川崎机器人程序.doc

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.()#0
;示教程序
SPEED100ALWAYSACCURACY1ALWAYSJMOVEho;原点
JMOVEpicaj_t;抓取位置a奇数层起始点JMOVEpicao_t;抓取位置a偶数层起始点JMOVEpicbj_t;抓取位置b奇数层起始点JMOVEpicbo_t;抓取位置b偶数层起始点JMOVEpiccj_t;抓取位置c奇数层起始点JMOVEpicco_t;抓取位置c偶数层起始点JMOVEpicdj_t;抓取位置d奇数层起始点JMOVEpicdo_t;抓取位置d偶数层起始点JMOVEputa;放置点a
JMOVEputb;放置点b
JMOVEputc;放置点c
JMOVEputd;放置点d
JMOVEgen;躲避点参考高度
POINTputaw=SHIFT(putaBY0,0,100);放置点a准备点
POINTputbw=SHIFT(putbBY0,0,100);放置点b准备点
POINTputcw=SHIFT(putcBY0,0,100);放置点c准备点
POINTputdw=SHIFT(putdBY0,0,100);放置点d准备点
JMOVEputaq1;
JMOVEputaq2;放置a点倾倒点
JMOVEputbq1;
JMOVEputbq2;放置b点倾倒点
JMOVEputcq1;
JMOVEputcq2;放置c点倾倒点
JMOVEputdq1;
JMOVEputdq2;放置d点倾倒点
CALLpointsa_t;抓取位置a各点计算CALLpointsb_t;抓取位置b各点计算CALLpointsc_t;抓取位置c各点计算CALLpointsd_t;
.PROGRAMinit()#172661
;系统参数设定

CPON

MESSAGESON


RPSON
SCREENON
REP_ONCEOFF
STP_ONCEOFF

=0
ca0=0
cb=0
cb0=0
cc=0
cc0=0
cd=0
cd0=0
WEIGHT170,0,0,450acc=100
acc1=1
sp1=10
sp3=30
sp5=50
sp8=80
tim=1
tim1=
.END
.()#0;主程序
SPEED100ALWAYSACCURACY500ALWAYSSIGNAL-9;吸盘关闭
HEREtt
POINT/Ztt=genLMOVEtt;移动到安全位置
LMOVEho;返回原点
POINTpupo0=hoBREAK
CALLinit;系统参数设定
CALLdousa;调用动作程序
.END
.PROGRAMpointsa_t()#1521
;抓取位置a各点计算
ca=0
10
a=ca/7
b=INT(a);层数
c=bMOD2;奇偶层判断d=caMOD7;每层个数判断z0=b
CALLgaodu;计算每层高度IFc==0THEN
CALLpointsja;位置a奇数层位置计算
ELSE
CALLpointsoa;位置a偶数层位置计算
END
IFca<41THENca=ca+1
GOTO10
END
RETURN
.END
.PROGRAMgaodu()#0
;每层高度计算
CASEz0OFVALUE0:
z=0
VALUE1:
z=-
VALUE2:
z=-
VALUE3:
z=-
VALUE4:
z=-
VALUE5:
z=-
VALUE6:
z=-
END
.END
.PROGRAMpointsja()#0
;位置a奇数层位置计算POINTpica1=SHIFT(picaj_tBY0,0,0)
CASEdOF
VALUE0:
POINTpica[ca]=SHIFT(pica1BY0,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY80,0,150)VALUE1:
POINTpica[ca]=SHIFT(,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE2:
POINTpica[ca]=SHIFT(pica1BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE3:
POINTpica[ca]=SHIFT(pica1BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE4:
POINTpica[ca]=SHIFT(pica1BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE5:
POINTpica[ca]=SHIFT(pica1BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE6:
POINTpica[ca]=SHIFT(pica1BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)END
.END
.PROGRAMpointsoa()#0
;位置a偶数层位置计算
POINTpica2=SHIFT(picao_tBY0,0,0)CASEdOF
VALUE0:
POINTpica[ca]=SHIFT(pica2BY0,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY80,0,150)VALUE1:
POINTpica[ca]=SHIFT(,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE2:
POINTpica[ca]=SHIFT(pica2BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE3:
POINTpica[ca]=SHIFT(pica2BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE4:
POINTpica[ca]=SHIFT(pica2BY645,0,z)POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)VALUE5:
POINTpica[ca]=SHIFT(pica2BY645,0,z)
POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)
VALUE6:
POINTpica[ca]=SHIFT(pica2BY645,0,z)
POINTpicaw[ca]=SHIFT(pica[ca]BY100,0,150)
END
.END
.PROGRAMdousa()#0;动作主程序
SPEED100ALWAYS
ACCURACY500ALWAYS100
ONI1004CALLstop;监视停止信号,并调用停止程序IFSIG(1021)==TRUETHENCALLdousal;监视料斗状态,并调用动作程序END
IFSIG(1022)==TRUETHENCALLdousal
END
IFSIG(1023)==TRUETHENCALLdousar
END
IFSIG(1024)==TRUETHENCALLdousar
END
GOTO100
.END
.PROGRAMstop()#0
;停止程序
SPEED50ALWAYS
ACCURACY50ALWAYS
HEREtt
POINT/Ztt=gen
LMOVEtt;移动到安全位置
LMOVEho;返回原点
DO
PAUSE
SIGNA
UNTILSIG(1002)
.END
.PROGRAMdousal()#0
;左侧动作程序
50
IFSIG(1013,1021)==TRUETHEN
CALLdousaa1;判断托盘和料斗信号
IFca<41THEN
ca=ca+1
ELSE
ca=0
END
GOTO50
END
IFSIG(1013,1022)==TRUETHEN
CALLdousaa2
IFca<41THEN
ca=ca+1
ELSE
ca=0
END
GOTO50
END
60
IFSIG(1014,1021)==TRUETHEN
CALLdousab1
IFcb<41THEN
cb=cb+1
ELSE
cb=0
END
GOTO60
END
IFSIG(1014,1022)==TRUETHEN
CALLdousab2
IFcb<41THEN
cb=cb+1
ELSE
cb=0
END
GOTO60
END
RETURN
.END
.PROGRAMdousar()#0
;右侧动作程序
70
IFSIG(1015,1023)==TRUETHEN
CALLdousac3;判断托盘和料斗信号
IFcc<41THEN
cc=cc+1
ELSE
cc=0
END
GOTO70
END
IFSIG(1015,1024)==TRUETHEN
CALLdousac4
IFcc<41THEN
cc=cc+1
ELSE
cc=0
END
GOTO70
END
80
IFSIG(1016,1023)==TRUETHEN
CALLdousad3
IFcd<41THEN
cd=cd+1
ELSE
cd=0