MODULEMainModulePROCMain()TPErase;TPReadNumnCount1,"QingShuRuYiMaBaoShu!";TPReadNumnJob,"QingShuRuMoShi:50KG:=1,25KG:=2!";InitAll;WHILETRUEDOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROCclock2re()!tempint:=movstat;IFDI10_1Product0K=0orDI10_2TuoPanOK=0ThenIFtempint<0.25thenClkStartCLK2;ELSEClkStopCLK2;ENDIFElseClkStopCLK2;EndIFEndprocPROCInitAll()MoveHome;ResetDO10_1JiaZhua;ResetDO10_2YaBan;ResetDO10_3ZhuaOK;ResetDO10_4MaDuoOK;Waittime0.5;bPickPart:=FALSE;ClkResetCLK1;ClkStartCLK1;ClkResetCLK2;MoveLOffs(pPick,0,0,400),vFast,z10,tGripper\WObj:=wobj0;ENDPROCPROCPickIF()IFbPickPart=FALSEANDnJob<>0ANDDI10_1Product0K=1THEN!CalculatePick;MoveJOffs(pPick,0,0,400),vFast,z200,tGripper\WObj:=wobj0;!MoveLDOOffs(pPick,0,0,100),vFast,z20,tool0\WObj:=wobj0,DO10_1JiaZhua,1;MoveLpPick,vFast,fine,tGripper\WObj:=wobj0;Close1;GripLoadLoadFull;Accset50,50;HandshakeIF;bPickPart:=TRUE;ConfL\Off;MoveJpAfterPick,vFast,z60,tGripper\WObj:=wobj0;ENDIFENDPROCPROCPlaceOF()IFDI10_2TuoPanOK=1ANDbPickPart=TRUETHENCalculatePlace;ConfL\Off;!MoveLOffs(pOver,0,0,nOffsZ2),vFast,z200,tGripper;IFbTag=truethenAccset70,70;MoveJpAbovePlace,vFast,z10,tGripper\WObj:=wobj0;elseAccset90,90;MoveJpAbovePlace,vFast,z10,tGripper\WObj:=wobj0;EndifAccset100,100;!placefirstboxConfL\Off;!MoveLOffs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripper\WObj:=wobj0;MoveLpPlace1,vMiddle,fine,tGripper\WObj:=wobj0;Open1;ConfL\Off;MoveLOffs(pPlace1,0,0,nOffsZ1),vMiddle,z5,tGripper\WObj:=wobj0;GripLoadLoadEmpty;Accset100,100;bPickPart:=FALSE;IncrnCount1;HandshakeOF;MoveJpAbovePick,vFast,z200,tGripper\WObj:=wobj0;MoveLOffs(pPick,0,0,400),vFast,z10,tGripper\WObj:=wobj0;!MoveJpHome,vFast,z200,tGripper;ENDIFENDPROCPROCHandshakeIF()IFnJob=1THEN!SetDO10_3ZhuaOK;ENDIFIFnJob=2THEN!SetDO10_3ZhuaOK;ENDIFENDPROCPROCHandshakeOF()IF(nCount1=40andnJob=1)or(nCount1=80andnJob=2)THENSetDO10_4MaDuoOK;WaitDIDI10_2TuoPanOK,0;SetDO\SDelay:=0.5,DO10_4MaDuoOK,0;nCount1:=0;ClkStopCLK1;ClkStopCLK2;TPErase;nCycleCount:=ClkRead(CLK1);Waitingtime:=ClkRead(CLK2);TPWrite"Cycletime:"\Num:=nCycleCount;TPWrite"WaitingtimeinthisCycle:"\Num:=Waitingtime;ClkResetCLK2;ClkResetCLK1;ClkStartCLK1;ENDIFENDPROCPROCMoveHome()TempP1:=CRobT(\Tool:=tool0\WObj:=wobj0);TempP1.trans.z:=500;MoveJTempP1,v1000,z20,tGripper;MoveJpHome,v1000,z20,tGripper;ENDPROCPROCReadType()IFnPriority=1ANDDI10_1Product0K=1THEN!nJob:=1;!IncrnPriority;ELSEIFnPriority=2ANDDI10_1Product0K=1THEN!nJob:=2;!IncrnPriority;ELSE!nJob:=0;!IncrnPriority;!IFnPriority>2nPriority:=1;ENDIFENDPROCPROCOpen1()ResetDO10_2YaBan;Waittime0.0;ResetDO10_1JiaZhua;waittime0.1;!WaittimenTimeGripper;ENDPROCPROCClose1()SetDO10_1JiaZhua;Waittime0.0;WaitDIDI10_4Zhua1End,1;SetDO10_2YaBan;Waittime0.0;!WaittimenTimeGripper;WaitDIDI10_4Zhua1End,1;!WaitDIDI10_6Zhua2End,1;ENDPROCPROCCalculatePick()IFnJob=1THENpPick:=pPick1;ELSEIFnJob=2THENpPick:=pPick1;ENDIF!pAbovePick:=pPick;!pAfterPick:=pPick;!Pattern80;!pAbovePick.trans.z:=pAfterPick.trans.z;!pAbovePick.trans.y:=pAfterPick.trans.y-500;!pAfterPick.trans.y:=pAfterPick.trans.y-500;ENDPROCPROCCalculatePlace()IFnJob=1THENnBagL:=nBag50L;nBagW:=nBag50W;nBagH:=nBag50H;Pattern80;ELSEIFnJob=2THENnBagL:=nBag25L;nBagW:=nBag25W;nBagH:=nBag25H;Pattern100;ENDIF!pAbovePlace:=pPlace1;pAfterPlace:=pAbovePlace;ENDPROCPROCPattern80()bTag:=FALSE;TESTnCount1+1CASE1:pPlace1:=pBase180;pPlace1.t...
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