ABB機(jī)器人碼垛程序

1、MODULEMainModulePROCMain()TPErase;TPReadNumnCount1, Qing Shu Ru Yi MaBao Shu! ;TPReadNumnJob, Qing Shu Ru MoShi:50KG:=1,25KG:=2!; InitAll;WHILE TRUE DOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROCclock2re()!tempint:=movstat;IF DI10_1Product0K = 0 or DI10_2TuoPanOK= 0 ThenIF tempint0.

2、25 thenClkStart CLK2;ELSEClkStop CLK2;ENDIFElseClkStop CLK2;EndIFEndprocPROCInitAll()MoveHome;Reset DO10_1JiaZhua;Reset DO10_2YaBan;Reset DO10_3ZhuaOK;Reset DO10_4MaDuoOK;Waittime 0.5; bPickPart:=FALSE;ClkReset CLK1;ClkStart CLK1;ClkReset CLK2;MoveL Offs(pPick,0,0,400), vFast, z10, tGripperWObj:=wob

3、jO;ENDPROCPROCPicklF()IF bPickPart = FALSE ANDnJob 0 ANDDI10_1Product0K = 1 THEN!CalculatePick;!MoveLDOMoveJ Offs(pPick,0,0,400), vFast, z200, tGripperWObj:=wobjO;Offs(pPick,0,0,100),vFast, z20, toolOWObj:=wobjO,DO10_1JiaZhua, 1;MoveL pPick, vFast, fine, tGripperWObj:=wobjO;Close1;GripLoad LoadFull;

4、Accset 50,50;HandshakeIF;bPickPart:=TRUE;ConfLOff;MoveJ pAfterPick, vFast, z60, tGripperWObj:=wobj0;ENDIFENDPROCPROCPlaceOF()IF DI10_2TuoPanOK= 1 ANDbPickPart = TRUETHENCalculatePlace;ConfLOff;!MoveL 0ffs(p0ver,0,0,n0ffsZ2), vFast,z200, tGripper;IF bTag=true thenAccset 70,70;MoveJ pAbovePlace, vFast

5、, z10, tGripperWObj:=wobj0; elseAccset 90,90;MoveJ pAbovePlace, vFast, z10, tGripperWObj:=wobj0;EndifAccset 100,100;! place first boxConfLOff;!MoveLOffs(pPlace1,nOffsX1,nOffsY1,nOffsZ1),vTurn,z10,tGripperWObj:=wobjO;MoveL pPlace1, vMiddle, fine, tGripperWObj:=wobjO;Open1;ConfLOff;MoveL Offs(pPlace1,

6、0,0,nOffsZ1),vMiddle,z5,tGripperWObj:=wobjO;GripLoad LoadEmpty;Accset 100,100;bPickPart:=FALSE;Incr nCount1;HandshakeOF;MoveJ pAbovePick, vFast, z200, tGripperWObj:=wobj0;MoveL Offs(pPick,0,0,400), vFast, z10, tGripperWObj:=wobj0; !MoveJ pHome, vFast, z200, tGripper;ENDIFENDPROCPROCHandshakelF()IF n

7、Job=1 THEN!Set DO10_3ZhuaOK;ENDIFIF nJob=2 THEN!Set DO10_3ZhuaOK;ENDIFENDPROCPROCHandshakeOF()IF (nCount1=40 and nJob =1) or (nCount1=80 and nJob =2) THEN Set DO10_4MaDuoOK;WaitDI DI10_2TuoPanOK,0;SetDOSDelay:=0.5,DO10_4MaDuoOK,0;nCount1:=0;ClkStop CLK1;ClkStop CLK2;TPErase;nCycleCount:=ClkRead(CLK1

8、);Waitingtime:=ClkRead(CLK2);TPWrite Cycle time: Num:=nCycleCount;TPWrite Waiting time in this Cycle: Num:=Waitingtime;ClkReset CLK2;ClkReset CLK1;ClkStart CLK1;ENDIFENDPROCPROCMoveHome()TempP1:=CRobT(Tool:=toolO WObj:=wobjO);tGripper;TempP1.trans.z:=500 ;MoveJ TempP1, v1000, z20,MoveJ pHome, v1000,

9、 z20, tGripper;ENDPROCPROCReadType()IF nPriority = 1 AND DI10_1Product0K = 1 THEN !nJob:=1;! Incr nPriority;ELSEIF nPriority = 2 ANDDI10_1Product0K = 1 THEN !nJob:=2;!Incr nPriority;ELSE!nJob:=0;!Incr nPriority;!IF nPriority2 nPriority:=1;ENDIFENDPROCPROOOpen1()Reset DO10_2YaBan;Waittime 0.0;Reset D

10、O10_1JiaZhua;waittime 0.1;!Waittime nTimeGripper;ENDPROCPROCClose1()Set DO10_1JiaZhua;Waittime 0.0;WaitDI DI10_4Zhua1End, 1;Set DO10_2YaBan;Waittime 0.0;!Waittime nTimeGripper;WaitDI DI10_4Zhua1End, 1;!WaitDI DI10_6Zhua2End, 1;ENDPROCPROCCalculatePick()IF nJob = 1 THENpPick:=pPick1;ELSEIF nJob = 2 T

11、HENpPick:=pPick1;ENDIF!pAbovePick:=pPick;pAfterPick.trans.z;pAfterPick.trans.y-500;pAfterPick.trans.y-500;!pAfterPick:=pPick; !Pattern80;!pAbovePick.trans.z:=!pAbovePick.trans.y:=!pAfterPick.trans.y:=ENDPROCPROCCalculatePlace()IF nJob = 1 THEN nBagL:=nBag50L; nBagW:=nBag50W; nBagH:=nBag50H; Pattern8

12、0;ELSEIF nJob = 2 THEN nBagL:=nBag25L; nBagW:=nBag25W; nBagH:=nBag25H; Pattern100;ENDIF!pAbovePlace:=pPlace1; pAfterPlace:=pAbovePlace;ENDPROCPROCPattern80() bTag:=FALSE; TEST nCount1+1CASE1:pPlace1:=pBase180;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.trans.z:=pPlace1.

13、trans.z;nOffsX1:=0;nOffsY1:=0;nOffsZ1:=500;nOffsZ2:=-500;nLevel:=1;bTwice:=FALSE;pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+400; bTag:=True;CASE2:pPlace1:=pBaseO;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.trans.z:=pPl

14、ace1.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;CASE3:pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y+25; pPlace1.trans

15、.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;CASE4:pPlace1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW; pPlace1.trans.y:=pPlace1.trans.y+25;

16、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;CASE5:pPlace1:=pBase90;pPlace1.trans.x:=pPlace1.trans.x+nBagW;pPlace1.trans.y:=pPlace1.tr

17、ans.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;!Layer2CASE6:pPlace1:=pBase180;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans

18、.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.trans.z:=pPick.trans.z+400;CASE7:pPlace1:=pBaseO;pPlace1.trans.x:=pPlace1.trans.x

19、; 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.trans.z:=pPick.trans.z+400;CASE8:pPlace1:=pBase270;pPlace1.trans.

20、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;pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+400;CASE9:pPlace1:=pBase270; pPlace1.tran

21、s.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;nOffsZ2:=-500;nLevel:=2;bTwice:=FALSE;pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+400;CASE 10:pPlace1:=pBase2

22、70;pPlace1.trans.x:=pPlace1.trans.x+nBagW;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.trans.z:=pPlace1.trans.z; nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-500;nLevel:=2;bTwice:=FALSE;pAfterPick.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1;!Layer3pAbovePlace.trans.z:=pPick.trans.z+400;CASE 1

23、1:pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.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.tran

24、s.z+400; bTag:=True;CASE 12:pPlace1:=pBaseO;pPlace1.trans.x:=pPlace1.trans.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;pAbovePla

25、ce.trans.z:=pPick.trans.z+400;CASE 13:pPlace1:=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:=p

26、Place1;pAbovePlace.trans.z:=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.tra

27、ns.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;bTwice:=FALSE;pAfterPi

28、ck.trans.z:=pPick.trans.z+400; pAbovePlace:=pPlace1;!layer4pAbovePlace.trans.z:=pPick.trans.z+400;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;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-300;

29、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.trans.z:=pPlace1.trans.z+3*nBagH; nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBag

30、H*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.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+2*nBagH; nOffsX1:=0;nOffsY1:=0;

31、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; pPlace1.trans.x:=pPlace1.trans.x+2*nBagW-25;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.trans.z:=pPlace1.trans.z+2*nBagH

32、; 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:=pPick.trans.z+400;CASE 20:pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.trans.z:=pPla

33、ce1.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:=pPick.trans.z+400;!layer5CASE 21:pPlace1:=pBase180;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y; p

34、Place1.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; bTag:=True;CASE 22:pPlace1:=pBase0;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.tran

35、s.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:=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;

36、 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+500;CASE 24:pPlace1:=pBase90;pPlace1.trans.x:

37、=pPlace1.trans.x+2*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+500;CASE 25:pPlace1:=pBa

38、se90;pPlace1.trans.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+500;!

39、layer6CASE 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+nBagH; pAbovePlace:=pPlace1;pA

40、bovePlace.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;nLevel:=1;bTwice:=FALSE;pAfterPick.trans.z:=pPick.trans.z

41、+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;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOffsZ2:=-100;nLevel:=1;bTwice:=FALSE;pAfte

42、rPick.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.trans.y;pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0;nOffsY1:=0;nOffsZ1:=nBagH*1.2;nOff

43、sZ2:=-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;pPlace1.trans.x:=pPlace1.trans.x+nBagW; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=pPlace1.trans.z+4*nBagH-45; nOffsX1:=0

44、;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;!layer7CASE 31:pPlace1:=pBase180; pPlace1.trans.x:=pPlace1.trans.x; pPlace1.trans.y:=pPlace1.trans.y; pPlace1.trans.z:=p

45、Place1.trans.z+6*nBagH;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; bTag:=True;CASE 32:pPlace1:=pBase0;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.

46、y:=pPlace1.trans.y;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 33:pPlace1:=pBase90;pPlace1.trans.x:=

47、pPlace1.trans.x;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:=pPlace1;pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH;CASE 34:p

48、Place1:=pBase90; pPlace1.trans.x:=pPlace1.trans.x+2*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:=pPlace1;pAbovePlace.t

49、rans.z:=pPick.trans.z+450+2*nBagH;CASE 35: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*

50、nBagH; pAbovePlace:=pPlace1;!layer8pAbovePlace.trans.z:=pPick.trans.z+450+2*nBagH;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;bTwice

51、:=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;nOffsY1:=0;nOffsZ1:=n

52、BagH*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;pPlace1.trans.z:=pPlace1.trans.z+6*nBagH-60; nOf

53、fsX1:=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.trans.x:=pPlace1.trans.x+2*nBagW-30; pPlace1.trans.y:=pPlace1.trans.y;pPlac

54、e1.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:=pPick.trans.z+450+3*nBagH;CASE 40:pPlace1:=pBase270; pPlace1.trans.x:=pPlace1.trans.x+nBagW;p

55、Place1.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:=pPick.trans.z+450+3*nBagH;DEFAULT:one of aErrWrite Wrong box Count,Singlebox must be the lastPallet;Stop;EXIT;ENDTESTENDPROCPROCPattern100() bTag:=FALSE; TEST nCount1+1CASE1:pPlace1:=p25Base270;pPlace1.trans.x:=pPlace1.trans.x;pPlace1.trans.y:=pPlace1.trans.y;pPlace1.tra