ABB機(jī)器人碼垛程序.doc

《ABB機(jī)器人碼垛程序.doc》由會(huì)員分享，可在線閱讀，更多相關(guān)《ABB機(jī)器人碼垛程序.doc（40頁(yè)珍藏版）》請(qǐng)?jiān)谘b配圖網(wǎng)上搜索。

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:=movstat; IF DI10_1Pro

2、duct0K = 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; Waittime 0.5; bPickPart:=FALSE;

3、ClkReset CLK1; ClkStart CLK1; ClkReset CLK2; MoveL Offs(pPick,0,0,400), vFast, z10, tGripper\WObj:=wobj0; ENDPROC PROC PickIF() IF bPickPart = FALSE AND nJob <> 0 AND DI10_1Product0K = 1 THEN !CalculatePick; MoveJ Offs(pPick,0,0,400), vFast, z200, tGripper\WObj:=wobj0; !MoveLDO Off

4、s(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:=wobj0; ENDIF ENDPROC PROC PlaceOF()

5、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; MoveJ pAbovePlace, vFast, z10, tGripper\WObj:=wobj0;

6、 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),vMiddle,z5,tGripper\WObj:=wobj0; GripLoad LoadEmpty; Accset

7、 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 PROC HandshakeIF() IF nJob=1 THEN !Set DO10_3ZhuaOK; ENDIF

8、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; ClkStop CLK1; ClkStop CLK2; TPErase; nCycleCount:=ClkRead(CLK1

9、); 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() TempP1:=CRobT(\Tool:=tool0 \WObj:=wobj0); TempP1.trans.z:=500 ; MoveJ TempP1,

10、 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 = 1 THEN !nJob:=2; !Incr nPriority; ELSE !nJob:=0; !Incr nPriority; !IF nPriority>2

11、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; WaitDI DI10_4Zhua1End, 1; Set DO10_2YaBan; Waittime 0.0; !Waittime nTimeGripper; WaitDI D

12、I10_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; !Pattern80; !pAbovePick.trans.z:= pAfterPick.trans.z; !pAbovePick.trans.y:= pAfterPick.trans.y-

13、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 nBagL:=nBag25L; nBagW:=nBag25W; nBagH:=nBag25H; Pattern100; ENDIF !pAbovePlace:=pPlace1; pAf

14、terPlace:=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.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=500; nOffsZ2:=-500; nLevel:=1; bTwice:=

15、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; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBag

16、H*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.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z; nOffsX

17、1:=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 4: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25;

18、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 5: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW;

19、 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:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !Layer2 CASE 6: pPlace1:

20、=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; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.tra

21、ns.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:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+4

22、00; 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.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAft

23、erPick.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; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOff

24、sZ2:=-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; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0;

25、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; !Layer3 CASE 11: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.t

26、rans.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; bTag:=True; CASE 12: pPlace1:=pBase0; pPlace1.trans.x:=pPlace1.tra

27、ns.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; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 13: pPlace1:

28、=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; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z

29、:=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*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.

30、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.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-500; nLevel:=1;

31、bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer4 CASE 16: 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; nO

32、ffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.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.tran

33、s.z:=pPlace1.trans.z+3*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.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

34、.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; CASE 19: pPlace1:=pBase270;

35、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; nOffsY1:=0; nOffsZ1:=nBagH*1.2; nOffsZ2:=-300; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=p

36、Pick.trans.z+400; CASE 20: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.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;

37、 pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+400; !layer5 CASE 21: pPlace1:=pBase180; 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

38、:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; bTag:=True; CASE 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; nOff

39、sZ1:=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; CASE 23: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.

40、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; CASE 24: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pP

41、lace1.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:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+500; CASE 25: pPlace1:=pBase90; pPlace1.tran

42、s.x:=pPlace1.trans.x+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; nLevel:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+5

43、00; !layer6 CASE 26: pPlace1:=pBase180; pPlace1.trans.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+450

44、+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+nBagH; CASE 27: pPlace1:=pBase0; pPlace1.trans.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; nLev

45、el:=1; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.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;

46、 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.trans.z+450+nBagH; CASE 29: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25; pPlace1.trans.y:=pPlace1.

47、trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=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; CASE 30: pPlace1:=pBase270; pPlac

48、e1.trans.x:=pPlace1.trans.x+nBagW; 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:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+500+nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pP

49、ick.trans.z+500+nBagH; !layer7 CASE 31: pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=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.tra

50、ns.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; bTag:=True; CASE 32: pPlace1:=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; nOf

51、fsZ2:=-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 33: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans.z:=pPlace1.trans.z+6*

52、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; CASE 34: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPla

53、ce1.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.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; CASE 35

54、: pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+nBagW; 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.trans.z:=pPick.trans.z+450+2*nBagH; pAbovePlace:=p

55、Place1; pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH; !layer8 CASE 36: pPlace1:=pBase180; pPlace1.trans.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; bTw

56、ice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.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;

57、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.trans.z+450+3*nBagH; CASE 38: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; p

58、Place1.trans.z:=pPlace1.trans.z+6*nBagH-60; 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.trans.z+450+3*nBagH; CASE 39: pPlace1:=pBase270; pPlace1.tra

59、ns.x:=pPlace1.trans.x+2*nBagW-30; 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; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.trans.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pP

60、ick.trans.z+450+3*nBagH; CASE 40: pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW; 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; nLevel:=2; bTwice:=FALSE; pAfterPick.trans.z:=pPick.tran

61、s.z+450+3*nBagH; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+450+3*nBagH; DEFAULT: ErrWrite "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:=p25Base27

62、0; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.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; bT

63、ag:=True; CASE 2: pPlace1:=p25Base0; 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;

64、 pAbovePlace.trans.z:=pPick.trans.z+700; CASE 3: pPlace1:=p25Base90; 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.

65、z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 4: 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; p

66、AfterPick.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.z:=pPick.trans.z+500; pAbovePlace:=pPlace1; pAbovePlace.trans.z:=pPick.trans.z+700; CASE 6: pPlace1:=p25Base0; pPlace1.trans.x:=pPlace1.trans.x;