广数机器人视觉搬运码垛程序注释.doc

确保变位机中每个格中只能放6块物块,且每格中颜色必须一致,,其中0度,60度,180度中分别放不同颜色的三种物块,#ModificationDate:2044-3-5#CopySource:[******]#SubType:BY#Size:ment:Thisisajob#Writeprotect:FALSE#AxisNum:7U1=532.,-583.,217.,126.,-0.,179.,0.,0,0;U8=507.,-577.,217.,126.,-0.,179.,0.,0,0;T9=0.,-0.,228.,0.,0.,0.,0.,0,0;P0=-18.,-29.,38.,0.,77.,215.,-0.,0.,9,1;P13=-21.,-14.,25.,0.,78.,211.,-0.,0.,9,8;P100=-28.,43.,-41.,0.,85.,204.,-0.,0.,9,8;P101=-48.,-6.,20.,0.,75.,184.,-0.,0.,9,8;P102=-21.,-14.,25.,0.,78.,211.,-0.,0.,9,8;P103=-12.,-12.,24.,0.,76.,220.,180.,0.,9,8;P104=-18.,-3.,18.,0.,75.,214.,180.,0.,9,8;MAIN;SETR3,3;//设定红色物块取料次数,例如3次SETR4,3;//设定蓝色物块取料次数,例如3次SETR5,3;//设定黄色物块取料次数,例如3次SETR0,0;//红色物块取料次数,计数累加变量SETR1,0;//蓝色物块取料次数,计数累加变量SETR2,0;//黄色物块取料次数,计数累加变量SETEPX20(0),0;//取料时向下的平移累加位姿变量清零SETEPX20(3),-;//平移位姿变量平移累加量Z方向每次偏移-(0),0;//放料时向上的平移累加位姿变量清零SETEPX21(3),19;//平移位姿变量平移累加量Z方向每次偏移19mmSETEPX22(0),0;//取料平移变量SETEPX23(0),0;//放料平移变量MOVJP*(-17.,-7.,23.,0.,71.,216.,-0.,0.,9,8),V20,Z0;//安全等待点位置DOUTOT12,ON;//夹爪气缸夹紧信号打开夹爪夹紧DOUTOT13,OFF;//夹爪气缸松开信号关闭LAB90://红色物块取料标签号MOVLP*(-12.,23.,-9.,0.,75.,220.,0.,0.,9,8),V100,Z0,E1,EV10;//红色物块取料点上方,变位机角度移至0度SHIFTONPX22;//平移开始MOVLP*(-12.,24.,-3.,0.,68.,220.,0.,0.,9,8),V100,Z0;//红色物块取料点DOUTOT12,OFF;//夹爪气缸夹紧信号关闭DOUTOT13,ON;//;//;//平移结束标志ADDPX22,PX20;//取料处每红色物块执行取料一次,平移变量PX22=PX22+PX20MOVLP*(-12.,23.,-9.,0.,75.,220.,0.,0.,9,8),V100,Z0;//取料点上方JUMP