自动焊台v0.1

背景：机器人+焊台
工艺：A点上方→A点→A点焊接→A点上方→B点上方→B点→B点焊接→B点上方→0点上方→0点→0点上方→终点
I/O：DIO(s2001)

'Created: 4/21/2020 4:41:28 PM
Module GPL
	Dim count As Integer

	Public Sub MAIN
        #Region recipe1
		While Signal.DIO(s2001)==True                       'recipe1
		    For count=1 To 10                         'loop 10 times
			    While Signal.DIO(s2002)=1             'start
	                Move.Approach(point1,speed1)      'point1 upward
					Move.Loc(point1,speed2)               'point1 location
					Signal.DIO(s2003)=True                'send message "point1 ready"
					
					Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
					
					Signal.DIO(s2003)=False                'send message "move to next point"
					Signal.DIO(s2004)=False                'send message "move to next point"
					Move.Approach(point1,speed2)
					Move.Approach(point2,speed1)
					Move.Loc(point2,speed2)
					Signal.DIO(s2003)=True                'send message "point2 ready"
					
					Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
					
					Signal.DIO(s2003)=False                'send message "move to next point"
					Signal.DIO(s2004)=False                'send message "move to next point"
					Move.Approach(point2,speed2)
	            End While
			End For
			Move.Approach(point1,speed1)      'point0 upward
			Move.Loc(point1,speed2)               'point0 location
			Signal.DIO(s2005)=True                'send message "blush ready"
					
			Move.Trigger(Signal.DIO(s2006)==True) 'wait for "blush done"
					
			Signal.DIO(s2005)=False                'send message "move to next point"
			Signal.DIO(s2006)=False                'send message "move to next point"
		End While
		#End Region
	    #Region recipe2
		While Signal.DIO(s2011)==True                       'recipe2
		    For count=1 To 10                         'loop 10 times
			    While Signal.DIO(s2002)=1             'start
	                Move.Approach(point1,speed1)      'point1 upward
					Move.Loc(point1,speed2)               'point1 location
					Signal.DIO(s2003)=True                'send message "point1 ready"
					
					Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
					
					Signal.DIO(s2003)=False                'send message "move to next point"
					Signal.DIO(s2004)=False                'send message "move to next point"
					Move.Approach(point1,speed2)
					Move.Approach(point2,speed1)
					Move.Loc(point2,speed2)
					Signal.DIO(s2003)=True                'send message "point2 ready"
					
					Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
					
					Signal.DIO(s2003)=False                'send message "move to next point"
					Signal.DIO(s2004)=False                'send message "move to next point"
					Move.Approach(point2,speed2)
	            End While
			End For
			Move.Approach(point1,speed1)      'point0 upward
			Move.Loc(point1,speed2)               'point0 location
			Signal.DIO(s2005)=True                'send message "blush ready"
					
			Move.Trigger(Signal.DIO(s2006)==True) 'wait for "blush done"
					
			Signal.DIO(s2005)=False                'send message "move to next point"
			Signal.DIO(s2006)=False                'send message "move to next point"
		End While
		#End Region
	End Sub 
End Module