPalletFull:=TRUE;

    MoveJ pHome,v1000,fine,tGripperWObj:=wobj0;

    ENDIF

    ENDPROC

    PROC rPosition()

    TEST nCount

    CASE 1:

    pPlace:=RelTool(pPlaceBase,0,0,0Rz:=0);

    CASE 2:

    pPlace:=RelTool(pPlaceBase,-600,0,0Rz:=0);

    CASE 3:

    pPlace:=RelTool(pPlaceBase,100,-500,0Rz:=90);

    CASE 4:

    pPlace:=RelTool(pPlaceBase,-300,-500,0Rz:=90);

    CASE 5:

    pPlace:=RelTool(pPlaceBase,-700,-500,0Rz:=90);

    CASE 6:

    pPlace:=RelTool(pPlaceBase,100,-100,-250Rz:=90);

    CASE 7:

    pPlace:=RelTool(pPlaceBase,-300,-100,-250Rz:=90);

    CASE 8:

    pPlace:=RelTool(pPlaceBase,-700,-100,-250Rz:=90);

    CASE 9:

    pPlace:=RelTool(pPlaceBase,0,-600,-250Rz:=0);

    CASE 10:

    pPlace:=RelTool(pPlaceBase,-600,-600,-250Rz:=0);

    DEFAULT:

    Stop;

    ENDTEST

    ENDPROC

    PROC rModify()

    MoveL pHome,v1000,fine,tGripperWObj:=wobj0;

    MoveL pPick,v1000,fine,tGripperWObj:=wobj0;

    MoveL pPlaceBase,v1000,fine,tGripperWObj:=wobj0;

    ENDPROC

    ENDMODULE

    精心搜集整

    理，只为你的需要

    2024年4月22日发(作者：束代容)

    MODULE MainMoudle

    PERS tooldata

    tGripper:=[TRUE,[[0,0,160],[1,0,0,0]],[1,[1,0,1],[1,0,0,0],0,0,0]];

    PERS robtarget

    pHome:=[[1518.,0,],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPick:=[[,,],[0,,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPlaceBase:=[[,,],[0,,1,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PERS robtarget

    pPlace:=[[,,],[0,,1,0],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09

    ]];

    PERS robtarget

    pActualPos:=[[1505,0,],[,0,-1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9

    E+09,9E+09]];

    PERS bool bPalletFull:=TRUE;

    PERS num nCount:=1;

    PROC Main()

    rInitAll;

    WHILE TRUE DO

    IF bPalletFull=FALSE THEN

    rPick;

    rPlace;

    ELSE

    WaitTime ;

    ENDIF

    ENDWHILE

    ENDPROC

    PROC rInitAll()

    pActualPos:=CRobT(tool:=tGripper);

    MoveL

    pActualPos,v500,fine,tGripperWObj:=wobj0;

    MoveJ pHome,v500,fine,tGripperWObj:=wobj0;

    bPalletFull:=FALSE;

    nCount:=1;

    Reset doGripper;

    ENDPROC

    PROC rPick()

    MoveJ

    Offs(pPick,0,0,300),v2000,z50,tGripperWObj:=wobj0;

    WaitDI diBoxInPos,1;

    MoveL pPick,v500,fine,tGripperWObj:=wobj0;

    Set doGripper;

    WaitDI diVacuumOK,1;

    MoveL

    Offs(pPick,0,0,300),v500,z50,tGripperWObj:=wobj0;

    ENDPROC

    PROC rPlace()

    rPosition;

    MoveJ

    Offs(pPlace,0,0,300),v2000,z50,tGripperWObj:=wobj0;

    MoveL pPlace,v500,fine,tGripperWObj:=wobj0;

    Reset doGripper;

    WaitDI diVacuumOK,0;

    MoveL

    Offs(pPlace,0,0,300),v500,z50,tGripperWObj:=wobj0;

    rPlaceRD;

    ENDPROC

    PROC rPlaceRD()

    Incr nCount;

    IF nCount>=11 THEN

    nCount:=1;

    bPalletFull:=TRUE;

    MoveJ pHome,v1000,fine,tGripperWObj:=wobj0;

    ENDIF

    ENDPROC

    PROC rPosition()

    TEST nCount

    CASE 1:

    pPlace:=RelTool(pPlaceBase,0,0,0Rz:=0);

    CASE 2:

    pPlace:=RelTool(pPlaceBase,-600,0,0Rz:=0);

    CASE 3:

    pPlace:=RelTool(pPlaceBase,100,-500,0Rz:=90);

    CASE 4:

    pPlace:=RelTool(pPlaceBase,-300,-500,0Rz:=90);

    CASE 5:

    pPlace:=RelTool(pPlaceBase,-700,-500,0Rz:=90);

    CASE 6:

    pPlace:=RelTool(pPlaceBase,100,-100,-250Rz:=90);

    CASE 7:

    pPlace:=RelTool(pPlaceBase,-300,-100,-250Rz:=90);

    CASE 8:

    pPlace:=RelTool(pPlaceBase,-700,-100,-250Rz:=90);

    CASE 9:

    pPlace:=RelTool(pPlaceBase,0,-600,-250Rz:=0);

    CASE 10:

    pPlace:=RelTool(pPlaceBase,-600,-600,-250Rz:=0);

    DEFAULT:

    Stop;

    ENDTEST

    ENDPROC

    PROC rModify()

    MoveL pHome,v1000,fine,tGripperWObj:=wobj0;

    MoveL pPick,v1000,fine,tGripperWObj:=wobj0;

    MoveL pPlaceBase,v1000,fine,tGripperWObj:=wobj0;

    ENDPROC

    ENDMODULE

    精心搜集整

    理，只为你的需要

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