ABB 实现简单码垛

PERS num index:=0;
 PERS num x:=1;
    PERS num y:=3;
    PERS num z:=2;

PROC init1()
        Reset do_0;
        index:=0;
    ENDPROC

    !??
    PROC pickDemo1()

        MoveJ Offs(pick,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
        WaitDI di_0,1;
        MoveL pick,v400,fine,My_Tool\WObj:=wobjPingMing2;
        Set do_0;
        WaitTime 0.5;
        MoveL Offs(pick,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
    ENDPROC

    PROC place1()
        x:=index MOD 2;

        z:=index DIV 8;
        y:=(index-8*z) DIV 2;
        MoveJ Offs(D1,50*x,-55*y,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;

        MoveL Offs(D1,50*x,-55*y,3*z),v1000,fine,My_Tool\WObj:=wobjPingMing2;
        Reset do_0;

        WaitTime 0.5;
        MoveL Offs(D1,50*x,-55*y,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
        index:=index+1;
    ENDPROC

    PROC goto_demo()
        init1;
        label1:
        MoveJ P_HOME,v1000,fine,My_Tool;

        pickDemo1;
        place1;
        MoveJ P_HOME,v1000,fine,My_Tool;
        IF index<24 GOTO label1;


    ENDPROC

RobotStudio 6-6_1