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1、…………………………………………………………最新精品资料推荐……………………………………………………MODULEMainModulePROCMain()TPErase;TPReadNumnCount1,"QingShuRuYiMaBaoShu!";TPReadNumnJob,"QingShuRuMoShi:50KG:=1,25KG:=2!";InitAll;WHILETRUEDOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROCclock2re()!tempint:=movstat;IFDI10_1P
2、roduct0K=0orDI10_2TuoPanOK=0ThenIFtempint<0.25thenClkStartCLK2;ELSEClkStopCLK2;ENDIFElseClkStopCLK2;EndIFEndprocPROCInitAll()MoveHome;ResetDO10_1JiaZhua;ResetDO10_2YaBan;ResetDO10_3ZhuaOK;ResetDO10_4MaDuoOK;Waittime0.5;bPickPart:=FALSE;ClkResetCLK1;ClkStartCLK1;ClkResetCLK2;MoveLOffs(pPic
3、k,0,0,400),vFast,z10,tGripperWObj:=wobj0;ENDPROCPROCPickIF()IFbPickPart=FALSEANDnJob<>0ANDDI10_1Product0K=1THEN!CalculatePick;…………………………………………………………最新精品资料推荐……………………………………………………40…………………………………………………………最新精品资料推荐……………………………………………………MoveJOffs(pPick,0,0,400),vFast,z200,tGripperWObj:=wobj0;!Mo
4、veLDOOffs(pPick,0,0,100),vFast,z20,tool0WObj:=wobj0,DO10_1JiaZhua,1;MoveLpPick,vFast,fine,tGripperWObj:=wobj0;Close1;GripLoadLoadFull;Accset50,50;HandshakeIF;bPickPart:=TRUE;ConfLOff;MoveJpAfterPick,vFast,z60,tGripperWObj:=wobj0;ENDIFENDPROCPROCPlaceOF()IFDI10_2TuoPanOK=1ANDbPickPart=
5、TRUETHENCalculatePlace;ConfLOff;!MoveLOffs(pOver,0,0,nOffsZ2),vFast,z200,tGripper;IFbTag=truethenAccset70,70;MoveJpAbovePlace,vFast,z10,tGripperWObj:=wobj0;elseAccset90,90;MoveJpAbovePlace,vFast,z10,tGripperWObj:=wobj0;EndifAccset100,100;!placefirstboxConfLOff;!MoveLOffs(pPlace1,nOffs
6、X1,nOffsY1,nOffsZ1),vTurn,z10,tGripperWObj:=wobj0;MoveLpPlace1,vMiddle,fine,tGripperWObj:=wobj0;Open1;ConfLOff;MoveLOffs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripperWObj:=wobj0;GripLoadLoadEmpty;Accset100,100;bPickPart:=FALSE;IncrnCount1;HandshakeOF;MoveJpAbovePick,vFast,z200,tGripperWOb
7、j:=wobj0;…………………………………………………………最新精品资料推荐……………………………………………………40…………………………………………………………最新精品资料推荐……………………………………………………MoveLOffs(pPick,0,0,400),vFast,z10,tGripperWObj:=wobj0;!MoveJpHome,vFast,z200,tGripper;ENDIFENDPROCPROCHandshakeIF()IFnJob=1THEN!SetDO10_3ZhuaOK;ENDIFIFnJ
