MODULE MainModule
CONST robtarget
pHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.714173,-2.80277E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePickMould:=[[1653.99,272.19,1779.41],[5.83312E-05,0.69997,-0.714172,-3.47922E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePickClapboard:=[[2036.17,-741.24,1235.05],[0.678651,0.73435,-0.0119011,0.00467586],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPickMould:=[[1943.13,173.08,630.],[4.66987E-05,0.699977,-0.714166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPickClapboard:=[[1943.19,173.08,620.72],[1.61422E-05,0.699977,-0.714165,-7.62858E-06],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePlace:=[[785.90,-957.40,1722.38],[0.00231652,0.0492402,-0.998779,-0.00310842],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
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实用标准文案
CONST robtarget
pPrePlace10:=[[-277.40,-1202.57,1621.17],[0.00183571,-0.0139794,-0.9995,-0.00341408],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePlace20:=[[-491.18,-1082.85,1505.90],[0.0006634,0.69408,0.719887,0.003863],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPlaceMould:=[[-92.13,-2580.19,1171.45],[0.0007716,0.713144,0.701007,0.00383692],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPlaceClapboard:=[[1585.08,1761.04,787.33],[0.005323,-0.00552996,-0.726358,-0.687263],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePlaceClapboard:=[[1017.30,955.85,1443.17],[1.0621E-05,-0.00849593,-0.9999,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPrePickClapboard10:=[[2257.17,-841.03,1579.56],[0.667517,0.74457,-0.00360206,0.00487631],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
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实用标准文案
pPrePickMould10:=[[530.24,-1703.27,1762.63],[5.07659E-05,0.96161,0.274421,2.37287E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST num nOffs:=100;
PERS num nCurOffs:=100;
CONST num nLayer:=0;
PERS num nCurLayer:=0;
CONST num nThickness:=40;
VAR bool bTimeOut:=FALSE;
PERS bool bDryCycle:=FALSE;
VAR intnum iDryCycle;
VAR intnum iResDryCycle;
VAR intnum iVacuum;
PERS tooldata
tGripper:=[TRUE,[[0,0,100],[1,0,0,0]],[88.5,[-3.7,-1.4,132.1],[1,0,0,0],5.5,17.831,25.067]];
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实用标准文案
PROC main()
rInitAll;
WHILE TRUE DO
IF siDryCycle=1 or nCurLayer<1 then
rPickClapboard;
ELSE
rPickMould;
ENDIF
Waittime 0.2;
ENDWHILE
ENDPROC
PROC rPickMould()
DIWait diMouldready,1,3,\"entrance Conveyer\
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实用标准文案
DIWait diPlaceReady,1,3,\"exit Conveyer\
MoveJ pPrePickMould, v1500, z50, tGripper;
IF BitCheck(nCurlayer,1) THEN
nCurOffs:=nOffs;
ELSE
nCurOffs:=-nOffs;
ENDIF
MoveL offs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v1000, z50, tGripper;
MoveL offs(pPickMould,0,nCurOffs,(nCurLayer-1)*nThickness), v200, fine, tGripper;
GripClose;
Decr nCurLayer;
MoveL offs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v200, z50, tGripper;
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实用标准文案
MoveJ pPrePickMould, v1000, z50, tGripper;
DIWait diPlaceReady,1,3,\"exit Conveyer\
MoveJ pPrePlace10, v1500, z10, tGripper;
MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper;
MoveL pPlaceMould, v200, fine, tGripper;
GripOpen;
MoveL offs(pPlaceMould,0,0,100), v200, z10, tGripper;
MoveL pPrePlace10, v1500, z10, tGripper;
MoveJ pPrePickMould, v1500, z10, tGripper;
PulseDO\\PLength:=2, doMouldPlaceOK;
ENDPROC
PROC rPickClapboard()
DIWait diMouldready,1,3,\"entrance Conveyer\
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实用标准文案
MoveL offs(pPickClapboard,0,0,100), v1000, z50, tGripper;
MoveL pPickClapboard, v200, fine, tGripper;
GripClose;
MoveL offs(pPickClapboard,0,0,100) ,v200, z50, tGripper;
MoveL offs(pPickClapboard,0,0,500) ,v1000, z50, tGripper;
MoveL pPrePlaceClapboard, v1000, z10, tGripper;
DIWait diClapboardReady, 1, 3, \"exit Conveyer\
MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10, tGripper;
MoveL offs(pPlaceClapboard,00,-10,100), v1000, z10, tGripper;
MoveL pPlaceClapboard, v100, fine, tGripper;
GripOpen;
MoveL offs(pPlaceClapboard,0,-50,100), v1000, z10, tGripper;
MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10, tGripper;
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实用标准文案
MoveL pPrePlaceClapboard, v1000, z10, tGripper;
PulseDO\\PLength:=1.0, doClapboardPickOK;
MoveJ pHome, v1500, fine, tGripper;
PulseDO\\PLength:=1.0, doUnStackOk;
WaitTime 2;
DIWait diMouldready,0,3,\"exit Conveyer\
nCurLayer:=nLayer;
ENDPROC
PROC rInitAll()
IF diVacuum1=0 THEN
WaitTime 1;
ELSE
ErrWrite \"The Rob1 gripper error! \" ,\"The gripper is not opened!\"\\RL2:=\"Check the gripper signal postion .\"\\RL3:=\" open the gripper
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实用标准文案
manually and take away the part from gripper.\";
Stop;
Exit;
ENDIF
rMoveHome;
nCurLayer:=nLayer;
IDelete iVacuum;
CONNECT iVacuum WITH tLostPart;
ISignalDI diVacuum1, 1, iVacuum;
ISleep iVacuum;
ENDPROC
ROC GripClose()
SetDO doVacuum,1;
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实用标准文案
SetDO doBlow,0;
WaitUntil diVacuum1=1\\MaxTime:=10\\TimeFlag:=bTimeOut;
IF bTimeOut THEN
ErrWrite \"Rob Gripper Signal error ! \" ,\"Fatal error in
Gripper\"\\RL2:=\"Check the gripper signal postion .\"\\RL3:=\" change a new sensor .\";
Stop;
ENDIF
Waittime 0.5;
IWatch iVacuum;
ENDPROC
PROC GripOpen()
ISleep iVacuum;
SetDO doVacuum,0;
PulseDO \\PLength:=2.0, doBlow;
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实用标准文案
WaitUntil diVacuum1=0 \\MaxTime:=5\\TimeFlag:=bTimeOut;
IF bTimeOut THEN
ErrWrite \"Rob Gripper Signal error ! \" ,\"Fatal error in
Gripper\"\\RL2:=\"Check the gripper signal postion .\"\\RL3:=\" change a new sensor .\";
Stop;
ENDIF
Waittime 0.5;
ENDPROC
PROC rMoveHome()
VAR string HomeOffset;
CONST num MinX:=-500;
CONST num MaxX:=500;
CONST num MinY:=-500;
CONST num MaxY:=500;
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实用标准文案
CONST num MinZ:=500;
CONST num MaxZ:=1200;
VAR robtarget ActualPos;
VelSet 100,500;
AccSet 70, 70;
IF bCurrentPos(pHome,tGripper,50)=TRUE THEN
MoveJ pHome,v500,fine,tGripper\\WObj:=wobj0;
ENDIF
IF bCurrentPos(pPrePickMould,tGripper,50\\wobj:=Wobj0)= TRUE THEN
MoveJ pHome,v500,fine,tGripper\\WObj:=wobj0;
ENDIF
IF bCurrentPos(pPrePickClapboard,tGripper,100\\wobj:=Wobj0)= TRUE THEN
MoveJ pHome,v500,fine,tGripper\\WObj:=wobj0;
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实用标准文案
ENDIF
IF bCurrentPos(pPreplace,tGripper,100\\wobj:=Wobj0)= TRUE THEN
MoveJ pHome,v500,fine,tGripper\\WObj:=wobj0;
ENDIF
IF bCurrentPos(pHome,tGripper,100)=FALSE THEN
! If no known position is found, check if the robot is in a specified
! window and move him to the first position in the program
ActualPos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0);
IF ActualPos.trans.x ActualPos.trans.y HomeOffset:=\"\"; IF ActualPos.trans.x 文档大全 实用标准文案 ELSEIF ActualPos.trans.x>MaxX THEN HomeOffset:=HomeOffset+\"X :\"+NumToStr(MaxX-ActualPos.trans.x,0)+\" \"; ELSE HomeOffset:=HomeOffset+\"X : OK \"; ENDIF IF ActualPos.trans.y ELSEIF ActualPos.trans.y>MaxY THEN HomeOffset:=HomeOffset+\"Y :\"+NumToStr(MaxY-ActualPos.trans.y,0)+\" \"; ELSE HomeOffset:=HomeOffset+\"Y : OK \"; ENDIF 文档大全 实用标准文案 IF ActualPos.trans.z ELSEIF ActualPos.trans.z>MaxZ THEN HomeOffset:=HomeOffset+\"Z :\"+NumToStr(MaxZ-ActualPos.trans.z,0)+\" \"; ELSE HomeOffset:=HomeOffset+\"Z : OK \"; ENDIF ErrWrite HomeOffset,\"Move robot manually near homeposition\"; WHILE OpMode()<>OP_MAN_PROG DO TPErase; TPWrite \"Please switch robot to Manual mode\"; !TPErase; 文档大全 实用标准文案 Stop; ENDWHILE Stop; MoveJ pHome,v500,fine,tGripper; !npallet:=4; ActualPos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0); WHILE OpMode()<>OP_AUTO DO TPErase; TPWrite \"Please switch robot to AUTO mode\"; !TPErase; Stop; ENDWHILE ENDIF 文档大全 实用标准文案 ENDIF VelSet 100,3000; ENDPROC TRAP tLostPart ErrWrite \"Part lost!\" ,\"Fatal gripper .\"\\RL3:=\" check the vacuum .\"; Stop; ENDTRAP ENDMODULE 文档大全 error in Gripper\"\\RL2:=\"Check the 因篇幅问题不能全部显示,请点此查看更多更全内容
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