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The Last CycleTime is: 10 9.3.12 ¼ì²â HOME µãÄ£°å ÔÚʵѵÈÎÎñÖУ¬Ã¿¸ö³ÌÐò¶¼Óмì²â Home µãµÄÀýÐгÌÐò rCheckHomePos£¬ÒÔ¼°±È½Ï»úÆ÷È˵±Ç°Î»Öú͸ø ¶¨Î»ÖÃÊÇ·ñÏàͬµÄ¹¦ÄÜ CurrentPos£¬Æä³ÌÐòÄÚÈÝÈçÏ£¬ÔÚºóÐøµÄ´úÂëÖв»ÔÙÖØ¸´¡£ ³ÌÐò£ºrCheckHomePos¡¢CurrentPos ˵Ã÷£º¼ì²éÔµã³ÌÐò£¬Èç»úÆ÷È˲»ÔÚÔµãλÖÃÔò·µ»ØÔµã PROCrCheckHomePos() !¼ì²âÊÇ·ñÔÚHomeµã³ÌÐò VARrobtargetpActualPos; !¶¨ÒåÒ»¸öÄ¿±êµãÊý¾ÝpActualPos IFNOTCurrentPos(pHome,tGripper) THEN !µ÷Óù¦ÄܳÌÐòCurrentPos¡£´ËΪһ¸ö²¼¶ûÁ¿Ð͵ŦÄܳÌÐò£¬À¨ºÅÀïÃæµÄ²ÎÊý·Ö±ðÖ¸µÄÊÇËùÒª±È½ÏµÄÄ¿±êµãÒÔ ¼°Ê¹ÓõŤ¾ßÊý¾Ý¡£ !ÕâÀïдÈëµÄÊÇpHome£¬Êǽ«µ±Ç°»úÆ÷ÈËλÖÃÓëpHomeµã½øÐбȽϣ¬ÈôÔÚHomeµã£¬Ôò´Ë²¼¶ûÁ¿ÎªTrue£»Èô²» ÔÚHomeµã£¬ÔòΪFalse¡£ !Ôڴ˹¦ÄܳÌÐòµÄÇ°Ãæ¼ÓÉÏÒ»¸öNOT£¬Ôò±íʾµ±»úÆ÷È˲»ÔÚHomeµãʱ²Å»áÖ´ÐÐIFÅжÏÖлúÆ÷ÈË·µ»ØHomeµã µÄ¶¯×÷Ö¸Áî pActualpos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0); !ÀûÓÃCRobT¹¦ÄܶÁÈ¡µ±Ç°»úÆ÷ÈËÄ¿±êλÖò¢¸³Öµ¸øÄ¿±êµãÊý¾ÝpActualpos pActualpos.trans.z:=pHome.trans.z; !½«pHomeµãµÄZÖµ¸³¸øpActualposµãµÄZÖµ MoveL pActualpos,v100,z10,tGripper; !ÒÆÖÁÒѱ»¸³ÖµµÄºóµÄpActualposµã MoveL pHome,v100,fine,tGripper; !ÒÆÖÁpHome£¬ÉÏÊöÖ¸ÁîµÄÄ¿µÄÊÇÐèÒªÏȽ«»úÆ÷ÈËÌáÉýÖÁÓëpHomeµãÒ»ÑùµÄ¸ß¶È£¬Ö®ºóÔÙÆ½ÒÆÖÁpHomeµã£¬ ÕâÑù¿ÉÒÔ¼òµ¥µØ¹æ»®Ò»Ìõ°²È«»ØHomeµãµÄ¹ì¼£ ENDIF ENDPROC FUNCboolCurrentPos(robtargetComparePos,INOUTtooldata TCP) !¼ì²âÄ¿±êµã¹¦ÄܳÌÐò£¬´øÓÐÁ½¸ö²ÎÊý£¬±È½ÏÄ¿±êµãºÍËùʹÓõŤ¾ßÊý¾Ý VARnum Counter:=0; !¶¨ÒåÊý×ÖÐÍÊý¾ÝCounter VARrobtargetActualPos; !¶¨ÒåÄ¿±êµãÊý¾ÝActualPos ActualPos:=CRobT(\\Tool:=tGripper\\WObj:=wobj0); !ÀûÓÃCRobT¹¦ÄܶÁÈ¡µ±Ç°»úÆ÷ÈËÄ¿±êλÖò¢¸³Öµ¸øActualPos IFActualPos.trans.x>ComparePos.trans.x-25 ANDActualPos.trans.x !½«µ±Ç°»úÆ÷ÈËËùÔÚÄ¿±êλÖÃÊý¾ÝÓë¸ø¶¨Ä¿±êµãλÖÃÊý¾Ý½øÐбȽϣ¬¹²ÆßÏîÊýÖµ£¬·Ö±ðÊÇX¡¢Y¡¢Z×ø±êÖµÒÔ ¼°¹¤¾ß×Ë̬Êý¾Ýq1¡¢q2¡¢q3¡¢q4ÀïÃæµÄÆ«²îÖµ£¬ÈçX¡¢Y¡¢Z×ø±êÆ«²îÖµ25¿É¸ù¾Ýʵ¼ÊÇé¿ö½øÐе÷Õû¡£Ã¿Ïî ±È½Ï½á¹û³ÉÁ¢£¬Ôò¼ÆÊýCounter¼Ó1£¬ÆßÏîÈ«²¿Âú×ãµÄ»°£¬ÔòCounterÊýֵΪ7 RETURN Counter=7; !·µ»ØÅжÏʽ½á¹û£¬ÈôCounterΪ7£¬Ôò·µ»ØTRUE£¬Èô²»Îª7£¬Ôò·µ»ØFALSE ENDFUNC 9.4 ÈÎÎñʵʩ 9.4.1 ¹¤×÷Õ¾½â°ü 1. 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CONSTrobtarget pHome:=[[-548.424175962,-238.61219249,801.420966892],[-0.000000012,-0.707106781,0.707106781,-0.000000 012],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; CONSTrobtarget pPlaceBase:=[[100.088594059,77.835146221,158.046135973],[0.00000004,-0.000623424,0.999999806,-0.000000 001],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; !ÐèҪʾ½ÌµÄÄ¿±êµãÊý¾Ý£¬×¥È¡µãpPick£¬HOMEµãpHome¡¢·ÅÖûù×¼µãpPlaceBase PERSrobtargetpPlace; !·ÅÖÃÄ¿±êµã£¬ÀàÐÍΪPERS£¬ÔÚ³ÌÐòÖб»¸³Ó費ͬµÄÊýÖµ£¬ÓÃÒÔʵÏÖ¶àµãλ·ÅÖà CONSTjointtargetjposHome:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; !¹Ø½ÚÄ¿±êµãÊý¾Ý£¬¸÷¹Ø½ÚÖá¶ÈÊýΪ0£¬¼´»úÆ÷È˻ص½¸÷¹Ø½ÚÖá»úе¿Ì¶ÈÁãλ CONSTspeeddatavLoadMax:=[3000,300,5000,1000]; CONSTspeeddatavLoadMin:=[500,200,5000,1000]; CONSTspeeddatavEmptyMax:=[5000,500,5000,1000]; CONSTspeeddatavEmptyMin:=[1000,200,5000,1000]; !ËÙ¶ÈÊý¾Ý£¬¸ù¾Ýʵ¼ÊÐèÇó¶¨Òå¶àÖÖËÙ¶ÈÊý¾Ý£¬ÒÔ±ãÓÚ¿ØÖÆ»úÆ÷È˸÷¶¯×÷µÄËÙ¶È PERSnumnCount:=1; !Êý×ÖÐͱäÁ¿nCount£¬´ËÊý¾ÝÓÃÓÚÌ«ÑôÄܱ¡°å¼ÆÊý£¬¸ù¾Ý´ËÊý¾ÝµÄÊýÖµ¸³Óè·ÅÖÃÄ¿±êµãpPlace²»Í¬µÄλÖÃÊý ¾Ý£¬ÒÔʵÏÖ¶àµãλ·ÅÖà PERSnumnXoffset:=145; PERSnumnYoffset:=148; !Êý×ÖÐͱäÁ¿£¬ÓÃ×ö·ÅÖÃλÖÃÆ«ÒÆÊýÖµ£¬¼´Ì«ÑôÄܱ¡°å°Ú·ÅλÖÃÖ®¼äÔÚX¡¢Y·½ÏòµÄµ¥¸ö¼ä¸ô¾àÀë VARboolbPickOK:=False; !²¼¶ûÁ¿£¬µ±Ê°È¡¶¯×÷Íê³Éºó½«ÆäÖÃΪTrue£¬·ÅÖÃÍê³Éºó½«ÆäÖÃΪFalse£¬ÒÔ×÷Âß¼¿ØÖÆÖ®Óà TASKPERStooldata tGripper:=[TRUE,[[0,0,115],[1,0,0,0]],[1,[0,0,100],[0,1,0,0],0,0,0]]; !¶¨Ò幤¾ß×ø±êϵÊý¾ÝtGripper TASKPERSwobjdata WobjBuffer:=[FALSE,TRUE,\,[[-350.365,-355.079,418.761],[0.707547,0,0,0.706666]],[[0,0,0],[1,0,0,0]]]; !¶¨ÒåÔÝ´æºÐ¹¤¼þ×ø±êϵWobjBuffer TASKPERSwobjdata WobjCNV:=[FALSE,TRUE,\,[[-726.207,-645.04,600.015],[0.709205,-0.0075588,0.000732113,0.704961]],[[0,0,0 ],[1,0,0,0]]]; !¶¨ÒåÊäËÍ´ø¹¤¼þ×ø±êϵWobjCNV TASKPERSloaddataLoadFull:=[0.5,[0,0,3],[1,0,0,0],0,0,0]; !¶¨ÒåÓÐÐ§ÔØºÉÊý¾Ý LoadFull Ö÷³ÌÐòÔËÐгÌÐò£º PROC Main() !Ö÷³ÌÐò rInitialize; !µ÷Óóõʼ»¯³ÌÐò WHILETRUEDO !ÀûÓÃWHILEÑ»·½«³õʼ»¯³ÌÐò¸ô¿ª rPickPanel; !µ÷ÓÃʰȡ³ÌÐò rPlaceInBuffer; !µ÷Ó÷ÅÖóÌÐò Waittime 0.3; !Ñ»·µÈ´ýʱ¼ä£¬·ÀÖ¹²»Âú×ã»úÆ÷È˶¯×÷Çé¿öϳÌÐòɨÃè¹ý¿ì£¬Ôì³ÉCPU¹ý¸ººÉ ENDWHILE ENDPROC PROCrInitialize() !³õʼ»¯³ÌÐò rCheckHomePos; !»úÆ÷ÈËλÖóõʼ»¯£¬µ÷Óüì²âÊÇ·ñÔÚHomeλÖõã³ÌÐò£¬¼ì²âµ±Ç°»úÆ÷ÈËλÖÃÊÇ·ñÔÚHOMEµã£¬ÈôÔÚHOME µãµÄ»°Ôò¼ÌÐøÖ´ÐÐÖ®ºóµÄ³õʼ»¯Ïà¹ØÖ¸ÁÈô²»ÔÚHOMEµã£¬ÔòÏÈ·µ»ØÖÁHOMEµã nCount:=1; !¼ÆÊý³õʼ»¯£¬½«ÓÃÓÚÌ«ÑôÄܱ¡°åµÄ¼ÆÊýÊýÖµÉèÖÃΪ1£¬¼´´Ó·ÅÖõĵÚÒ»¸öλÖÿªÊ¼°Ú·Å reset do32_VacuumOpen; !Ðźųõʼ»¯£¬¸´Î»Õæ¿ÕÐźţ¬¹Ø±ÕÕæ¿Õ bPickOK:=False; !²¼¶ûÁ¿³õʼ»¯£¬½«Ê°È¡²¼¶ûÁ¿ÖÃΪFalse ENDPROC PROCrPickPanel() !ʰȡ̫ÑôÄܱ¡°å³ÌÐò IFbPickOK=FalseTHEN !µ±Ê°È¡²¼¶ûÁ¿bPickOKΪFalseʱ£¬ÔòÖ´ÐÐIFÌõ¼þϵÄʰȡ¶¯×÷Ö¸Á·ñÔòÖ´ÐÐELSEÖгö´í´¦ÀíµÄÖ¸ÁÒò Ϊµ±»úÆ÷ÈËȥʰȡ̫ÑôÄܱ¡°åʱ£¬Ðè±£Ö¤ÆäÕæ¿Õ¼Ð¾ßÉÏÃæÃ»ÓÐÌ«ÑôÄܱ¡°å MoveJoffs(pPick,0,0,100),vEmptyMax,z20,tGripper\\WObj:=WobjCNV; !ÀûÓÃMoveJÖ¸ÁîÒÆÖÁʰȡλÖÃpPickµãÕýÉÏ·½ZÖáÕý·½Ïò100mm´¦ WaitDI di01_PanelInPickPos,1; !µÈ´ý²úÆ·µ½Î»ÐźÅdi01_PanelInPickPos±äΪ1£¬¼´Ì«ÑôÄܱ¡°åÒѵ½Î» MoveLpPick,vEmptyMin,fine,tGripper\\WObj:=WobjCNV; !²úÆ·µ½Î»ºó£¬ÀûÓÃMoveLÒÆÖÁʰȡλÖÃpPickµã Set do32_VacuumOpen; !½«Õæ¿ÕÐźÅÖÃΪ1£¬¿ØÖÆÕæ¿ÕÎüÅ̲úÉúÕæ¿Õ£¬½«Ì«ÑôÄܱ¡°åʰÆð WaitDI di02_VacuumOK,1; !µÈ´ýÕæ¿Õ·´À¡ÐźÅΪ1£¬¼´Õæ¿Õ¼Ð¾ß²úÉúµÄÕæ¿Õ¶È´ïµ½ÐèÇóºó²ÅÈÏΪÒѽ«²úÆ·ÍêȫʰÆð¡£ÈôÕæ¿Õ¼Ð¾ßÉÏÃæÃ» ÓÐÕæ¿Õ·´À¡Ðźţ¬Ôò¿ÉÒÔʹÓù̶¨µÈ´ýʱ¼ä£¬ÈçWaittime 0.3 bPickOK:=TRUE; !Õæ¿Õ½¨Á¢ºó£¬½«Ê°È¡µÄ²¼¶ûÁ¿ÖÃΪTRUE£¬±íʾ»úÆ÷È˼оßÉÏÃæÒÑʰȡһ¸ö²úÆ·£¬ÒÔ±ãÔÚ·ÅÖóÌÐòÖÐÅÐ¶Ï ¼Ð¾ßµÄµ±Ç°×´Ì¬ GripLoadLoadFull; !¼ÓÔØÔØºÉÊý¾ÝLoadFull MoveLoffs(pPick,0,0,100),vLoadMin,z10,tGripper\\WObj:=WobjCNV; !ÀûÓÃMoveLÒÆÖÁʰȡλÖÃpPickµãÕýÉÏ·½100mm´¦ ELSE TPERASE; TPWRITE\; TPWRITE\; TPWRITE\; stop; !Èç¹ûÔÚʰȡ¿ªÊ¼Ö®Ç°Ê°È¡²¼¶ûÁ¿ÒѾΪTRUE£¬Ôò±íʾ¼Ð¾ßÉÏÃæÒÑÓвúÆ·£¬´ËÖÖÇé¿öÏ»úÆ÷È˲»ÄÜÔÙȥʰ È¡ÁíÒ»¸ö²úÆ·¡£´Ëʱͨ¹ýдÆÁÖ¸ÁîÃèÊöµ±Ç°´íÎó״̬£¬²¢Ìáʾ²Ù×÷Ô±¼ì²éµ±Ç°¼Ð¾ß״̬£¬Åųý´íÎó״̬ºó ÔÙ¿ªÊ¼ÏÂÒ»¸öÑ»·¡£Í¬Ê±ÀûÓÃStopÖ¸Áֹͣ³ÌÐòÔËÐÐ ENDIF ENDPROC PROCrPlaceInBuffer() !·ÅÖóÌÐò IFbPickOK=TRUETHEN rCalculatePos; !µ÷ÓüÆËã·ÅÖÃλÖóÌÐò¡£´Ë³ÌÐòÖлáͨ¹ýÅжϵ±Ç°¼ÆÊýnCountµÄÖµ£¬´Ó¶ø¶Ô·ÅÖõãpPlace¸³Ó費ͬµÄ·ÅÖà λÖÃÊý¾Ý WaitDI di00_BufferReady,1; !µÈ´ýÔÝ´æºÐ×¼±¸Íê³ÉÐźÅdi00_BufferReady±äΪ1 MoveJoffs(pPlace,0,0,100),vLoadMax,z50,tGripper\\WObj:=WobjBuffer; !ÀûÓÃMoveJÒÆÖÁ·ÅÖÃλÖÃpPlaceµãÕýÉÏ·½100mm´¦ MoveLoffs(pPlace,0,0,0),vLoadMin,fine,tGripper\\WObj:=WobjBuffer; !ÀûÓÃMoveLÒÆÖÁ·ÅÖÃλÖÃpPlace´¦ Reset do32_VacuumOpen; !¸´Î»Õæ¿ÕÐźţ¬¿ØÖÆÕæ¿Õ¼Ð¾ß¹Ø±ÕÕæ¿Õ£¬½«²úÆ··ÅÏ WaitDI di02_VacuumOK,0; !µÈ´ýÕæ¿Õ·´À¡ÐźűäΪ0 WaitTime 0.3; !µÈ´ý0.3s£¬ÒÔ·ÀÖ¹¸Õ·ÅÖõIJúÆ·±»Ê£ÓàµÄÕæ¿Õ´øÆð GripLoadload0; !¼ÓÔØÔØºÉÊý¾Ýload0 bPickOK:=FALSE; !´ËÊ±Õæ¿Õ¼Ð¾ßÒѽ«²úÆ··ÅÏ£¬ÐèÒª½«Ê°È¡²¼¶ûÁ¿ÖÃΪFALSE£¬ÒÔ±ãÔÚÏÂÒ»¸öÑ»·µÄʰȡ³ÌÐòÖÐÅÐ¶Ï¼Ð¾ßµÄ µ±Ç°×´Ì¬ MoveLoffs(pPlace,0,0,100),vEmptyMin,z10,tGripper\\WObj:=WobjBuffer; !ÀûÓÃMoveLÒÆÖÁ·ÅÖÃλpPlaceµãÕýÉÏ·½100mm´¦ nCount:=nCount+1; !²úÆ·¼ÆÊýnCount¼Ó1£¬Í¨¹ýÀÛ»ýnCountµÄÊýÖµ£¬ÔÚ¼ÆËã·ÅÖÃλÖõijÌÐòrCalculatePosÖи³Óè·ÅÖõãpPlace²» ͬµÄλÖÃÊý¾Ý IFnCount>4 THEN !ÅжϼÆÊýnCountÊÇ·ñ´óÓÚ4£¬´Ë´¦ÑÝʾµÄ×´¿öÊÇ·ÅÖÃ4¸ö²úÆ·£¬¼´±íʾÒÑÂúÔØ£¬ÐèÒª¸ü»»ÔÝ´æºÐÒÔ¼°ÆäËûµÄ ¸´Î»²Ù×÷£¬Èç¼ÆÊýnCount¡¢ÂúÔØÐÅºÅµÈ nCount:=1; !¼ÆÊý¸´Î»£¬½«nCount¸³ÖµÎª1 Set do34_BufferFull; !Êä³öÔÝ´æºÐÂúÔØÐźţ¬ÒÔÌáʾ²Ù×÷Ô±»òÖܱßÉ豸¸ü»»ÔÝ´æ×°Öà MoveJ pHome,v100,fine,tGripper; !»úÆ÷ÈËÒÆÖÁHomeµã£¬´Ë´¦¿É¸ù¾Ýʵ¼ÊÇé¿öÀ´ÉèÖûúÆ÷È˵͝×÷£¬ÀýÈçÈôÊǶ๤λ·ÅÖã¬ÄÇô»úÆ÷È˿ɼÌÐø È¥ÆäËûµÄ·ÅÖù¤Î»½øÐвúÆ·µÄ·ÅÖÃÈÎÎñ WaitDI di00_BufferReady,0; !µÈ´ýÔÝ´æ×°Öõ½Î»ÐźűäΪ0£¬¼´ÂúÔØµÄÔÝ´æ×°ÖÃÒѱ»È¡×ß Reset do34_BufferFull; !ÂúÔØµÄÔÝ´æ×°Öñ»È¡×ߺó£¬Ôò¸´Î»ÔÝ´æ×°ÖÃÂúÔØÐźŠENDIF ENDIF ENDPROC PROCrCalculatePos() !¼ÆËãλÖÃ×Ó³ÌÐò£¬¼ì²âµ±Ç°¼ÆÊýnCountµÄÊýÖµ£¬ÒÔpPlaceBaseΪ»ù×¼µã£¬ÀûÓÃOffsÖ¸ÁîÔÚ×ø±êϵWobjBuffer ÖÐÑØ×ÅX¡¢Y¡¢Z·½ÏòÆ«ÒÆÏàÓ¦µÄÊýÖµ TESTnCount CASE 1: pPlace:=offs(pPlaceBase,0,0,0); !ÈônCountΪ1£¬pPlaceBaseµã¾ÍÊǵÚÒ»¸ö·ÅÖÃλÖã¬ËùÒÔX¡¢Y¡¢ZÆ«ÒÆÖµ¾ùΪ0£¬Ò²¿ÉÒÔÖ±½Óд³É£º pPlace:=pPlaceBase; CASE 2: pPlace:=offs(pPlaceBase,nXoffset,0,0); !ÈônCountΪ2£¬Î»ÖÃ2Ïà¶ÔÓÚ·ÅÖûù×¼µãpPlaceBaseµãÔÚXÕý·½ÏòÆ«ÒÆÁËÒ»¸ö²úÆ·¼ä¸ô CASE 3: pPlace:=offs(pPlaceBase,0,nYoffset,0); !ÈônCountΪ3£¬Î»ÖÃ3Ïà¶ÔÓÚ·ÅÖûù×¼µãpPlaceBaseµãÔÚYÕý·½ÏòÆ«ÒÆÁËÒ»¸ö²úÆ·¼ä¸ô CASE 4: pPlace:=offs(pPlaceBase,nXoffset,nXoffset,0); !ÈônCountΪ4£¬Î»ÖÃ4Ïà¶ÔÓÚ·ÅÖûù×¼µãpPlaceBaseµãÔÚX¡¢YÕý·½Ïò¸÷Æ«ÒÆÁËÒ»¸ö²úÆ·¼ä¸ô DEFAULT: TPERASE; TPWRITE\; STOP; !ÈônCountÊýÖµ²»ÎªCaseÖÐËùÁеÄÊýÖµ£¬ÔòÊÓΪ¼ÆÊý³ö´í£¬Ð´ÆÁÌáʾ´íÎóÐÅÏ¢£¬²¢ÀûÓÃStopÖ¸ÁîÍ£Ö¹³ÌÐòÑ »· ENDTEST ENDPROC PROCrCheckHomePos() !ÄÚÈݲο¼ÊµÑµ×¼±¸ÕÂ½Ú ENDPROC FUNCboolCurrentPos(robtargetComparePos,INOUTtooldata TCP) !ÄÚÈݲο¼ÊµÑµ×¼±¸ÕÂ½Ú ENDFUNC ¸¨Öú³ÌÐò£º PROCrMoveAbsj() MoveAbsJjposHome\\NoEOffs,v100,fine,tGripper\\WObj:=wobj0; !ÀûÓÃMoveAbsjÒÆÖÁ»úÆ÷È˸÷¹Ø½ÚÖáÁãλλÖà ENDPROC PROCrModPos() !ʾ½ÌÄ¿±êµã³ÌÐò MoveL pPick,v10,fine,tGripper\\WObj:=WobjCNV; !ʾ½ÌʰȡµãpPick£¬ÔÚ¹¤¼þ×ø±êϵWobjCNVÏ MoveL pPlaceBase,v10,fine,tGripper\\WObj:=WobjBuffer; 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