机器人码垛视觉案例程序详细

确保变位机中每个格中只能放6块物块，且每格中颜色必须一致，，其中0度，60度，180度 中分别放不同颜色的三种物块 ，

#Modification Date:2044-3-5

#Copy Source:[******]

#Sub Type:BY

#Size:1024 byte

#Comment:This is a job

#Write protect:FALSE

#Axis Num:7

U1=532.880000,-583.640000,217.620000,126.540000,-0.120000,179.990000,0.000000,0,0;

U8=507.750000,-577.550000,217.100000,126.540000,-0.120000,179.990000,0.000000,0,0;

T9=0.601837,-0.037641,228.941231,0.000000,0.000000,0.000000,0.000000,0,0;

P0=-18.222294,-29.018239,38.651091,0.340253,77.973654,215.174383,-0.006500,0.000000,9,1;

P13=-21.576505,-14.898661,25.995019,0.539920,78.552992,211.799425,-0.006537,0.000000,9,8;

P100=-28.683932,43.680460,-41.497037,0.761325,85.520562,204.730642,-0.006537,0.000000,9,8;

P101=-48.928368,-6.327402,20.876082,0.650925,75.384595,184.391400,-0.006537,0.000000,9,8;

P102=-21.576505,-14.898661,25.995019,0.539920,78.552992,211.799425,-0.006537,0.000000,9,8;

P103=-12.478510,-12.100777,24.837103,0.478680,76.833147,220.895527,180.002217,0.000000,9,8;

P104=-18.574224,-3.982327,18.424558,0.526915,75.179392,214.773964,180.002217,0.000000,9,8;

MAIN;

SET R3 ,3 ; //设定红色物块取料次数，例如3次

SET R4 ,3 ; //设定蓝色物块取料次数，例如3次

SET R5 ,3 ; //设定黄色物块取料次数，例如3次

SET R0 ,0 ; //红色物块取料次数 ，计数累加变量

SET R1 ,0 ; //蓝色物块取料次数 ，计数累加变量

SET R2 ,0 ; //黄色物块取料次数 ，计数累加变量

SETE PX20 (0) ,0 ; //取料时向下的平移累加位姿变量清零

SETE PX20 (3) ,-18.5 ; //平移位姿变量平移累加量Z方向每次偏移-18.5mm

SETE PX21 (0) ,0 ; //放料时向上的平移累加位姿变量清零

SETE PX21 (3) ,19 ; //平