求交流。。。求种子。。。求代码。。。

IRC5控制器

IRB 140 

IRB 2400

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对： 王者之师——广州@阿君  求交流。。。求种子。。。求代码。。。 IRC5控制器I... 内容的回复！

 朋友，你发的IRC 5怎么有点不像啊！是不是版本很老了啊！还有变压器更不像或者也很老了！那三个风扇有点像！嘻嘻 有点像双层立柜那种！

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对： 王者之师——广州@阿君  求交流。。。求种子。。。求代码。。。 IRC5控制器I... 内容的回复！

 我刚发了个贴，正在审，有空可以看看1

你好！帖子已经审核通过了。。。多多交流。。。机器人版块永远欢迎热心的你！！！

你好啊 我想问一下在焊接方面的应用，ABB有哪些优缺点？

hongtaofu_f7@hotmail.com

谢谢！

引用 HFU 的回复内容： 你好啊 我想问一下在焊接方面的应用，ABB有哪些优缺点...

点焊 OR 弧焊。。。

楼主，我是初学者。请问如果使用PLC的话，除了集成PLC，AC500以外，能不能使用其他的PLC呢？如果可以的话，应该怎么连接呢？

欢迎楼主给我们扶贫，偶知识贫瘠的很        

引用 今生缘 的回复内容： 欢迎楼主给我们扶贫，偶知识贫瘠的很          

你好。我单位使用的ABB机器人，在运行当中总是会莫名的减速回到初始位置，然后又正常使用。具体情况是：通常有两个垛堆，总是在左侧的垛堆时，会出现这个问题，而且有时候一个班出现10几次，有时候可能会出现3次左右，从现象上看，估计程序没有问题，向请您指教一下，一般会是什么情况因起的这种可能？

你好， 我也做过多年ABB 机器人维修，交个朋友，多交流。QQ121842872

我好本人新手刚开始学ABB维修，希望得到大家赐教！！！

你好，我现在有一个问题ABB机器人 开机后按下使能键   显示报报警英文意思大概是额外接

触器打开，且给伺服电源通电的接触器不能吸下，寻求不家帮助。有懂高人指点指点，非常感激

你好，我有套ABB的码垛程序，现在的问题是每次码完垛以后， 机器人输出的码垛完成信号不能复位，导致第二个托盘到位停不下来，请你帮我看一下程序是什么问题，谢谢

MODULE MainMoudle

PERS wobjdata WobjPallet_L:=[FALSE,TRUE,"",[[-456.216,-2058.49,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

PERS wobjdata WobjPallet_R:=[FALSE,TRUE,"",[[-421.764,1102.39,-233.373],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

PERS tooldata tGripper:=[TRUE,[[0,0,527],[1,0,0,0]],[40,[0,0,150],[1,0,0,0],0,0,0]];

PERS loaddata LoadFull:=[20,[0,0,300],[1,0,0,0],0,0,0.1];

PERS wobjdata CurWobj;

PERS jointtarget jposHome:=[[-6.68707E-05,5.57038E-05,-0.000191306,0,0,-28.1719],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPlaceBase0_L:=[[341.98,1190.11,-618.57],[9.69378E-07,0.269112,-0.963109,1.53836E-06],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPlaceBase90_L:=[[-335.46,1280.3,-455.32],[1.28548E-06,0.867254,-0.497866,1.26441E-06],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPlaceBase0_R:=[[296.473529255,212.21064316,3.210904169],[0,0.707221603,-0.70699194,0],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONST robtarget pPlaceBase90_R:=[[218.407102669,695.953395421,3.210997808],[0,-0.00038594,0.999999926,0],[1,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONST robtarget pPick_L:=[[2182.03,-26.69,-633.76],[1.77017E-06,0.268979,-0.963146,-5.05762E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPick_R:=[[1611.055992534,442.364097921,-26.736584068],[0,0.707220363,-0.706993181,0],[0,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONST robtarget pHome:=[[2182.04,-26.69,564.94],[1.72802E-06,0.268979,-0.963146,-5.05762E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PERS robtarget pPlaceBase0;

   PERS robtarget pPlaceBase90;

   PERS robtarget pPick;

PERS robtarget pPlace;

PERS robtarget pPickSafe;

PERS num nCycleTime:=16.75;

   PERS num nCount_L:=1;

   PERS num nCount_R:=1;

   PERS num nPallet:=2;

   PERS num nPalletNo:=1;

   PERS num nPickH:=300;

   PERS num nPlaceH:=250;

   PERS num nBoxL:=715;

   PERS num nBoxW:=510;

   PERS num nBoxH:=140;

   VAR  clock Timer1;

   PERS bool bReady:=TRUE;

   PERS bool bPalletFull_L:=TRUE;

   PERS bool bPalletFull_R:=FALSE;

   PERS bool bGetPosition:=TRUE;

   VAR triggdata HookAct;

   VAR triggdata HookOff;  

   VAR intnum iPallet_L;

   VAR intnum iPallet_R;

   PERS speeddata vMinEmpty:=[1000,100,6000,1000];

   PERS speeddata vMidEmpty:=[1100,100,6000,1000];

   PERS speeddata vMaxEmpty:=[1000,100,6000,1000];

   PERS speeddata vMinLoad:=[1000,100,6000,1000];

   PERS speeddata vMidLoad:=[1000,300,6000,1000];

   PERS speeddata vMaxLoad:=[1000,300,6000,1000];

PERS num Compensation{32,3}:=[[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0],[0,0,0]];

VAR pos pos1:=[0,0,0];

PROC main()

   rInitAll;

   WHILE TRUE DO

   IF bReady THEN

     rPick;

 rPlace;

ENDIF

rCycleCheck;

ENDWHILE

ENDPROC

PROC rInitAll()

   rCheckHomePos;

   ConfL\OFF;

ConfJ\OFF;

nCount_L:=1;

   nCount_R:=1;

nPallet:=1;

nPalletNo:=1;

bPalletFull_L:=FALSE;

bPalletFull_R:=FALSE;

bGetPosition:=FALSE;

Reset do00_ClampAct;

Reset do01_HookAct;

ClkStop Timer1;

ClkReset Timer1;

TriggEquip HookAct,100,0.1\DOp:=do01_HookAct,1;

TriggEquip HookOff,100\Start,0.1\DOp:=do01_HookAct,0;

IDelete iPallet_L;

   CONNECT iPallet_L WITH tEjectPallet_L;

   ISignalDI di02_PalletInPos_L,0,iPallet_L;

   IDelete iPallet_R;

   CONNECT iPallet_R WITH tEjectPallet_R;

   ISignalDI di03_PalletInPos_R,0,iPallet_R;

ENDPROC

PROC rPick()

   ClkReset Timer1;

   ClkStart Timer1;

rCalPosition;

MoveJ Offs(pPick,0,0,nPickH),vMaxEmpty,z50,tGripper\WObj:=wobj0;

MoveL pPick,vMinLoad,fine,tGripper\WObj:=wobj0;

Set do00_ClampAct;

Waittime 0.3;

GripLoad LoadFull;

TriggL Offs(pPick,0,0,nPickH),vMinLoad,HookAct,z50,tGripper\WObj:=wobj0;

MoveL pPickSafe,vMaxLoad,z100,tGripper\WObj:=wobj0;

       MoveL Offs(pPicksafe,-350,0,0),vMaxLoad,z100,tGripper\WObj:=wobj0;

       MoveL Offs(pPicksafe,-350,0,400),vMaxLoad,z100,tGripper\WObj:=wobj0;

ENDPROC

PROC rPlace()

MoveJ Offs(pPlace,0,0,nPlaceH),vMaxLoad,z50,tGripper\WObj:=CurWobj;

TriggL pPlace,vMinLoad,HookOff,fine,tGripper\WObj:=CurWobj;

Reset do00_ClampAct;

Waittime 0.5;

GripLoad Load0;

MoveL Offs(pPlace,0,0,nPlaceH),vMinEmpty,z50,tGripper\WObj:=CurWobj;

rPlaceRD;

MoveJ pPickSafe,vMaxEmpty,z50,tGripper\WObj:=wobj0;

ClkStop Timer1;

nCycleTime:=ClkRead(Timer1);

ENDPROC

PROC rCycleCheck()

   TPErase;

TPWrite "The Robot is running!";

TPWrite "Last cycle time  is  : "\Num:=nCycleTime;

TPWrite "The number of the Boxes in the Left pallet is:"\Num:=nCount_L-1;

TPWrite "The number of the Boxes in the Right pallet is:"\Num:=nCount_R-1;

   IF (bPalletFull_L=FALSE AND di02_PalletInPos_L=1 AND di00_BoxInPos_L=1) OR (bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1) THEN

   bReady:=TRUE;

   ELSE

   bReady:=FALSE;

   WaitTime 0.1;

ENDIF

ENDPROC

PROC rCalPosition()

   bGetPosition:=FALSE;

   WHILE bGetPosition=FALSE DO

   TEST nPallet

CASE 1:

           IF bPalletFull_L=FALSE AND di02_PalletInPos_L=1 AND di00_BoxInPos_L=1 THEN

           pPick:=pPick_L;

               pPlaceBase0:=pPlaceBase0_L;

               pPlaceBase90:=pPlaceBase90_L;

           CurWobj:=Wobj0;

           pPlace:=pPattern(nCount_L);

bGetPosition:=TRUE;

nPalletNo:=1;

       ELSE

bGetPosition:=FALSE;

       ENDIF

       nPallet:=2;

CASE 2:

       IF bPalletFull_R=FALSE AND di03_PalletInPos_R=1 AND di01_BoxInPos_R=1 THEN

           pPick:=pPick_R;

               pPlaceBase0:=pPlaceBase0_R;

               pPlaceBase90:=pPlaceBase90_R;

           CurWobj:=WobjPallet_R;

           pPlace:=pPattern(nCount_R);

bGetPosition:=TRUE;

nPalletNo:=2;

       ELSE

bGetPosition:=FALSE;

       ENDIF

       nPallet:=1;

DEFAULT:

   TPERASE;

TPWRITE "The data 'nPallet' is error,please check it!";

   Stop;

ENDTEST

ENDWHILE

ENDPROC

FUNC robtarget pPattern(num nCount)

   VAR robtarget pTarget;

IF nCount>=1 AND nCount<=4 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=5 AND nCount<=8 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=9 AND nCount<=12 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=13 AND nCount<=16 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=17 AND nCount<=20 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=21 AND nCount<=24 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=25 AND nCount<=28 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ELSEIF nCount>=29 AND nCount<=32 THEN

   pPickSafe:=Offs(pPick,0,0,400);

ENDIF

   TEST nCount

   CASE 1:

     pTarget.trans.x:=pPlaceBase0.trans.x;

   pTarget.trans.y:=pPlaceBase0.trans.y;

   pTarget.trans.z:=pPlaceBase0.trans.z;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

     pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 2:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+20;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-30;

   pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH-120;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 3:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-50;

   pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH+70;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 4:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y;

   pTarget.trans.z:=pPlaceBase90.trans.z+nBoxH-180;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 5:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40;

   pTarget.trans.y:=pPlaceBase0.trans.y;

   pTarget.trans.z:=pPlaceBase0.trans.z+nBoxH;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 6:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-30;

   pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH-100;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 7:

     pTarget.trans.x:=pPlaceBase0.trans.x+15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-70;

   pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 8:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+15;

   pTarget.trans.y:=pPlaceBase90.trans.y;

   pTarget.trans.z:=pPlaceBase90.trans.z+2*nBoxH-140;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 9:

     pTarget.trans.x:=pPlaceBase0.trans.x;

   pTarget.trans.y:=pPlaceBase0.trans.y;

   pTarget.trans.z:=pPlaceBase0.trans.z+2*nBoxH+30;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

     pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 10:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+25;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW;

   pTarget.trans.z:=pPlaceBase90.trans.z+3*nBoxH-140;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 11:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-50;

   pTarget.trans.z:=pPlaceBase0.trans.z+3*nBoxH+80;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 12:

     pTarget.trans.x:=pPlaceBase90.trans.x+30;

   pTarget.trans.y:=pPlaceBase90.trans.y;

   pTarget.trans.z:=pPlaceBase90.trans.z+3*nBoxH-180;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 13:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40;

   pTarget.trans.y:=pPlaceBase0.trans.y-15;

   pTarget.trans.z:=pPlaceBase0.trans.z+3*nBoxH+70;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 14:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-65;

   pTarget.trans.z:=pPlaceBase90.trans.z+4*nBoxH-110;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 15:

     pTarget.trans.x:=pPlaceBase0.trans.x-15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-120;

   pTarget.trans.z:=pPlaceBase0.trans.z+4*nBoxH+30;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 16:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+30;

   pTarget.trans.y:=pPlaceBase90.trans.y-15;

   pTarget.trans.z:=pPlaceBase90.trans.z+4*nBoxH-130;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 17:

     pTarget.trans.x:=pPlaceBase0.trans.x;

   pTarget.trans.y:=pPlaceBase0.trans.y-20;

   pTarget.trans.z:=pPlaceBase0.trans.z+4*nBoxH+80;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

     pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 18:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-15;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-60;

   pTarget.trans.z:=pPlaceBase90.trans.z+5*nBoxH-140;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 19:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-70;

   pTarget.trans.z:=pPlaceBase0.trans.z+5*nBoxH+90;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 20:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y-20;

   pTarget.trans.z:=pPlaceBase90.trans.z+5*nBoxH-90;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 21:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40;

   pTarget.trans.y:=pPlaceBase0.trans.y-20;

   pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 22:

     pTarget.trans.x:=pPlaceBase90.trans.x+30;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-50;

   pTarget.trans.z:=pPlaceBase90.trans.z+6*nBoxH-70;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 23:

     pTarget.trans.x:=pPlaceBase0.trans.x+15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-90;

   pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH+40;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 24:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL+10;

   pTarget.trans.y:=pPlaceBase90.trans.y-20;

   pTarget.trans.z:=pPlaceBase90.trans.z+6*nBoxH-110;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 25:

     pTarget.trans.x:=pPlaceBase0.trans.x;

   pTarget.trans.y:=pPlaceBase0.trans.y-30;

   pTarget.trans.z:=pPlaceBase0.trans.z+6*nBoxH+100;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

     pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 26:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-5;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-60;

   pTarget.trans.z:=pPlaceBase90.trans.z+7*nBoxH-130;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 27:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-95;

   pTarget.trans.z:=pPlaceBase0.trans.z+7*nBoxH+145;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 28:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y-30;

   pTarget.trans.z:=pPlaceBase90.trans.z+7*nBoxH;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 29:

     pTarget.trans.x:=pPlaceBase0.trans.x-nBoxW-40;

   pTarget.trans.y:=pPlaceBase0.trans.y-40;

   pTarget.trans.z:=pPlaceBase0.trans.z+7*nBoxH+180;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 30:

     pTarget.trans.x:=pPlaceBase90.trans.x;

   pTarget.trans.y:=pPlaceBase90.trans.y+nBoxW-70;

   pTarget.trans.z:=pPlaceBase90.trans.z+8*nBoxH-70;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 31:

     pTarget.trans.x:=pPlaceBase0.trans.x+15;

   pTarget.trans.y:=pPlaceBase0.trans.y+nBoxL-110;

   pTarget.trans.z:=pPlaceBase0.trans.z+8*nBoxH+60;

pTarget.rot:=pPlaceBase0.rot;

pTarget.robconf:=pPlaceBase0.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

   CASE 32:

     pTarget.trans.x:=pPlaceBase90.trans.x+nBoxL-20;

   pTarget.trans.y:=pPlaceBase90.trans.y-40;

   pTarget.trans.z:=pPlaceBase90.trans.z+8*nBoxH-80;

pTarget.rot:=pPlaceBase90.rot;

pTarget.robconf:=pPlaceBase90.robconf;

pTarget:=Offs(pTarget,Compensation{nCount,1},Compensation{nCount,2},Compensation{nCount,3});

DEFAULT:

   TPErase;

   TPWrite "The data 'nCount' is error,please check it !";

   stop;

ENDTEST

Return pTarget;

ENDFUNC

PROC rPlaceRD()

   TEST nPalletNo

CASE 1:

   Incr nCount_L;

   IF nCount_L>32 THEN

       Set do02_PalletFull_L;

   bPalletFull_L:=TRUE;

nCount_L:=1;

endif

CASE 2:

Incr nCount_R;

IF nCount_R>15 THEN

Set do03_PalletFull_R;

   bPalletFull_R:=TRUE;

nCount_R:=1;

   ENDIF

DEFAULT:

   TPERASE;

   TPWRITE "The data 'nPalletNo' is error,please check it!";

   Stop;

ENDTEST

ENDPROC

PROC rCheckHomePos()

   VAR robtarget pActualPos;

 IF NOT CurrentPos(pHome,tGripper) THEN  

       pActualpos:=CRobT(\Tool:=tGripper\WObj:=wobj0);

       pActualpos.trans.z:=pHome.trans.z;

       MoveL pActualpos,v500,z10,tGripper;

       MoveJ pHome,v1000,fine,tGripper;    

   ENDIF

ENDPROC

FUNC bool CurrentPos(robtarget ComparePos,INOUT tooldata TCP)

   VAR num Counter:=0;

   VAR robtarget ActualPos;

   ActualPos:=CRobT(\Tool:=TCP\WObj:=wobj0);

   IF ActualPos.trans.x>ComparePos.trans.x-25 AND ActualPos.trans.x<ComparePos.trans.x+25 Counter:=Counter+1;

   IF ActualPos.trans.y>ComparePos.trans.y-25 AND ActualPos.trans.y<ComparePos.trans.y+25 Counter:=Counter+1;

   IF ActualPos.trans.z>ComparePos.trans.z-25 AND ActualPos.trans.z<ComparePos.trans.z+25 Counter:=Counter+1;

   IF ActualPos.rot.q1>ComparePos.rot.q1-0.1 AND ActualPos.rot.q1<ComparePos.rot.q1+0.1 Counter:=Counter+1;

   IF ActualPos.rot.q2>ComparePos.rot.q2-0.1 AND ActualPos.rot.q2<ComparePos.rot.q2+0.1 Counter:=Counter+1;

   IF ActualPos.rot.q3>ComparePos.rot.q3-0.1 AND ActualPos.rot.q3<ComparePos.rot.q3+0.1 Counter:=Counter+1;

   IF ActualPos.rot.q4>ComparePos.rot.q4-0.1 AND ActualPos.rot.q4<ComparePos.rot.q4+0.1 Counter:=Counter+1;

   RETURN Counter=7;

ENDFUNC

TRAP tEjectPallet_L

Reset do02_PalletFull_L;

   bPalletFull_L:=FALSE;

   tperase;

 TPWrite "The left trip is running!";

ENDTRAP

TRAP tEjectPallet_R

Reset do03_PalletFull_R;

   bPalletFull_R:=FALSE;

   tperase;

   TPWrite "The right trip is running!";

ENDTRAP

PROC rMoveAbsj()

   MoveAbsJ jposHome\NoEOffs, v100, fine, tGripper\WObj:=wobj0;

ENDPROC

PROC rModPos()

  MoveL pHome,v100,fine,tGripper\WObj:=Wobj0;

  MoveL pPick_L,v100,fine,tGripper\WObj:=Wobj0;

  MoveL pPick_R,v100,fine,tGripper\WObj:=Wobj0;

  MoveL pPlaceBase0_L,v100,fine,tGripper\WObj:=Wobj0;

  MoveL pPlaceBase90_L,v100,fine,tGripper\WObj:=Wobj0;

  MoveL pPlaceBase0_R,v100,fine,tGripper\WObj:=WobjPallet_R;

  MoveL pPlaceBase90_R,v100,fine,tGripper\WObj:=WobjPallet_R;

ENDPROC

ENDMODULE

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Update revoluation counter or calibration.

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