1、MODULE MainModuleCONST robtarget pHome:=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;CONST robtarget pPrePickMould:=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;CONS
2、T robtarget pPrePickClapboard:=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;CONST robtarget pPickMould:=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;CONST robtarget pPic
3、kClapboard:=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;CONST robtarget pPrePlace:=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;CONST robtarget pPrePlace10:=-277.40
4、,-1202.57,1621.17,0.00183571,-0.0139794,-0.999895,-0.00341408,-2,-1,-2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPrePlace20:=-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;CONST robtarget pPlaceMould:=-92.13,-2580.19,1171.4
5、5,0.000771646,0.713144,0.701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPlaceClapboard:=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;CONST robtarget pPrePlaceClapboard:=1017.30,955.85,1443.17,1.0621E-
6、05,-0.00849593,-0.999964,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPrePickClapboard10:=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;CONST robtarget pPrePickMould10:=530.24,-1703.27,1762.63,5.07659E-05,0.
7、96161,0.274421,2.37287E-05,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST num nOffs:=100;PERS num nCurOffs:=100; CONST num nLayer:=0;PERS num nCurLayer:=0;CONST num nThickness:=40;VAR bool bTimeOut:=FALSE;PERS bool bDryCycle:=FALSE;VAR intnum iDryCycle;VAR intnum iResDryCycle; VAR intnum iVacuum
8、; PERS tooldata tGripper:=TRUE,0,0,100,1,0,0,0,88.5,-3.7,-1.4,132.1,1,0,0,0,5.5,17.831,25.067;PROC main()rInitAll;WHILE TRUE DO IF siDryCycle=1 or nCurLayerMaxX OR ActualPos.trans.yMaxY OR ActualPos.trans.zMaxZ THENHomeOffset:=“;IF ActualPos.trans.xMaxX THENHomeOffset:=HomeOffset+“X :“+NumToStr(MaxX
9、-ActualPos.trans.x,0)+“ “;ELSEHomeOffset:=HomeOffset+“X : OK “;ENDIFIF ActualPos.trans.yMaxY THENHomeOffset:=HomeOffset+“Y :“+NumToStr(MaxY-ActualPos.trans.y,0)+“ “;ELSEHomeOffset:=HomeOffset+“Y : OK “;ENDIFIF ActualPos.trans.zMaxZ THENHomeOffset:=HomeOffset+“Z :“+NumToStr(MaxZ-ActualPos.trans.z,0)+
10、“ “;ELSEHomeOffset:=HomeOffset+“Z : OK “;ENDIFErrWrite HomeOffset,“Move robot manually near homeposition“;WHILE OpMode()OP_AUTO DOTPErase;TPWrite “Please switch robot to AUTO mode“;!TPErase;Stop;ENDWHILEENDIFENDIFVelSet 100,3000; ENDPROCTRAP tLostPartErrWrite “Part lost!“ ,“Fatal error in Gripper“RL2:=“Check the gripper .“RL3:=“ check the vacuum .“;Stop;ENDTRAP ENDMODULE
