上傳人：r***

認(rèn)證信息

認(rèn)證類型：個(gè)人認(rèn)證

認(rèn)證主體：閆**（實(shí)名認(rèn)證）

IP屬地：北京

IP屬地：北京 上傳時(shí)間：2022-10-14 格式：DOCX 頁數(shù)：14 大小：17.26KB 積分：13 舉報(bào) 版權(quán)申訴

1、MODULEMainModuleCONSTrobtargetpHome:=1525.42,272.18,1873.69,4.42963E-05,0.699969,-0.714173,-2.80277E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePickMould:=1653.99,272.19,1779.41,5.83312E-05,0.69997,-0.714172,-3.47922E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobt

2、argetpPrePickClapboard:=2036.17,-741.24,1235.05,0.678651,0.73435,-0.0119011,0.00467586,-1,-2,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPickMould:=1943.13,173.08,630.89,4.66987E-05,0.699977,-0.714166,-3.24109E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPickClapboard:

3、=1943.19,173.08,620.72,1.61422E-05,0.699977,-0.714165,-7.62858E-06,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePlace:=785.90,-957.40,1722.38,0.00231652,0.0492402,-0.998779,-0.00310842,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTCONSTrobtargetpPrePlace10:=-277.40,-1202.57,

4、1621.17,0.00183571,-0.0139794,-0.999895,-0.00341408,-2,-1,-2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePlace20:=-491.18,-1082.85,1505.90,0.000663644,0.69408,0.719887,0.00386364,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPlaceMould:=-92.13,-2580.19,1171.45,0.000771646,

5、0.713144,0.701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPlaceClapboard:=1585.08,1761.04,787.33,0.00645323,-0.00552996,-0.726358,-0.687263,0,1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePlaceClapboard:=1017.30,955.85,1443.17,1.0621E-05,-0.00849593,-0.

6、999964,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetCONSTpPrePickClapboard10:=2257.17,-841.03,1579.56,0.667517,0.74457,-0.00360206,0.00487631,-1,-1,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetCONSTpPrePickMould10:=530.24,-1703.27,1762.63,5.07659E-05,0.96161,0.2744

7、21,2.37287E-05,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTnumnOffs:=100;PERSnumnCurOffs:=100;CONSTnumnLayer:=0;PERSnumnCurLayer:=0;CONSTnumnThickness:=40;VARboolbTimeOut:=FALSE;PERSboolbDryCycle:=FALSE;VARintnumiDryCycle;VARintnumiResDryCycle;VARintnumiVacuum;PERStooldatatGripper:=TRUE,0,0,10

8、0,1,0,0,0,88.5,-3.7,-1.4,132.1,1,0,0,0,5.5,17.831,25.067;PERSPROCmain()rInitAll;WHILETRUEDOIFsiDryCycle=1ornCurLayerMaxZTHENActualPos.trans.zMaxZTHENTRUETHENTRUETHENStop;ENDIFWaittime0.5;ENDPROCPROCrMoveHome()VARstringHomeOffset;CONSTnumMinX:=-500;CONSTnumMaxX:=500;CONSTnumMinY:=-500;CONSTnumMaxY:=5

9、00;CONSTnumMinZ:=500;CONSTnumMaxZ:=1200;VARrobtargetActualPos;VelSet100,500;AccSet70,70;IFbCurrentPos(pHome,tGripper,50)=TRUETHENMoveJpHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPrePickMould,tGripper,50wobj:=Wobj0)=MoveJpHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPrePickClapb

10、oard,tGripper,100wobj:=Wobj0)=TRUETHENMoveJpHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPreplace,tGripper,100wobj:=Wobj0)=TRUETHENMoveJpHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pHome,tGripper,100)=FALSETHEN!Ifnoknownpositionisfound,checkiftherobotisinaspecified!windowandmoveh

11、imtothefirstpositionintheprogramActualPos:=CRobT(Tool:=tGripperWObj:=wobj0);IFActualPos.trans.xMaxXORActualPos.trans.yMaxYORActualPos.trans.zMinZORHomeOffset:=IFActualPos.trans.xMaxXTHENHomeOffset:=HomeOffset+X:+NumToStr(MaxX-ActualPos.trans.x,0)+;ELSEHomeOffset:=HomeOffset+X:OK;ENDIFIFActualPos.tra

12、ns.yMaxYTHENHomeOffset:=HomeOffset+Y:+NumToStr(MaxY-ActualPos.trans.y,0)+;ELSEHomeOffset:=HomeOffset+Y:OK;ENDIFIFActualPos.trans.zMaxZTHENHomeOffset:=HomeOffset+Z:+NumToStr(MaxZ-ActualPos.trans.z,0)+;ELSEHomeOffset:=HomeOffset+Z:OK;ENDIFErrWriteHomeOffset,Moverobotmanuallynearhomeposition;WHILEOpMode()OP_MAN_PROGDOTPErase;TPWritePleaseswitchrobottoManualmode;!TPErase;Stop;ENDWHILEStop;MoveJpHome,v500,fine,tGripper;!npallet:=4;ActualPos:=CRobT(Tool:=tGripperWObj:=wobj0);WHILEOpMode()OP_AUTODOTPErase;TP