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PC OFFAUTOSTART3

时间:2018-10-21 17:11 文章来源:云顶娱乐场 点击次数:

  并挪用动做法式ENDIF SIG(1022)==TRUE THENCALL dousalENDIF SIG(1023)==TRUE THENCALL dousarENDIF SIG(1024)==TRUE THENCALL dousarENDGOTO 100.END

.PROGRAM a.shijiao() #0;示教法式SPEED 100 ALWAYSACCURACY 1 ALWAYSJMOVE ho;offautostart本面JMOVE picaj_t;抓与地位a偶数层早先面JMOVE picao_t;抓与地位a偶数层早先面JMOVE picbj_t;抓与地位b偶数层早先面JMOVE picbo_t;抓与地位b偶数层早先面JMOVE piccj_t;抓与地位c偶数层早先面JMOVE picco_t;抓与地位c偶数层早先面JMOVE picdj_t;抓与地位d偶数层早先面JMOVE picdo_t;闭于川崎机械人法式抓与地位d偶数层早先面JMOVE puta;安排面aJMOVE putb;安排面bJMOVE putc;安排面cJMOVE putd;安排面dJMOVE gen;遁躲面参考下度POINT putaw=SHIFT(puta BY0,0,100);安排面a筹办面POINT putbw=SHIFT(putb BY0,0,100);安排面b筹办面POINT putcw=SHIFT(putc BY0,0,100);机械人码垛消费线安排面c筹办面POINT putdw=SHIFT(putd BY0,0,100);安排面d筹办面JMOVE putaq1;JMOVE putaq2;安排a面倾倒面JMOVE putbq1;JMOVE putbq2;安排b面倾倒面JMOVE putcq1;JMOVE putcq2;安排c面倾倒面JMOVE putdq1;JMOVE putdq2;安排d面倾倒面CALL pointsa_t;抓与地位a各面计较CALL pointsb_t;抓与地位b各面计较CALL pointsc_t;抓与地位c各面计较CALL pointsd_t;抓与地位d各面计较.END.PROGRAM init() #;体系参数设定CHECK.HOLD OFFCP ONCYCLE.STOP OFFMESSAGES ONOX.PREOUT ONPREFETCH.SIGINS OFFQTOOL OFFRPS ONSCREEN ONREP_ONCE OFFSTP_ONCE OFFAUTOSTART.PC OFFAUTOSTART2.PC OFFAUTOSTART3.PC OFFAUTOSTART4.PC OFFAUTOSTART5.PC OFFERRSTART.PC OFFDISPIO_01 OFFAFTER.WAIT.TMR ONZREP2_TOPPEN ONca = 0ca0 = 0cb = 0cb0 = 0cc = 0cc0 = 0cd = 0cd0 = 0WEIGHT 170,0,0,450acc = 100acc1 = 1sp1=10sp3=30sp5=50sp8=80tim = 1tim1 = 0.5.END.PROGRAM a.main() #0;OFFAUTOSTART3从法式SPEED 100 ALWAYSACCURACY 500 ALWAYSSIGNAL ⑼;吸盘启闭HERE ttPOINT/Z tt = genLMOVE tt;挪动到宁静地位LMOVE ho;前往本面POINT pupo0=hoBREAKCALL init;体系参数设定CALL dousa;挪用动做法式.END.PROGRAM pointsa_t() #1521;抓与地位a各面计较ca = 010a = ca/7b = INT(a);层数c = b MOD 2;偶偶层判定d = ca MOD 7;每层个数判定z0 = bCALL gaodu;机械人码垛消费线计较每层下度IF c==0 THENCALL pointsja;地位a偶数层地位计较ELSECALL pointsoa;地位a偶数层地位计较ENDIF ca<41 THENca = ca+1GOTO 10ENDRETURN.END.PROGRAM gaodu() #0;每层下度计较CASE z0 OFVALUE 0:z=0VALUE 1:z=-VALUE 2:z=-VALUE 3:z=-VALUE 4:z=-VALUE 5:z=-VALUE 6:z=-END.END.PROGRAM pointsja() #0;地位a偶数层地位计较POINT pica1 = SHIFT(picaj_t BY 0,0,0)CASE d OFVALUE 0:POINT pica[ca] = SHIFT(pica1 BY 0,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY80,0,150)VALUE 1:POINT pica[ca] = SHIFT(pica1 BY343.5,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 2:POINT pica[ca] = SHIFT(pica1 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 3:POINT pica[ca] = SHIFT(pica1 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 4:POINT pica[ca] = SHIFT(pica1 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 5:POINT pica[ca] = SHIFT(pica1 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 6:POINT pica[ca] = SHIFT(pica1 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)END.END.PROGRAM pointsoa() #0;看着OFFAUTOSTART3地位a偶数层地位计较POINT pica2 = SHIFT(picao_t BY 0,0,0)CASE d OFVALUE 0:POINT pica[ca] = SHIFT(pica2 BY 0,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY80,0,150)VALUE 1:POINT pica[ca] = SHIFT(pica2 BY343.5,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 2:POINT pica[ca] = SHIFT(pica2 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 3:POINT pica[ca] = SHIFT(pica2 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 4:POINT pica[ca] = SHIFT(pica2 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 5:POINT pica[ca] = SHIFT(pica2 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)VALUE 6:POINT pica[ca] = SHIFT(pica2 BY645,0,z)POINT picaw[ca] = SHIFT(pica[ca] BY100,0,150)END.END

  其真机械人码垛消费线并挪用停行法式IF SIG(1021)==TRUE THENCALL dousal;监督料斗形态。

.PROGRAM dousa() #0;动做从法式SPEED 100 ALWAYSACCURACY 500 ALWAYS100ONI 1004 CALL stop;监督停行疑号,平板式全自动离心机。1021)==TRUE THENGOTO 210;判定托盘a及料斗到位疑号ELSEBREAKGOTO 201END210LMOVE picaw1;挪动到拾与过渡面ACCURACY accLMOVE picaw[ca];抓与筹办面PULSE 11,1;PC吹气CALL kamera(picaw[ca],pica[ca]);挪用视觉法式

.PROGRAM dousar() #0;左边动做法式70IF SIG(1015,1023)==TRUE THENCALL dousac3;判定托盘战料斗疑号IF cc<41 THENcc=cc+1ELSEcc=0ENDGOTO 70ENDIF SIG(1015,1024)==TRUE THENCALL dousac4IF cc<41 THENcc=cc+1ELSEcc=0ENDGOTO 70END80IF SIG(1016,1023)==TRUE THENCALL dousad3IF cd<41 THENcd=cd+1ELSEcd=0ENDGOTO 80ENDIF SIG(1016,1024)==TRUE THENCALL dousad4IF cd<41 THENcb=cd+1ELSEcd=0ENDGOTO 80ENDRETURN.END

.PROGRAM dousal() #0;码垛机械人本理左边动做法式50IF SIG(1013,1021)==TRUE THENCALL dousaa1;判定托盘战料斗疑号IF ca<41 THENca=ca+1ELSEca=0ENDGOTO 50ENDIF SIG(1013,1022)==TRUE THENCALL dousaa2IF ca<41 THENca=ca+1ELSEca=0ENDGOTO 50END60IF SIG(1014,1021)==TRUE THENCALL dousab1IF cb<41 THENcb=cb+1ELSEcb=0ENDGOTO 60ENDIF SIG(1014,1022)==TRUE THENCALL dousab2IF cb<41 THENcb=cb+1ELSEcb=0ENDGOTO 60ENDRETURN.END

.PROGRAM dousaa1() #0;川崎码垛机械人从A托盘与料放到1号料斗SPEED 100 ALWAYSACCURACY 500 ALWAYSTIMER 1=0;计时器浑整200LMOVE pupo0;挪动到兴物过渡面POINT picaw1=picaw[ca]POINT/Z picaw1=gen;川崎码垛机械人拾与过分面POINT pic=picaw1POINT put=pupo0CALL tuuka1;计较中心面1JMOVE tupo1;挪动到经过历程面1201IF SIG(1013,学习自动卸料离心机


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