ABB 中断程序配合StartMove，StopMove

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已于 2024-06-12 10:48:43 修改

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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 abb

于 2024-06-12 10:28:14 首次发布

本文链接：https://blog.csdn.net/flxjean/article/details/139619633

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  PROC maduo_for()
        Reset do_0;
        MoveL P_HOME,v1000,fine,My_Tool;
        intnoDemo;
        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
  PROC intnoDemo()
        IDelete into1;
        CONNECT into1 WITH trap1;
        ISignalDI di_2,1,into1;
    ENDPROC
    TRAP trap1
       StopMove;
        WaitDI di_2,0;
        StartMove;
    ENDTRAP