ABB机器人分拣程序样例.pdf

MODULEAMD

PROCQuLiao()

QuFuZhi;

MoveLOffs(D,0,0,60),v200,z50,tool0;

MoveLD,v200,fine,tool0;

SetVacunm_2;

WaitTime0.3;

MoveLOffs(D,0,0,60),v200,fine,tool0;

ENDPROC

PROCQuFuZhi()

IFreg5=2THEN

IFreg1=3THENreg1:=0;

ENDIF

reg1:=reg1+1;

TESTreg1

CASE1:

D:=by1;

CASE2:

D:=by2;

CASE3:

D:=by3;

ENDTEST

ENDIF

IF3=reg5ANDreg5=5THEN

IFreg2=3THENreg2:=0;

ENDIF

reg2:=reg2+1;

TESTreg2

CASE1:

D:=y1;

CASE2:

D:=y2;

CASE3:

D:=y3;

ENDTEST

ENDIF

IF6=reg5ANDreg5=7THEN

IFreg3=2THENreg3:=0;

ENDIF

reg3:=reg3+1;

TESTreg3

CASE1:

D:=cf1;

CASE2:

D:=cf2;

ENDTEST

ENDIF

IF8=reg5ANDreg5=9THEN

IFreg4=2THEN

reg4:=0;

ENDIF

reg4:=reg4+1;

TESTreg4

CASE1:

D:=f1;

CASE2:

D:=f2;

EN