码垛机器人程序代码Word下载.docx
- 文档编号:21976843
- 上传时间:2023-02-02
- 格式:DOCX
- 页数:105
- 大小:21.29KB
码垛机器人程序代码Word下载.docx
《码垛机器人程序代码Word下载.docx》由会员分享,可在线阅读,更多相关《码垛机器人程序代码Word下载.docx(105页珍藏版)》请在冰豆网上搜索。
=2;
VARnumsinglelaxxxxyer_700:
VARnumsinglelaxxxxyer_750:
=1;
VARnumsinglelaxxxxyer_800:
VARnumsinglelaxxxxyer_900:
VARnumsinglelaxxxxyer_1000:
!
..............................
VARnumTotallaxxxxyer_L_250:
=5;
VARnumTotallaxxxxyer_L_300:
VARnumTotallaxxxxyer_L_350:
VARnumTotallaxxxxyer_L_400:
VARnumTotallaxxxxyer_L_450:
VARnumTotallaxxxxyer_L_500:
VARnumTotallaxxxxyer_L_600:
VARnumTotallaxxxxyer_L_700:
VARnumTotallaxxxxyer_L_750:
VARnumTotallaxxxxyer_L_800:
VARnumTotallaxxxxyer_L_900:
VARnumTotallaxxxxyer_L_1000:
VARnumTotallaxxxxyer_R_250:
VARnumTotallaxxxxyer_R_300:
VARnumTotallaxxxxyer_R_350:
VARnumTotallaxxxxyer_R_400:
VARnumTotallaxxxxyer_R_450:
VARnumTotallaxxxxyer_R_500:
VARnumTotallaxxxxyer_R_600:
VARnumTotallaxxxxyer_R_700:
VARnumTotallaxxxxyer_R_750:
VARnumTotallaxxxxyer_R_800:
VARnumTotallaxxxxyer_R_900:
VARnumTotallaxxxxyer_R_1000:
VARboolOne_number:
=true;
VARbooltwo_number:
VARnumproducts_num:
VARnumOne_num:
VARnumtwo_num:
PERSnumnCouny_L:
PERSnumnCouny_R:
PERSnumnPickH:
=500;
PERSnumnPlaceh:
PERSboolbPallet_L:
=FALSE;
PERSintnumINTN1;
VARintnumintno1:
VARintnumintno2:
VARboolflag1:
VARboolflag2:
VARboolflag3:
VARboolflag4:
VARboolflag5:
VARboolflag6:
VARboolflag7:
VARboolflag8:
VARboolflag9:
VARboollock1:
VARboolDI7_2UP_Down1:
VARboolDI4_1UP_Down1:
CHANPINZHONGXINJU!
varnumLine_1_array:
varnumLine_2_array:
varnumLine_Distance250:
=430;
varnumLine_Distance300:
=550;
varnumLine_Distance350:
varnumLine_Distance400:
varnumLine_Distance450:
=600;
varnumLine_Distance500:
varnumLine_Distance600:
varnumLine_Distance700:
varnumLine_Distance750:
varnumLine_Distance800:
varnumLine_Distance900:
varnumLine_Distance1000:
FANGZHIDIANWEI!
CONSTspeeddataspeed1:
=[100050050001000];
CONSTspeeddataspeed2:
=[50050010001000];
CONSTspeeddataspeed3:
=[30050050001000];
PROCmain()
rInitAll;
MoveJHOMEspeed1z100GripperTool1\WObj:
=wobj0;
WHILETRUEDO
DI7_DI4_INTERRUPT;
option_program;
stacking_program;
ENDWHILE
ENDPROC
PROCoption_program()
IFDI10_3num=1ANDDI11_7num=1ANDDI12_5num=1ANDDI13_6num=1THEN
DN600:
=21;
flag1:
=TRUE;
flag4:
TPWrite"
DN600"
;
ELSE
=False;
endif
IFDI10_3num=1ANDDI11_7num=1ANDDI12_5num=1andflag1=FALSETHEN
DN500:
=15;
flag2:
DN500"
endif
....................
IFDI11_7num=1ANDDI12_5num=1ANDflag1=FALSEANDflag2=FALSETHEN
DN1000:
=12;
flag9:
DN1000"
IFDI12_5num=1ANDDI13_6num=1ANDflag1=FALSETHEN
DN900:
=11;
flag8:
DN900"
..............
IFDI11_7num=1ANDDI13_6num=1andflag1=FalseTHEN
DN800:
=13;
flag7:
DN800"
IFDI10_3num=1ANDDI13_6num=1ANDflag1=falseTHEN
DN750:
=9;
flag6:
DN750"
IFDI10_3num=1ANDDI12_5num=1ANDflag1=falseANDflag2=falseTHEN
DN700:
=8;
flag5:
DN700"
IFDI10_3num=1ANDDI11_7num=1andflag1=FALSEANDflag2=FALSETHEN
DN450:
=10;
DN450"
IFDI13_6num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag6=FalseANDflag7=FalseANDflag8=FalseTHEN
DN400:
=6;
DN400"
IFDI12_5num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag8=FalseANDflag9=FalseTHEN
DN350:
TPWrite"
DN350"
ELSE
endiF
IFDI11_7num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag7=FalseANDflag9=FalseTHEN
DN300:
=7;
DN300"
IFDI10_3num=1ANDflag4=FALSEANDflag2=FALSEandflag1=FALSEANDflag5=FALSEANDflag6=FalseTHEN
DN250:
DN250"
PROCstacking_program()
!
DN250!
WHILEDN250=3DO
rDN250;
AccSet1010;
VelSet1003000;
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
Pick_Materials;
lock1:
ENDIF
IFDI4_1UP_Down1=TRUEANDnCouny_L<
Totallaxxxxyer_L_250ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
two_number:
place_1_250;
ENDIF
IFDI1_Prepare=1ANDDI3_conveyor_STOP=1ANDDI15_start=1ANDlock1=trueTHEN
IFDI7_2UP_Down1=TRUEANDnCouny_R<
Totallaxxxxyer_R_250ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
One_number:
place_2_250;
DN300!
WHILEDN300=7DO
rDN300;
Totallaxxxxyer_L_300ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_1_300;
Totallaxxxxyer_R_300ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_2_300;
DN350!
WHILEDN350=5DO
rDN350;
Totallaxxxxyer_L_350ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_1_350;
Totallaxxxxyer_R_350ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_2_350;
DN400!
WHILEDN400=6DO
rDN400;
Totallaxxxxyer_L_400ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_1_400;
Totallaxxxxyer_R_400ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_2_400;
DN450!
WHILEDN450=10DO
rDN450;
Totallaxxxxyer_L_450ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_1_450;
Totallaxxxxyer_R_450ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_2_450;
DN500!
WHILEDN500=15DO
rDN500;
AccSet1010;
Totallaxxxxyer_L_500ANDOne_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_1_500;
Totallaxxxxyer_R_500ANDtwo_number=TRUEANDDI15_start=0andlock1=falseTHEN
place_2_500;
DN600!
WHILEDN600=21DO
rDN600;
Totallaxxxxyer_L_600ANDOne_number
- 配套讲稿:
如PPT文件的首页显示word图标,表示该PPT已包含配套word讲稿。双击word图标可打开word文档。
- 特殊限制:
部分文档作品中含有的国旗、国徽等图片,仅作为作品整体效果示例展示,禁止商用。设计者仅对作品中独创性部分享有著作权。
- 关 键 词:
- 码垛 机器人 程序代码