ABB 圆型排列产品码垛

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已于 2024-06-08 09:55:18 修改

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分类专栏：机器人 ABB机器人文章标签：自动化机器人

于 2024-06-08 00:34:46 首次发布

本文链接：https://blog.csdn.net/flxjean/article/details/139537654

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   MoveJ P_HOME,v1000,fine,My_Tool;
        xd_3_3:=RelTool(p10,0,0,0\Rz:=-index*45);
        Reset do_0;
        index:=0;
        WHILE (index<21) DO

            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;
            TEST index
            CASE 0,7,14:
                MoveJ Offs(p20,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                MoveL Offs(p20,0,0,index DIV 7 *5),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                Reset do_0;
                WaitTime 0.5;
                MoveL Offs(p20,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
            DEFAULT:
                MoveJ Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                MoveL Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,index DIV 7 *5),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                Reset do_0;
                WaitTime 0.5;
                MoveL Offs(p20,Sin(index MOD 7*60)*50,Cos(index MOD 7*60)*50,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
            ENDTEST



            index:=index+1;
        ENDWHILE
        MoveJ P_HOME,v1000,fine,My_Tool;