創(chuàng)建工業(yè)機(jī)器人碼垛工作站主講教師：楊進(jìn)VARnumcounter1:=0;VARnumcounter2:=0;CONSTrobtargetpHome:=[[57.78,439.87,187.16],[…..],[…..],[…..]];CONSTjointtargetjHome:=[[90,0,0,0,90,0],[…..]];CONSTrobtargetp11:=[[-27.07,468.92,171.65],[…..],[….],[….]];CONSTrobtargetp10:=[[-27.07,468.92,151.65],[……],[…..],[…..]];CONSTrobtargetp12:=[[-9.28,347.00,113.36],[…..],[…..],[….]];CONSTrobtargetp21:=[[151.69,473.72,171.65],[…..],[….],[…..]];CONSTrobtargetp20:=[[151.69,473.72,151.65],[…..],[….],[…..]];CONSTrobtargetp22:=[[202.00,347.00,121.52],[….],[….],[….]]; PROCmain() rInitial; WaitDIDi_start,1; WHILETRUEDO rMotion; ENDWHILE ENDPROC PROCrInitial() counter1:=0; counter2:=0; MoveAbsJjHome\NoEOffs,v1000,fine,My_tool; AccSet50,50; VelSet50,1000; ENDPROC PROCrMotion() MoveJpHome,v1000,z50,tool0; IFDi_obj1=1andcounter1<4THEN Routine1; counter1:=counter1+1; ENDIF MoveJpHome,v1000,z50,tool0; IFdi_obj2=1andcounter2<4THEN Routine2; counter2:=counter2+1; ENDIF ENDPROC PROCRoutine1()

numhang;

numlie;

hang:=counter1div2;

lie:=counter1mod2; MoveJp11,v1000,z50,My_tool; MoveLp10,v600,fine,My_tool; SetDo_paw; WaitTime1; MoveLp11,v1000,z50,My_tool; MoveJOffs(p12,100*hang,100*lie,50),v1000,z50,My_tool; MoveLOffs(p12,100*hang,100*lie,0),v1000,fine,My_tool; ResetDo_paw; WaitTime1; MoveLOffs(p12,100*hang,100*lie,50),v1000,z50,My_tool;

ENDPROC PROCRoutine2() numhang; numlie; hang:=counter2div2; lie:=counter2mod2; MoveJp21,v1000,z50,My_tool; MoveLp20,v600,fine,My_tool; WaitTime1; SetDo_paw; MoveLp21,v1000,z50,My_tool; MoveJOffs(p22,100*hang,100*lie,50),v1000,z50,My_tool; MoveLOffs(p22,100*hang,100*lie,0),v600,fine,My_tool; ResetDo_paw; Wai