ABB机器人程序实例ROBOT studio 6.01(附带与工业相机网络通讯实(2)

! IF nPresenceOrAbsence =2 OR nPresenceOrAbsence =3 THEN ! bSMPreOrAbs:=FALSE ;

! ELSEIF nPresenceOrAbsence =5 THEN ! bSMPreOrAbs:=TRUE ;

! IF di02_PhotoelectricSensor =1 THEN ! TPErase ;

! TPWrite \ picture there is a problem, Please check it!(2) \

! SystemStopAction \\Halt ;

! ELSEIF di02_PhotoelectricSensor =0 THEN ! reg2 :=0; ! ENDIF

! ELSEIF nPresenceOrAbsence =1 OR nPresenceOrAbsence =4 THEN

! TPErase ;

! TPWrite \ ! TPWrite \ ! Stop ; ! ENDIF

WaitTime 1;

IF di02_PhotoelectricSensor =1 THEN bSMPreOrAbs:=FALSE ; ELSE

bSMPreOrAbs:=TRUE ; ENDIF

Incr nCountX;

! TEST di16_giBCD ! CASE 1:

IF nCountX=6 THEN nCountX :=1; Incr nCountY;

IF nCountY=9 THEN nCountY :=1;

SystemStopAction \\Halt; ENDIF ENDIF

IF nCount =40 THEN nCount :=0; Incr nCountZ; nCountX:=1; nCountY:=1;

nInpos:=0;

IF reg2=0 THEN rZhanban ;

IF nCountZ=2 THEN rCompressorOutPos; nCountZ:=1; ENDIF ENDIF reg2:=0; ENDIF ! DEFAULT: ! TPErase ;

! TPWrite \check it \

! ENDTEST ENDWHILE ENDPROC

PROC rPick ()

! TEST di16_giBCD ! CASE 1:

IF nCountX=1 THEN

CompensationTwo:=CompensationA1; ELSE

CompensationTwo:=CompensationA2; ENDIF pPick:=Offs

(Pick,CompensationTwo{nCountX,1}+nX ,CompensationTwo{nCountY,2},CompensationTwo{nCountZ,3});

! CASE 2:

! pPick:=Offs

(Pick,CompensationTwo{nCountX,1}+nX ,CompensationTwo{nCountY,2},CompensationTwo{nCountZ,3});

! DEFAULT: ! TPErase ;

! TPWrite \it \

! ENDTEST WaitTime 0.2; nCamOut:=1; ! rServer;

! socketsend client_socket \\Str:=\

! socketReceive client_socket \\Str:=stReceived; ! XData:= StrPart(stReceived, 3, NumCharacters);

! YData:= StrPart(stReceived, NumCharacters, NumCharacters);

! AngleData:= StrPart(stReceived, 2*NumCharacters, NumCharacters); ! bOK:=StrToVal(XData,nXOffs); ! bOK:=StrToVal(YData,nYOffs);

! bOK:=StrToVal(AngleData,nAngleOffs); rAngle;

! ppPick :=RelTool (pPick,0,0,0\\Rz:= -nAngleOffs+nAngle);

ppPick :=RelTool (pPick,0,0,0\\Rz:= nAngle);

ConfL\\Off;

! MoveL Offs (ppPick,nXOffs ,nYOffs,120), vMinEmpty, fine , tGripper\\WObj:=WobjCompressor;

! MoveL Offs (ppPick,nXOffs ,nYOffs,0), v100, fine , tGripper\\WObj:=WobjCompressor;

MoveL Offs (ppPick,0 ,0,200), vMinEmpty, fine , tGripper\\WObj:=WobjCompressor;

MoveL Offs (ppPick,0 ,0,0), v100, fine , tGripper\\WObj:=WobjCompressor;

Reset do00_JawsOpen ; Set do01_JawsClose ;

WaitDI di00_JawsInClose,1; ! MoveL Offs

(ppPick,nXOffs,nYOffs,80),vMinLoad ,z10 ,tGripper\\WObj:=WobjCompressor ; ! MoveL Offs

(ppPick,nXOffs,nYOffs,400),vMaxLoad ,fine ,tGripper\\WObj:=WobjCompressor ;

MoveL Offs

(ppPick,0,0,80),vMinLoad ,z10 ,tGripper\\WObj:=WobjCompressor ; MoveL Offs

(ppPick,0,0,400),vMaxLoad ,fine ,tGripper\\WObj:=WobjCompressor ;

ConfL\\On; rPlace;

! TEST di16_giBCD ! CASE 1:

IF nCount =40 THEN nCount :=0; nCountX:=1; nCountY:=1; reg2:=0; nInpos:=0; rZhanban ;

IF nCountZ=2 THEN rCompressorOutPos; nCountZ:=1; ENDIF ENDIF ! DEFAULT: ! TPErase ;

! TPWrite \it \

! ENDTEST ENDPROC

PROC rPlace ()

MoveJ Offs (Place,0,0,200) ,vMaxLoad ,z40 , tGripper\\WObj:= WobjCompressor ;

Set do13_Placing;

Waitdi di06_AssemblyLineOK, 0;

MoveL Offs (Place,0,0,50) ,vMinLoad ,z5 , tGripper\\WObj:= WobjCompressor;

MoveL Place ,v100 ,fine , tGripper\\WObj:= WobjCompressor; Reset do01_JawsClose ; Set do00_JawsOpen ;

WaitDI di01_JawsInOpen ,1;

MoveL Offs (Place,0,0,300) ,vMinEmpty ,fine , tGripper\\WObj:= WobjCompressor;

Reset do13_Placing ; WaitTime 0.4;

Reset do00_JawsOpen ; ENDPROC

PROC rnXCal()

! TEST di16_giBCD ! CASE 1:

TEST nCount

CASE 1,2,3,4,5,11,12,13,14,15,21,22,23,24,25,31,32,33,34,35 : nX:=0;

CASE 6,7,8,9,10,16,17,18,19,20, 26,27,28,29,30,36,37,38,39,40 :

nX:=65; ENDTEST ! ENDTEST ENDPROC

PROC rAngle()

! TEST di16_giBCD ! CASE 1:

TEST nCount

CASE 1,2,3,4,5,11,12,13,14,15,21,22,23,24,25,31,32,33,34,35 : nAngle:=0;

CASE 6,7,8,9,10,16,17,18,19,20, 26,27,28,29,30,36,37,38,39,40 : nAngle:=180; ENDTEST ! ENDTEST ENDPROC

PROC rZhanban ()

nTotalPalletHigh:=nTotalPalletHigh+nPalletHigh; TEST nCountZ CASE 1:

PZhanban:=PZhanbanUp; nPalletHigh:=nPalletHighUp; CASE 2:

PZhanban:=PZhanbanDown; nPalletHigh:=nPalletHighDown; DEFAULT : TPErase ;

TPWrite \; ENDTEST

MoveJ Offs ( PZhanban,0,0,300) ,vBigMaxEmpty ,fine , tGripper \\WObj:= WobjCompressor ; Set do02_BigJaws1 ; WaitTime 0.6;

Set do03_BigJaws2;

WaitDI di08_BigJawsInOpen, 1;

MoveL PZhanban ,vMinEmpty ,fine , tGripper\\WObj:= WobjCompressor ;

WaitTime 0.5;

Reset do02_BigJaws1 ; Reset do03_BigJaws2 ; WaitTime 0.3;

WaitDI di08_BigJawsInOpen,1;

pActualpos:=CRobT(\\Tool:=tGripper\\WObj:=WobjCompressor1);