PROCMain()TPErase;TPReadNumnCount1,"QingShuRuYiMaBaoShu!";TPReadNumnJob,"QingShuRuMoShi:50KG:=1,25KG:=2!";InitAll;WHILETRUEDOReadType;clock2re;PickIF;clock2re;PlaceOF;ENDWHILEENDPROCPROCclock2re()!tempint:=movstat;IFDI10_1Product0K=0orDI10_2TuoPanOK=0ThenIFtempint0ANDDI10_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:=,DO10_4MaDuoOK,0;nCount1:=0;ClkStopCLK1;ClkStopCLK2;TPErase;nCycleCount:=ClkRead(CLK1);Waitingtime:=ClkRead(CLK2);TP...
