ABB機(jī)器人碼垛程序

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1、 MODULE MainModule PROC Main() TPErase; TPReadNum nCount1, "Qing Shu Ru Yi Ma Bao Shu!" ; TPReadNum nJob, "Qing Shu Ru Mo Shi:50KG:=1,25KG:=2!"; InitAll; WHILE TRUE DO ReadType; clock2re; PickIF; clock2re; PlaceOF; ENDWHILE ENDPROC PROC clock2re() !tempint:=

2、movstat; IF DI10_1Product0K = 0 or DI10_2TuoPanOK = 0 Then IF tempint<0.25 then ClkStart CLK2; ELSE ClkStop CLK2; ENDIF Else ClkStop CLK2; EndIF Endproc PROC InitAll() MoveHome; Reset DO10_1JiaZhua; Reset DO10_2YaBan; Reset DO10_3ZhuaOK; Reset DO10_4MaDuoOK; Waitt

3、ime 0.5; bPickPart:=FALSE; ClkReset CLK1; ClkStart CLK1; ClkReset CLK2; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; ENDPROC 1 / 45 PROC PickIF() IF bPickPart = FALSE AND nJob <> 0 AND DI10_1Product0K = 1 THEN !CalculatePick; MoveJ Offs(pPick,0,0,400),

4、vFast, z200, tGripper\WObj:=wobj0; !MoveLDO Offs(pPick,0,0,100), vFast, z20, tool0\WObj:=wobj0, DO10_1JiaZhua, 1; MoveL pPick, vFast, fine, tGripper\WObj:=wobj0; Close1; GripLoad LoadFull; Accset 50,50; HandshakeIF; bPickPart:=TRUE; ConfL\Off; MoveJ pAfterPick, vFast, z60, tGripper\WObj

5、:=wobj0; ENDIF ENDPROC PROC PlaceOF() IF DI10_2TuoPanOK = 1 AND bPickPart = TRUE THEN CalculatePlace; ConfL\Off; !MoveL Offs(pOver,0,0,nOffsZ2), vFast, z200, tGripper; IF bTag=true then Accset 70, 70; MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0; else Accset 90, 90;

6、 MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0; Endif Accset 100,100; ! place first box ConfL\Off; !MoveL Offs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripper\WObj:=wobj0; MoveL pPlace1, vMiddle, fine, tGripper\WObj:=wobj0; Open1; ConfL\Off; MoveL Offs(pPlace1,0,0,nOffsZ1),vM

7、iddle,z5,tGripper\WObj:=wobj0; GripLoad LoadEmpty; Accset 100,100; bPickPart:=FALSE; Incr nCount1; HandshakeOF; MoveJ pAbovePick, vFast, z200, tGripper\WObj:=wobj0; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; !MoveJ pHome, vFast, z200, tGripper; ENDIF ENDPROC PR

8、OC HandshakeIF() IF nJob=1 THEN !Set DO10_3ZhuaOK; ENDIF IF nJob=2 THEN !Set DO10_3ZhuaOK; ENDIF ENDPROC PROC HandshakeOF() IF (nCount1=40 and nJob =1) or (nCount1=80 and nJob =2) THEN Set DO10_4MaDuoOK; WaitDI DI10_2TuoPanOK, 0; SetDO\SDelay:=0.5,DO10_4MaDuoOK,0; nCount1:=0; Cl

9、kStop CLK1; ClkStop CLK2; TPErase; nCycleCount:=ClkRead(CLK1); Waitingtime:=ClkRead(CLK2); TPWrite "Cycle time: "\Num:=nCycleCount; TPWrite "Waiting time in this Cycle: "\Num:=Waitingtime; ClkReset CLK2; ClkReset CLK1; ClkStart CLK1; ENDIF ENDPROC PROC MoveHome()

10、 TempP1:=CRobT(\Tool:=tool0 \WObj:=wobj0); TempP1.trans.z:=500 ; MoveJ TempP1, v1000, z20, tGripper; MoveJ pHome, v1000, z20, tGripper; ENDPROC PROC ReadType() IF nPriority = 1 AND DI10_1Product0K = 1 THEN !nJob:=1; ! Incr nPriority; ELSEIF nPriority = 2 AND DI10_1Product0K

11、= 1 THEN !nJob:=2; !Incr nPriority; ELSE !nJob:=0; !Incr nPriority; !IF nPriority>2 nPriority:=1; ENDIF ENDPROC PROC Open1() Reset DO10_2YaBan; Waittime 0.0; Reset DO10_1JiaZhua; waittime 0.1; !Waittime nTimeGripper; ENDPROC PROC Close1() Set DO10_1JiaZhua; Waittime 0.0;

12、 WaitDI DI10_4Zhua1End, 1; Set DO10_2YaBan; Waittime 0.0; !Waittime nTimeGripper; WaitDI DI10_4Zhua1End, 1; !WaitDI DI10_6Zhua2End, 1; ENDPROC PROC CalculatePick() IF nJob = 1 THEN pPick:=pPick1; ELSEIF nJob = 2 THEN pPick:=pPick1; ENDIF !pAbovePick:=pPick; !pAfterPick:=pPick; !P

13、attern80; !pAbovePick.trans.z:= pAfterPick.trans.z; !pAbovePick.trans.y:= pAfterPick.trans.y-500; !pAfterPick.trans.y:= pAfterPick.trans.y-500; ENDPROC PROC CalculatePlace() IF nJob = 1 THEN nBagL:=nBag50L; nBagW:=nBag50W; nBagH:=nBag50H; Pattern80; ELSEIF nJob = 2 THEN n

14、BagL:=nBag25L; nBagW:=nBag25W; nBagH:=nBag25H; Pattern100; ENDIF !pAbovePlace:=pPlace1; pAfterPlace:=pAbovePlace; ENDPROC PROC Pattern80() bTag:=FALSE; TEST nCount1+1 CASE 1: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.tran

15、s.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=500; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; bTag:=True; CASE 2: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlac

16、e1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 3: pPlace1:=pBase90; pPlace1.tr

17、ans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE

18、4: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAboveP

19、lace.trans.z:=pPick.trans.z+400; CASE 5: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+20; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPic

20、k.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !Layer2 CASE 6: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOff

21、sZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 7: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+nBagH; nOffsX1:

22、=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 8: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.tran

23、s.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 9: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25;

24、 pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 10: pPlace1:=pBase270; pP

25、lace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+40

26、0; !Layer3 CASE 11: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePla

27、ce:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; bTag:=True; CASE 12: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE

28、; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 13: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2;

29、 nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 14: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBag

30、H; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 15: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.

31、trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer4 CASE 16:

32、 pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+3*nBagH+80; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; p

33、AbovePlace.trans.z:=pPick.trans.z+400; CASE 17: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+3*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.tra

34、ns.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 18: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nL

35、evel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 19: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0;

36、 nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 20: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.t

37、rans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer5 CASE 21: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.t

38、rans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; bTag:=True; CA

39、SE 22: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAboveP

40、lace.trans.z:=pPick.trans.z+500; CASE 23: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPic

41、k.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; CASE 24: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nL

42、evel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; CASE 25: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH; nOffsX1:=0; nOff

43、sY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; !layer6 CASE 26: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; p

44、Place1.trans.z:=pPlace1.trans.z+5*nBagH-50; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+nBagH; CASE 27: pPlace1:=pBase0; pPlace1.trans.

45、x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+5*nBagH-50; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.tra

46、ns.z+500+nBagH; CASE 28: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH;

47、 pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+nBagH; CASE 29: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLev

48、el:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500+nBagH; CASE 30: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nO

49、ffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500+nBagH; !layer7 CASE 31: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=

50、pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; bTag:=True; CASE 32: pP

51、lace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pA

52、bovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 33: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.t

53、rans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 34: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:

54、=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 35: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans

55、.z:=pPlace1.trans.z+6*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; !layer8 CASE 36: pPlace1:=pBase180; pPlace1.tra

56、ns.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+7*nBagH-40; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick

57、.trans.z+450+3*nBagH; CASE 37: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+nBagL-5; pPlace1.trans.z:=pPlace1.trans.z+7*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z

58、+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 38: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLe

59、vel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 39: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-30; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*n

60、BagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; CASE 40: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1

61、.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=100; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; DEFAULT: Err

62、Write "Wrong box Count...","Single box must be the last one of a Pallet"; Stop; EXIT; ENDTEST ENDPROC PROC Pattern100() bTag:=FALSE; TEST nCount1+1 CASE 1: pPlace1:=p25Base270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1

63、.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=600; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; bTag:=True; CASE 2: pPlace1:=p25Base0; pPlace1.trans.x:=pPlace1.trans.x; pP

64、lace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 3: pPlace1:=p25Base90; pPlace1

65、.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 4:

66、 pPlace1:=p25Base180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 5: pPlace1:=p25Base270; pPlace1.trans.x:=pPlace1.trans.x-nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=500; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.