广数机器人视觉搬运码垛程序注释

广数机器人视觉搬运码垛

程序注释

Jenny was compiled in January 2021

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:1024byte

#Comment:Thisisajob

#Writeprotect:FALSE

#AxisNum:7

U1=532.880000,-583.640000,217.620000,126.540000,-

0.120000,179.990000,0.000000,0,0;

U8=507.750000,-577.550000,217.100000,126.540000,-

0.120000,179.990000,0.000000,0,0;

T9=0.601837,-0.037641,228.941231,0.000000,0.000000,0.000000,0.000000,0,0;

P0=-18.222294,-29.018239,38.651091,0.340253,77.973654,215.174383,-

0.006500,0.000000,9,1;

P13=-21.576505,-14.898661,25.995019,0.539920,78.552992,211.799425,-

0.006537,0.000000,9,8;

P100=-28.683932,43.680460,-41.497037,0.761325,85.520562,204.730642,-

0.006537,0.000000,9,8;

P101=-48.928368,-6.327402,20.876082,0.650925,75.384595,184.391400,-

0.006537,0.000000,9,8;

P102=-21.576505,-14.898661,25.995019,0.539920,78.552992,211.799425,-

0.006537,0.000000,9,8;

P103=-12.478510,-

12.100777,24.837103,0.478680,76.833147,220.895527,180.002217,0.000000,9,8;

P104=-18.574224,-

3.982327,18.424558,0.526915,75.179392,21

4.773964,180.002217,0.000000,9,8;

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),-18.5;//平移位姿变量平移累加量Z方向每次偏移-18.5mm

SETEPX21(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19mm

SETEPX22(0),0;//取料平移变量

SETEPX23(0),0;//放料平移变量

MOVJP*(-17.306282,-7.735259,23.962351,0.313516,71.373215,216.063400,-

0.006560,0.000000,9,8),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*(-12.384784,23.562012,-

9.230953,0.547073,75.271867,220.954159,0.000432,0.000000,9,8),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*(-12.384784,24.166229,-

3.199187,0.567950,68.636339,220.885791,0.000432,0.000000,9,8),V100,Z0;//红色物块取料点

DOUTOT12,OFF;//夹爪气缸夹紧信号关闭

DOUTOT13,ON;//夹爪气缸松开信号打开夹爪开取料

DELAYT0.3;//延时0.3秒

SHIFTOFF;//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+PX20

MOVLP*(-12.384784,23.562012,-

9.230953,0.547073,75.271867,220.954159,0.000432,0.000000,9,8),V100,Z0;//取料点上方

JUMPLAB80;//跳转指令JUMP，跳转到标签80处

LAB91://蓝色物块取料标签号

MOVLP*(-12.313672,23.578415,-

8.994752,0.547073,75.018911,221.023098,60.004398,0.000000,9,8),V100,Z0,E1,EV10 ;//蓝色物块取料点上方，变位机角度移至60度

SHIFTONPX22;//平移开始

MOVLP*(-12.313672,24.185614,-

3.170926,0.567950,68.588122,220.957212,60.004398,0.000000,9,8),V100,Z0;//蓝色物块取料点

DOUTOT12,OFF;//夹爪气缸夹紧信号关闭

DOUTOT13,ON;//夹爪气缸松开信号打开夹爪开取料

DELAYT0.3;//延时0.3秒

SHIFTOFF;//平移结束标志

ADDPX22,PX20;//取料处每执行蓝色物块取料一次，平移变量PX22=PX22+PX20

MOVLP*(-12.313672,23.578415,-

8.994752,0.547073,75.018911,221.023098,60.004398,0.000000,9,8),V100,Z0;//取料点上方

JUMPLAB80;//跳转指令JUMP，跳转到标签80处

LAB92://黄色物块取料标签号

MOVLP*(-12.296712,23.638360,-

7.962485,0.549952,73.926483,227.881431,180.002217,0.000000,9,8),V100,Z0,E1,EV1 0;//黄色物块取料点上方，变位机角度移至180度

SHIFTONPX22;//平移开始