ABB取货放料

RobotStudio 6-1

MODULE MainModule
    CONST jointtarget jpos10:=[[0,0,0,0,90,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget pick:=[[170.70,-456.11,152.23],[1.45105E-7,-0.000327413,1,8.42526E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    CONST robtarget pick_1:=[[170.70,-456.11,241.35],[1.6319E-7,-0.00032747,1,3.58825E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    CONST robtarget pace:=[[522.65,-314.13,167.02],[2.53652E-7,-0.000327421,1,-2.98544E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    CONST robtarget pace_1:=[[522.65,-314.13,240.56],[2.97947E-7,-0.000327362,1,-5.64963E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    var num points{2,4}:=[[0,0,0,0],[0,0,0,0]];
    VAR bool flag1:=FALSE;
    VAR bool flag2:=FALSE;
    VAR bool flag3{2,4}:=[[FALSE,FALSE,FALSE,FALSE],[FALSE,FALSE,FALSE,FALSE]];

    PROC main()
        MoveAbsJ jpos10\NoEOffs,v1000,z50,My_Tool;
        flag1:=false;
       
        IF di_1 = 1 THEN
            
           
        ENDIF
        FOR x FROM 1 TO 2 DO
            FOR y FROM 1 TO 4 DO

                reg4:=points{x,y};
                IF points{x,y}<1 THEN
                    flag1:=TRUE;
                    points{x,y}:=1;

                    WaitDI di_0,1;
                    MoveJ pick_1,v1000,z50,My_Tool;
                    MoveL pick,v1000,fine,My_Tool;
                    Set do_0;
                    WaitTime 0.5;
                    MoveL pick_1,v1000,z50,My_Tool;


                    MoveJ Offs(pace_1,(y-1)*56,(x-1)*50,0),v1000,z50,My_Tool;
                    MoveL Offs(pace,(y-1)*56,(x-1)*50,0),v1000,fine,My_Tool;
                    Reset do_0;
                    WaitTime 0.5;
                    MoveL Offs(pace_1,(y-1)*56,(x-1)*50,0),v1000,z50,My_Tool;
                    MoveAbsJ jpos10\NoEOffs,v1000,z50,My_Tool;
                    GOTO end;
                ENDIF
            ENDFOR
        ENDFOR
        end:

    ENDPROC
ENDMODULE