网站推广含义,wordpress菜单icon,seo技术网网,免费开源的企业建站系统假设需要一个码垛程序, 从输送线抓到托盘, 托盘每层4个, 需要码5层, 可以用以下程序架构设计:
1, 再config中定义层数cengshu , 每层码垛的个数(码垛的次数)cishu , 每层的高度levelHeight , 码垛放置点的集合putPoint[,] ,预放点1集合prePut1[,], 预放点2集合prePut2[,]
DEC…假设需要一个码垛程序, 从输送线抓到托盘, 托盘每层4个, 需要码5层, 可以用以下程序架构设计:
1, 再config中定义层数cengshu , 每层码垛的个数(码垛的次数)cishu , 每层的高度levelHeight , 码垛放置点的集合putPoint[,] ,预放点1集合prePut1[,], 预放点2集合prePut2[,]
DECL INT cengshu 0DECL INT cishu 0DECL INT levelHeight 200DECL FRAME putPoint[10,10]DECL FRAME prePut1[10,10]DECL FRAME prePut2[10,10]码垛放件程序
ACCESS RVO1
COMMENT put2
DEF put2 ( )
;FOLD INI;FOLD BASISTECH INIGLOBAL INTERRUPT DECL 3 WHEN $STOPMESSTRUE DO IR_STOPM ( )INTERRUPT ON 3 BAS (#INITMOV,0 );ENDFOLD (BASISTECH INI);FOLD USER INI;Make your modifications here;ENDFOLD (USER INI)
;ENDFOLD (INI)IF FALSE THEN;FOLD LIN putBase CONT Vel2 m/s CPDAT0 Tool[1]:Tool1 Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:putBase, 3:C_DIS C_DIS, 5:2, 7:CPDAT0
$BWDSTARTFALSE
LDAT_ACTLCPDAT0
FDAT_ACTFputBase
BAS(#CP_PARAMS,2)
LIN XputBase C_DIS C_DIS
;ENDFOLDENDIFIF (cengshu 1) OR (cengshu 2) OR (cengshu 3) OR (cengshu 4) OR (cengshu 5) THENIF cishu 1 THENputPoint[cengshu,cishu] XputBaseputPoint[cengshu,cishu].X putPoint[cengshu,cishu].XputPoint[cengshu,cishu].Y putPoint[cengshu,cishu].YputPoint[cengshu,cishu].Z putPoint[cengshu,cishu].Z(cengshu-1)*levelHeightENDIFIF cishu 2 THENputPoint[cengshu,cishu] XputBaseputPoint[cengshu,cishu].X putPoint[cengshu,cishu].X10putPoint[cengshu,cishu].Y putPoint[cengshu,cishu].YputPoint[cengshu,cishu].Z putPoint[cengshu,cishu].Z(cengshu-1)*levelHeightENDIFIF cishu 3 THENputPoint[cengshu,cishu] XputBaseputPoint[cengshu,cishu].X putPoint[cengshu,cishu].X10putPoint[cengshu,cishu].Y putPoint[cengshu,cishu].Y10putPoint[cengshu,cishu].Z putPoint[cengshu,cishu].Z(cengshu-1)*levelHeightENDIFIF cishu 3 THENputPoint[cengshu,cishu] XputBaseputPoint[cengshu,cishu].X putPoint[cengshu,cishu].XputPoint[cengshu,cishu].Y putPoint[cengshu,cishu].Y10putPoint[cengshu,cishu].Z putPoint[cengshu,cishu].Z(cengshu-1)*levelHeightENDIFENDIF;shoudong dao preput1 prePut1[cengshu,cishu] putPoint[cengshu,cishu]prePut1[cengshu,cishu].X prePut1[cengshu,cishu].X200prePut1[cengshu,cishu].Y prePut1[cengshu,cishu].Y200prePut1[cengshu,cishu].Z prePut1[cengshu,cishu].Z200prePut2[cengshu,cishu] putPoint[cengshu,cishu]prePut2[cengshu,cishu].X prePut2[cengshu,cishu].X100prePut2[cengshu,cishu].Y prePut2[cengshu,cishu].Y100prePut2[cengshu,cishu].Z prePut2[cengshu,cishu].Z100PTP prePut1[cengshu,cishu] C_DISPTP prePut2[cengshu,cishu] C_DIS LIN putPoint[cengshu,cishu] C_DIS$out[1]FALSE ;fangjianWAIT SEC 0.5PTP prePut2[cengshu,cishu] C_PTP PTP prePut1[cengshu,cishu] C_PTPEND主程序:
cACCESS RVO
REL 7
PARAM EDITMASK *
PARAM TEMPLATE C:\KRC\Roboter\Template\vorgabe
PARAM DISKPATH KRC:\R1\Program\PRO
DEF test( )
;FOLD INI;%{PE};FOLD BASISTECH INIGLOBAL INTERRUPT DECL 3 WHEN $STOPMESSTRUE DO IR_STOPM ( )INTERRUPT ON 3 BAS (#INITMOV,0 );ENDFOLD (BASISTECH INI);FOLD USER INI;Make your modifications here;ENDFOLD (USER INI)
;ENDFOLD (INI)$out[1]FALSE$out[2]FALSE;FOLD PTP HOME Vel 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART FALSE
PDAT_ACTPDEFAULT
FDAT_ACTFHOME
BAS (#PTP_PARAMS,100 )
$H_POSXHOME
PTP XHOME
;ENDFOLDLOOPFOR cengshu 1 TO 5FOR cishu 1 TO 4WAIT FOR $in[1]pick ();FOLD PTP p1 CONT Vel100 % DEFAULT Tool[1]:Tool1 Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:p1, 3:C_PTP, 5:100, 7:DEFAULT
$BWDSTARTFALSE
PDAT_ACTPDEFAULT
FDAT_ACTFp1
BAS(#PTP_PARAMS,100)
PTP Xp1 C_PTP
;ENDFOLDput2 ();FOLD PTP HOME Vel 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART FALSE
PDAT_ACTPDEFAULT
FDAT_ACTFHOME
BAS (#PTP_PARAMS,100 )
$H_POSXHOME
PTP XHOME
;ENDFOLDENDFOR
ENDFOR$out[3]TRUEWAIT SEC 1$out[3]FALSEENDLOOP END取件程序:
ACCESS RVO1
COMMENT put1
DEF pick ( )
;FOLD INI;FOLD BASISTECH INIGLOBAL INTERRUPT DECL 3 WHEN $STOPMESSTRUE DO IR_STOPM ( )INTERRUPT ON 3 BAS (#INITMOV,0 );ENDFOLD (BASISTECH INI);FOLD USER INI;Make your modifications here;ENDFOLD (USER INI)
;ENDFOLD (INI);FOLD PTP p2 CONT Vel100 % DEFAULT Tool[1]:Tool1 Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:p2, 3:C_PTP, 5:100, 7:DEFAULT
$BWDSTARTFALSE
PDAT_ACTPDEFAULT
FDAT_ACTFp2
BAS(#PTP_PARAMS,100)
PTP Xp2 C_PTP
;ENDFOLD;FOLD LIN p3 CONT Vel2 m/s CPDAT0 Tool[1]:Tool1 Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:p3, 3:C_DIS C_DIS, 5:2, 7:CPDAT0
$BWDSTARTFALSE
LDAT_ACTLCPDAT0
FDAT_ACTFp3
BAS(#CP_PARAMS,2)
LIN Xp3 C_DIS C_DIS
;ENDFOLD$OUT[1]TRUEWAIT SEC 1;FOLD LIN p4 CONT Vel2 m/s CPDAT0 Tool[1]:Tool1 Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:p4, 3:C_DIS C_DIS, 5:2, 7:CPDAT0
$BWDSTARTFALSE
LDAT_ACTLCPDAT0
FDAT_ACTFp4
BAS(#CP_PARAMS,2)
LIN Xp4 C_DIS C_DIS
;ENDFOLDEND
