假設(shè)需要一個碼垛程序, 從輸送線抓到托盤, 托盤每層4個, 需要碼5層, 可以用以下程序架構(gòu)設(shè)計:

在config中定義層數(shù)cengshu , 每層碼垛的個數(shù)(碼垛的次數(shù))cishu , 每層的高度levelHeight , 碼垛放置點的集合putPoint[,] ,預(yù)放點1集合prePut1[,], 預(yù)放點2集合prePut2[,]

vbnet
DECL INT cengshu = 0

DECL INT cishu = 0

DECL INT levelHeight = 200

DECL FRAME putPoint[10,10]

DECL FRAME prePut1[10,10]

DECL FRAME prePut2[10,10]

碼垛放件程序

注意,

1,

if false then

SPTP putbase Vel=100 % PDAT6 Tool[1] Base[0];

endif

是定義放件最下面層的基準點, 因為條件是if false, 所以機器人永遠不會走這個點.

2,

在putbase 前加上x, 編程xputBase, 就可以將機器人的點位putbase 賦值給 用戶定義的frame
putPoint[cengshu,cishu]

3, 走用戶定義的點 putPoint[cengshu,cishu] 不能用機器人點位, 應(yīng)該用命令

slin putPoint[cengshu,cishu] c_dis

&ACCESS RVO1
&REL 61
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program\test
DEF put( )
INI
if false then

SPTP putbase Vel=100 % PDAT6 Tool[1] Base[0];
endif

PTP p20 Vel=100 % PDAT7 Tool[1] Base[0];

WAIT SEC 1

if (cengshu<6) then
if cishu == 1 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight

endif
if cishu == 2 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].x = putPoint[cengshu,cishu].x+100

putPoint[cengshu,cishu].a = putPoint[cengshu,cishu].a+90

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif

if cishu == 3 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].x = putPoint[cengshu,cishu].x+100

putPoint[cengshu,cishu].y = putPoint[cengshu,cishu].y+100

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif


if cishu == 4 then

putPoint[cengshu,cishu] = xputbase

putPoint[cengshu,cishu].y = putPoint[cengshu,cishu].y+100

putPoint[cengshu,cishu].z = putPoint[cengshu,cishu].z+(cengshu-1)*levelHeight
endif

endif

slin putPoint[cengshu,cishu] c_dis
END

主程序:文章來源地址http://www.zghlxwxcb.cn/news/detail-688856.html

DEF test10( )
INI;

PTP P1 Vel=100 % PDAT1 Tool[1] Base[0]

for cengshu = 1 to 5
for cishu = 1 to 4
put()
endfor
endfor


PTP P2 Vel=100 % PDAT2 Tool[1] Base[0]

END

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