ABB for 循环实现码垛

最新推荐文章于 2024-07-19 14:48:08 发布

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最新推荐文章于 2024-07-19 14:48:08 发布

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分类专栏：机器人 ABB机器人文章标签：机器人自动化

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 PROC maduo_for()
        Reset do_0;
        MoveL P_HOME,v1000,fine,My_Tool;
        FOR z FROM 0 TO 2 DO
            FOR y FROM 0 TO 3 DO
                FOR x FROM 0 TO 1 DO
                    MoveJ Offs(pick,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                    MoveL pick,v1000,fine,My_Tool\WObj:=wobjPingMing2;
                    SetDO do_0,1;
                    WaitTime 0.5;
                     MoveL Offs(pick,0,0,100),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                    MoveJ Offs(D1,50*x,-55*y,100+z*5),v1000,z20,My_Tool\WObj:=wobjPingMing2;
                    MoveL Offs(D1,50*x,-55*y,z*5),v1000,fine,My_Tool\WObj:=wobjPingMing2;
                    Reset do_0;
                    waitTime 0.5;
                    MoveJ Offs(D1,50*x,-55*y,100+z*5),v1000,z20,My_Tool\WObj:=wobjPingMing2;

                ENDFOR
            ENDFOR
        ENDFOR
        MoveL P_HOME,v1000,fine,My_Tool;
    ENDPROC