QQ
定义抓取工件后的载荷数据
PERS robtarget pPick:=[[226.448,104.769,13.931],[0.00734292,-1.6E-08,0.999973,-1E-09],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
定义抓取数据，此数据随着抓取位置的不同而变化，是变量
PERS
robtarget
pPlace:=[[223.781,102.869,13.3023],[0.00656412,0.698111,0.71593,-0.00649543],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
定义放置数据，此数据随着抓取位置的不同而变化，是变量
CONST
robtarget
pHome:=[[873.054605526,0,764.656133294],[0.007342891,0,0.999973041,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
定义安全点
CONST
robtarget
pPickBase:=[[66.447802087,24.768906099,13.931002806],[0.007342918,-0.000000016,0.99997304,-0.000000001],
[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
定义抓取基准点
CONST
robtarget
pPlaceBase:=[[63.7807864,22.868891847,13.302282874],[0.006564124,0.698111195,0.715929802,-0.006495435],
[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
定义放置基准点
PERS num nPickH:=150; 定义抓取位置的安全距离
PERS num nPlaceH:=100; 定义放置位置的安全距离
PERS num nOffsX:=40; 定义X方向偏移数值
PERS num nOffsY:=40; 定义Y方向偏移数值
PERS num nCount:=16; 定义搬运数量并赋初始值为1，此数值随着搬运数量的变化而变化，是变量
PERS speeddata vMinSpeed:=[200,100,1000,5000];
PERS speeddata vMidSpeed:=[500,200,1000,5000];
PERS speeddata vMaxSpeed:=[800,300,1000,5000];定义高中低3种不同的运行速度，根据不同情况选择不同的运行速度
PROC Main()
主程序
rInitAll; 调用初始化子程序
WHILE TRUE DO
条件语句，通过这样的的调用方式，只运行初始化程序一次
rPick; 调用抓取子程序
rPlace; 调用放置子程序
ENDWHILE
ENDPROC
PROC rInitAll()
初始化子程序
ConfL\Off;
关闭线性运动和圆弧运动时的轴配置参数，使机器人能自由选择轴运动方式接近目标点，预防报警
ConfJ\Off;
关闭关节运动时的轴配置参数，使机器人能自由选择轴运动方式接近目标点，预防报警
AccSet 100,100; 设置加速度数据
VelSet 100,5000; 设置速度数据
Reset doGrip; 复位启动信号
nCount:=1; 搬运计数数值置1
MoveJ pHome,vMinSpeed,fine,tGripper\WObj:=wobj0;
利用关节运动指令移动TCP到安全点pHome
ENDPROC
PROC rPick()
抓取子程序
rCalPos; 调用计算位置子程序
MoveJ Offs(pPick,0,0,nPickH),vMaxSpeed,z50,tGripper\WObj:=wobjPick;
以关节运动方式高速运动到抓取点工件上方150mm处
MoveL pPick,vMinSpeed,fine,tGripper\WObj:=wobjPick;
以直线运动方式低速运动到待抓取工件位置
Set doGrip; 启动抓取操作
WaitTime 0.5; 等待0.5秒，确保抓取动作高质量完成
GripLoad LoadFull; 机器人满载
MoveL Offs(pPick,0,0,nPickH),vMidSpeed,z50,tGripper\WObj:=wobjPick;
以直线运动方式中速运动到待抓取工件上方150mm
ENDPROC
PROC rPlace()
放置子程序
MoveJ Offs(pPlace,0,0,nPlaceH),vMidSpeed,z50,tGripper\WObj:=wobjPlace;
以关节运动方式中速运动到待抓取工件上方100mm
MoveL pPlace,vMinSpeed,fine,tGripper\WObj:=wobjPlace;
以直线运动方式低速运动到待放置位置处
Reset doGrip;复位启动信号，放下火花塞
WaitTime 0.5;等待0.5秒，确保放置动作完成
GripLoad LoadEmpty;机器人空载
MoveL Offs(pPlace,0,0,nPickH),vMidSpeed,z50,tGripper\WObj:=wobjPlace;
以直线运动方式中速运动抬起100mm
rPlaceRD; 调用计数子程序
ENDPROC
PROC rPlaceRD()
计数子程序
nCount:=nCount+1;
搬运火花塞数量自增
IF nCount>32 THEN
IF条件判断指令，当计数变量大于32的时候向下执行
TPErase; 清屏
TPWrite "Pick&Place done,the robot will stop!";
在触摸屏上显示"Pick&Place done,the robot will stop!"
nCount:=1; 计数变量置1
Reset doGrip;启动复位信号
MoveJ pHome,vMinSpeed,fine,tGripper\WObj:=wobj0;
以关节运动形式低速运动到安全点
Stop;机器人停止
ENDIF
ENDPROC
PROC rCalPos()
计算位置子程序
!Row 1
TEST nCount
测量nCount变量，与CASE的数值作对比
CASE 1:
pPick:=Offs(pPickBase,0,0,0);
pPlace:=Offs(pPlaceBase,0,0,0);
CASE 2:
pPick:=Offs(pPickBase,nOffsX,0,0);
pPlace:=Offs(pPlaceBase,nOffsX,0,0);
CASE 3:
pPick:=Offs(pPickBase,2*nOffsX,0,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,0,0);
CASE 4:
pPick:=Offs(pPickBase,3*nOffsX,0,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,0,0);
!Row 2
CASE 5:
pPick:=Offs(pPickBase,-nOffsX,nOffsY,0);
pPlace:=Offs(pPlaceBase,-nOffsX,nOffsY,0);
CASE 6:
pPick:=Offs(pPickBase,0,nOffsY,0);
pPlace:=Offs(pPlaceBase,0,nOffsY,0);
CASE 7:
pPick:=Offs(pPickBase,nOffsX,nOffsY,0);
pPlace:=Offs(pPlaceBase,nOffsX,nOffsY,0);
CASE 8:
pPick:=Offs(pPickBase,2*nOffsX,nOffsY,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,nOffsY,0);
CASE 9:
pPick:=Offs(pPickBase,3*nOffsX,nOffsY,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,nOffsY,0);
CASE 10:
pPick:=Offs(pPickBase,4*nOffsX,nOffsY,0);
pPlace:=Offs(pPlaceBase,4*nOffsX,nOffsY,0);
!Row 3
CASE 11:
pPick:=Offs(pPickBase,-nOffsX,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,-nOffsX,2*nOffsY,0);
CASE 12:
pPick:=Offs(pPickBase,0,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,0,2*nOffsY,0);
CASE 13:
pPick:=Offs(pPickBase,nOffsX,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,nOffsX,2*nOffsY,0);
CASE 14:
pPick:=Offs(pPickBase,2*nOffsX,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,2*nOffsY,0);
CASE 15:
pPick:=Offs(pPickBase,3*nOffsX,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,2*nOffsY,0);
CASE 16:
pPick:=Offs(pPickBase,4*nOffsX,2*nOffsY,0);
pPlace:=Offs(pPlaceBase,4*nOffsX,2*nOffsY,0);
!Row 4
CASE 17:
pPick:=Offs(pPickBase,-nOffsX,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,-nOffsX,3*nOffsY,0);
CASE 18:
pPick:=Offs(pPickBase,0,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,0,3*nOffsY,0);
CASE 19:
pPick:=Offs(pPickBase,nOffsX,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,nOffsX,3*nOffsY,0);
CASE 20:
pPick:=Offs(pPickBase,2*nOffsX,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,3*nOffsY,0);
CASE 21:
pPick:=Offs(pPickBase,3*nOffsX,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,3*nOffsY,0);
CASE 22:
pPick:=Offs(pPickBase,4*nOffsX,3*nOffsY,0);
pPlace:=Offs(pPlaceBase,4*nOffsX,3*nOffsY,0);
!Row 5
CASE 23:
pPick:=Offs(pPickBase,-nOffsX,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,-nOffsX,4*nOffsY,0);
CASE 24:
pPick:=Offs(pPickBase,0,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,0,4*nOffsY,0);
CASE 25:
pPick:=Offs(pPickBase,nOffsX,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,nOffsX,4*nOffsY,0);
CASE 26:
pPick:=Offs(pPickBase,2*nOffsX,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,4*nOffsY,0);
CASE 27:
pPick:=Offs(pPickBase,3*nOffsX,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,4*nOffsY,0);
CASE 28:
pPick:=Offs(pPickBase,4*nOffsX,4*nOffsY,0);
pPlace:=Offs(pPlaceBase,4*nOffsX,4*nOffsY,0);
!Row 6
CASE 29:
pPick:=Offs(pPickBase,0,5*nOffsY,0);
pPlace:=Offs(pPlaceBase,0,5*nOffsY,0);
CASE 30:
pPick:=Offs(pPickBase,nOffsX,5*nOffsY,0);
pPlace:=Offs(pPlaceBase,nOffsX,5*nOffsY,0);
CASE 31:
pPick:=Offs(pPickBase,2*nOffsX,5*nOffsY,0);
pPlace:=Offs(pPlaceBase,2*nOffsX,5*nOffsY,0);
CASE 32:
pPick:=Offs(pPickBase,3*nOffsX,5*nOffsY,0);
pPlace:=Offs(pPlaceBase,3*nOffsX,5*nOffsY,0);
计算火花塞抓取和放置位置数据
DEFAULT:
TPErase;清屏
TPWrite "the counter is error,please check it!";
在屏幕上显示"the counter is error,please check it!"
Stop;机器人停止
ENDPROC
PROC rTeachPos()
示教位置子程序
MoveL pHome,v1000,z100,tGripper\WObj:=wobj0;
示教安全点
MoveL pPickBase,v1000,z100,tGripper\WObj:=WobjPick;
示教抓取基准点
MoveL pPlaceBase,v1000,z100,tGripper\WObj:=WobjPlace;
示教放置基准点
ENDPROC
ENDMODULE
