IF ceng1<=3 THEN
POINT duck1a = SHIFT(duck1 BY 0,0,0) ;避让点自动计算高度
ELSE
POINT duck1a = SHIFT(duck1 BY 0,0,high*(ceng1-3)) ;避让点自动计算高度
END
LMOVE duck1a
;奇数层
;***********************************************************
IF (ceng1==1 OR ceng1==3 OR ceng1==5) THEN ;奇数层判断
IF count1==1 OR count1==15 THEN ;
POINT put_c = SHIFT(put1a BY long/2+100,wide/2+100,high*ceng1+200)
POINT put_o = SHIFT(put1a BY long/2,wide/2,high*ceng1) ;奇数层第1个
END
IF count1==2 OR count1==16 THEN
POINT put_c = SHIFT(put1a BY long/2+100,wide*3/2+300,high*ceng1+200)
POINT put_o = SHIFT(put1a BY long/2,wide*3/2,high*ceng1) ;奇数层第2个
END
IF count1==3 OR count1==17 THEN
POINT put_c = SHIFT(put1a BY long/2+100,wide*5/2+300,high*ceng1+200)
POINT put_o = SHIFT(put1a BY long/2,wide*5/2,high*ceng1) ;奇数层第3个
END
IF count1==4 OR count1==18 THEN
POINT put_c = SHIFT(put1 BY wide/2+100,3*wide+long/2+100,high*ceng1+200)
POINT put_o = SHIFT(put1 BY wide/2,3*wide+long/2,high*ceng1) ;奇数层第4个
END
IF count1==5 OR count1==19 THEN
POINT put_c = SHIFT(put1 BY wide*3/2+300,3*wide+long/2+100,high*ceng1+200)
POINT put_o = SHIFT(put1 BY wide*3/2,3*wide+long/2,high*ceng1) ;奇数层第5个
END
IF count1==6 OR count1==20 THEN ;
POINT put_c = SHIFT(put1 BY wide*5/2+300,3*wide+long/2+100,high*ceng1+200)
POINT put_o = SHIFT(put1 BY wide*5/2,3*wide+long/2,high*ceng1) ;奇数层第6个
END
IF count1==7 OR count1==21 THEN ;
POINT put_c = SHIFT(put1 BY wide*7/2+200,3*wide+long/2+100,high*ceng1+200)
POINT put_o = SHIFT(put1 BY wide*7/2,3*wide+long/2,high*ceng1) ;奇数层第7个
END
END999
;产品参数及计数变量
long = 1155
wide = 515
high = 260
layer = 6
pcs = 2
ceng1 = INT((count1+pcs-1)/pcs) ;层数公式
l_offset = (1600-long)/2
w_offset = (1100-long)/2
POINT pick_up = SHIFT(pick1 BY -wide/2,long/2,high-10) ;抓取点位资
POINT put1 = SHIFT(put1_t5 BY 0,0,0) ;抓取点位资
POINT put1a = SHIFT(put1a_t5 BY w_offset,100,0) ;抓取点位资
;****************************************
20
SIGNAL -9,-10 ;关闭夹板和升起吸盘
LAPPRO pick_up,300
ACCURACY 2
SPEED 50
SIGNAL 18,19,20,21
LMOVE pick_up
TWAIT 1
IF SIG(-1012) THEN ;真空检测
SIGNAL -18,-19,-20,-21
TWAIT 0.2
GOTO 10
ELSE
GOTO 503
END
503
SPEED 40 ;提起速度
LAPPRO pick_up,1000
;
603
SPEED 50 ALWAYS ;空程走速度
IF ceng1<=3 THEN
POINT duck1a = SHIFT(duck1 BY 0,0,0) ;避让点自动计算高度
ELSE
POINT duck1a = SHIFT(duck1 BY 0,0,high*(ceng1-3)) ;避让点自动计算高度
