ABB机器人码垛程序,机器人abb最简单的码垛程序

ygddx/p>

机器人码垛程序

MODULE mhdmf/p>

PROC Main()

TPReadNum nCount1, "Qing Shu Ru Yi Ma Bao Shu!" ;

InitAll;

WHILE TRUE DO

clock2re;

ENDWHILE

PROC clock2re()

!tempint:=movstat;

IF DI10_1Product0K = 0 or DI10_2TuoPanOK = 0 Then

IF tempint<0

25 then

ELSE

ENDIF

Else

EndIF

Endproc

PROC InitAll()

Reset DO10_1JiaZhua;

Reset DO10_2YaBan;

Reset DO10_3ZhuaOK;

Reset DO10_4MaDuoOK;

Waittime 0

bPickPart:=FALSE;

MoveL Offs(pPick,0,0,400), vFast, z10, tGripperWObj:=wobj0;

PROC PickIF()

IF bPickPart = FALSE AND nJob <> 0 AND DI10_1Product0K = 1

THEN

!热情的帆布鞋;

tGripperWObj:=wobj0;

!MoveLDO Offs(pPick,0,0,100), vFast, z20, tool0WObj:=wobj0,

DO10_1JiaZhua, 1;

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

Accset 50,50;

bPickPart:=TRUE;

ConfLOff;