九九热最新网址,777奇米四色米奇影院在线播放,国产精品18久久久久久久久久,中文有码视频,亚洲一区在线免费观看,国产91精品在线,婷婷丁香六月天

ABB機器人碼垛程序

上傳人：仙*** 文檔編號：33968829 上傳時間：2021-10-19 格式：DOC 頁數(shù)：40 大?。?39.51KB
收藏 版權(quán)申訴 舉報 下載
ABB機器人碼垛程序_第1頁
第1頁 / 共40頁
ABB機器人碼垛程序_第2頁
第2頁 / 共40頁
ABB機器人碼垛程序_第3頁
第3頁 / 共40頁

下載文檔到電腦，查找使用更方便

10 積分

下載資源

還剩頁未讀，繼續(xù)閱讀

資源描述：

《ABB機器人碼垛程序》由會員分享，可在線閱讀，更多相關(guān)《ABB機器人碼垛程序（40頁珍藏版）》請在裝配圖網(wǎng)上搜索。

1、MODULE MainModule PROC Main() TPErase; TPReadNum nCount1, "Qing Shu Ru Yi Ma Bao Shu!" ; TPReadNum nJob, "Qing Shu Ru Mo Shi:50KG:=1,25KG:=2!"; InitAll; WHILE TRUE DO ReadType; clock2re; PickIF; clock2re; PlaceOF; ENDWHILE ENDPROC PROC clock2re() !tempint:=movstat; IF DI1

2、0_1Product0K = 0 or DI10_2TuoPanOK = 0 Then IF tempint<0.25 then ClkStart CLK2; ELSE ClkStop CLK2; ENDIF Else ClkStop CLK2; EndIF Endproc PROC InitAll() MoveHome; Reset DO10_1JiaZhua; Reset DO10_2YaBan; Reset DO10_3ZhuaOK; Reset DO10_4MaDuoOK; Waittime 0.5; bPickPart:=FA

3、LSE; ClkReset CLK1; ClkStart CLK1; ClkReset CLK2; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; ENDPROC PROC PickIF() IF bPickPart = FALSE AND nJob <> 0 AND DI10_1Product0K = 1 THEN !CalculatePick; MoveJ Offs(pPick,0,0,400), vFast, z200, tGripper\WObj:=wobj0; !Move

4、LDO Offs(pPick,0,0,100), vFast, z20, tool0\WObj:=wobj0, DO10_1JiaZhua, 1; MoveL pPick, vFast, fine, tGripper\WObj:=wobj0; Close1; GripLoad LoadFull; Accset 50,50; HandshakeIF; bPickPart:=TRUE; ConfL\Off; MoveJ pAfterPick, vFast, z60, tGripper\WObj:=wobj0; ENDIF ENDPROC PROC Plac

5、eOF() IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THEN CalculatePlace; ConfL\Off; !MoveL Offs(pOver,0,0,nOffsZ2), vFast, z200, tGripper; IF bTag=true then Accset 70, 70; MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0; else Accset 90, 90; MoveJ pAbovePlace, vFast, z10, tGripp

6、er\WObj:=wobj0; Endif Accset 100,100; ! place first box ConfL\Off; !MoveL Offs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripper\WObj:=wobj0; MoveL pPlace1, vMiddle, fine, tGripper\WObj:=wobj0; Open1; ConfL\Off; MoveL Offs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripper\WObj:=wobj0; GripLoad

7、LoadEmpty; Accset 100,100; bPickPart:=FALSE; Incr nCount1; HandshakeOF; MoveJ pAbovePick, vFast, z200, tGripper\WObj:=wobj0; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; !MoveJ pHome, vFast, z200, tGripper; ENDIF ENDPROC PROC HandshakeIF() IF nJob=1 THEN !Set DO10_3

8、ZhuaOK; ENDIF IF nJob=2 THEN !Set DO10_3ZhuaOK; ENDIF ENDPROC PROC HandshakeOF() IF (nCount1=40 and nJob =1) or (nCount1=80 and nJob =2) THEN Set DO10_4MaDuoOK; WaitDI DI10_2TuoPanOK, 0; SetDO\SDelay:=0.5,DO10_4MaDuoOK,0; nCount1:=0; ClkStop CLK1; ClkStop CLK2; TPErase; nCycleC

9、ount:=ClkRead(CLK1); Waitingtime:=ClkRead(CLK2); TPWrite "Cycle time: "\Num:=nCycleCount; TPWrite "Waiting time in this Cycle: "\Num:=Waitingtime; ClkReset CLK2; ClkReset CLK1; ClkStart CLK1; ENDIF ENDPROC PROC MoveHome() TempP1:=CRobT(\Tool:=tool0 \WObj:=wobj0); TempP1.trans.z:=5

10、00 ; MoveJ TempP1, v1000, z20, tGripper; MoveJ pHome, v1000, z20, tGripper; ENDPROC PROC ReadType() IF nPriority = 1 AND DI10_1Product0K = 1 THEN !nJob:=1; ! Incr nPriority; ELSEIF nPriority = 2 AND DI10_1Product0K = 1 THEN !nJob:=2; !Incr nPriority; ELSE !nJob:=0; !Incr nPrior

11、ity; !IF nPriority>2 nPriority:=1; ENDIF ENDPROC PROC Open1() Reset DO10_2YaBan; Waittime 0.0; Reset DO10_1JiaZhua; waittime 0.1; !Waittime nTimeGripper; ENDPROC PROC Close1() Set DO10_1JiaZhua; Waittime 0.0; WaitDI DI10_4Zhua1End, 1; Set DO10_2YaBan; Waittime 0.0; !Waittime n

12、TimeGripper; WaitDI DI10_4Zhua1End, 1; !WaitDI DI10_6Zhua2End, 1; ENDPROC PROC CalculatePick() IF nJob = 1 THEN pPick:=pPick1; ELSEIF nJob = 2 THEN pPick:=pPick1; ENDIF !pAbovePick:=pPick; !pAfterPick:=pPick; !Pattern80; !pAbovePick.trans.z:= pAfterPick.trans.z; !pAbovePick.trans.

13、y:= pAfterPick.trans.y-500; !pAfterPick.trans.y:= pAfterPick.trans.y-500; ENDPROC PROC CalculatePlace() IF nJob = 1 THEN nBagL:=nBag50L; nBagW:=nBag50W; nBagH:=nBag50H; Pattern80; ELSEIF nJob = 2 THEN nBagL:=nBag25L; nBagW:=nBag25W; nBagH:=nBag25H; Pattern100; ENDIF !pA

14、bovePlace:=pPlace1; pAfterPlace:=pAbovePlace; ENDPROC PROC Pattern80() bTag:=FALSE; TEST nCount1+1 CASE 1: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=500; nOffsZ2:=-50

15、0; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; bTag:=True; CASE 2: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nO

16、ffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 3: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=

17、pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 4: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.

18、y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 5: pPlace1:=pBase90; pPlace1.trans.x:

19、=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+20; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !L

20、ayer2 CASE 6: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbo

21、vePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 7: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; p

22、AfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 8: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500;

23、 nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 9: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOff

24、sY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 10: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.

25、z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !Layer3 CASE 11: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.tr

26、ans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; bTag:=True; CASE 12: pPlace1:=pB

27、ase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick

28、.trans.z+400; CASE 13: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAboveP

29、lace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 14: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE

30、; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 15: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH

31、*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer4 CASE 16: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5

32、; pPlace1.trans.z:=pPlace1.trans.z+3*nBagH+80; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 17: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.t

33、rans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+3*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 18:

34、 pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace

35、.trans.z:=pPick.trans.z+400; CASE 19: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=p

36、Pick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 20: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLe

37、vel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer5 CASE 21: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOff

38、sY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; bTag:=True; CASE 22: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.

39、trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; CASE 23: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPla

40、ce1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; CASE 24: pPlace1:=pBase90

41、; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z

42、:=pPick.trans.z+500; CASE 25: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+

43、500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; !layer6 CASE 26: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+5*nBagH-50; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100;

44、nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+nBagH; CASE 27: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+5*nBagH-50; nO

45、ffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500+nBagH; CASE 28: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.tra

46、ns.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+nBagH; CASE 29: pPlace1:=pBase270; pPlace

47、1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z

48、:=pPick.trans.z+500+nBagH; CASE 30: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.t

49、rans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500+nBagH; !layer7 CASE 31: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:

50、=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; bTag:=True; CASE 32: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans

51、.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 33: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1

52、.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 34:

53、pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pP

54、lace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 35: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALS

55、E; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; !layer8 CASE 36: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+7*nBagH-40; nOffsX1:=0;

56、 nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 37: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBa

57、gL-5; pPlace1.trans.z:=pPlace1.trans.z+7*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 38: pPlace1:=pBase270; pPlac

58、e1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.t

59、rans.z+450+3*nBagH; CASE 39: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-30; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.tr

60、ans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 40: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2

61、:=100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; DEFAULT: ErrWrite "Wrong box Count...","Single box must be the last one of a Pallet"; Stop; EXIT; ENDTEST ENDPROC PROC Pattern1

62、00() bTag:=FALSE; TEST nCount1+1 CASE 1: pPlace1:=p25Base270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=600; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500;

63、 pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; bTag:=True; CASE 2: pPlace1:=p25Base0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*2; nOffsZ2:=-500; nLevel:=1; bTwice:=FAL

64、SE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 3: pPlace1:=p25Base90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*2; nOffsZ2:=

65、-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 4: pPlace1:=p25Base180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0

66、; nOffsZ1:=nBagH*2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 5: pPlace1:=p25Base270; pPlace1.trans.x:=pPlace1.trans.x-nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=500; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700

展開閱讀全文
溫馨提示:
1: 本站所有資源如無特殊說明，都需要本地電腦安裝OFFICE2007和PDF閱讀器。圖紙軟件為CAD,CAXA,PROE,UG,SolidWorks等.壓縮文件請下載最新的WinRAR軟件解壓。
2: 本站的文檔不包含任何第三方提供的附件圖紙等，如果需要附件，請聯(lián)系上傳者。文件的所有權(quán)益歸上傳用戶所有。
3.本站RAR壓縮包中若帶圖紙，網(wǎng)頁內(nèi)容里面會有圖紙預(yù)覽，若沒有圖紙預(yù)覽就沒有圖紙。
4. 未經(jīng)權(quán)益所有人同意不得將文件中的內(nèi)容挪作商業(yè)或盈利用途。
5. 裝配圖網(wǎng)僅提供信息存儲空間，僅對用戶上傳內(nèi)容的表現(xiàn)方式做保護處理，對用戶上傳分享的文檔內(nèi)容本身不做任何修改或編輯，并不能對任何下載內(nèi)容負(fù)責(zé)。
6. 下載文件中如有侵權(quán)或不適當(dāng)內(nèi)容，請與我們聯(lián)系，我們立即糾正。
7. 本站不保證下載資源的準(zhǔn)確性、安全性和完整性, 同時也不承擔(dān)用戶因使用這些下載資源對自己和他人造成任何形式的傷害或損失。

相關(guān)資源

更多
正為您匹配相似的精品文檔

相關(guān)搜索

關(guān)于我們 - 網(wǎng)站聲明 - 網(wǎng)站地圖 - 資源地圖 - 友情鏈接 - 網(wǎng)站客服 - 聯(lián)系我們

copyright@ 2023-2025  zhuangpeitu.com 裝配圖網(wǎng)版權(quán)所有   聯(lián)系電話：18123376007

備案號:蜀ICP備2024067431號-1 川公網(wǎng)安備51140202000466號


本站為文檔C2C交易模式，即用戶上傳的文檔直接被用戶下載，本站只是中間服務(wù)平臺，本站所有文檔下載所得的收益歸上傳人(含作者)所有。裝配圖網(wǎng)僅提供信息存儲空間，僅對用戶上傳內(nèi)容的表現(xiàn)方式做保護處理，對上載內(nèi)容本身不做任何修改或編輯。若文檔所含內(nèi)容侵犯了您的版權(quán)或隱私，請立即通知裝配圖網(wǎng)，我們立即給予刪除！