完整的VAL3程序

start()

begin  //延时10秒     delay(5)  //初始化变量  call init()  //清空原有运动堆栈  resetMotion()  //建立上电任务  taskCreate "robotpower",100,robotpower()  wait(isPowered())  //建立生产任务  taskCreate "ProductionCycle",10,ProductionCycle()  //建立安全区域检测任务  taskCreate "CheckSafeArea",10,CheckSafeArea()  //建立屏幕刷新任务  taskCreate "HMI",80,HMI()  //  //end

init()

begin  _bPartReverse=false  _bPartRight=false  _bCheckArrived=false  _bStartCheck=false  _bSyncErr=false  doERobotDone=false  doEhome=false  doERobotError=false  open(tGripper)  _nDifY=0  _nItem=0  sState="已停止"end

HMI()

begin  userPage()//切换到用户屏幕  cls()  gotoxy(0,2)  put("生产状态：")  gotoxy(0,4)  put("工件序号：")  gotoxy(0,6)  put("光电信号：")  gotoxy(0,8)  put("正反检测：")  gotoxy(0,10)  put("检测偏差：")  while true    //刷新生产状态    gotoxy(10,2)    put("                          ")    gotoxy(10,2)    put(sState)    //刷新工件序号    gotoxy(10,4)    put("                          ")    gotoxy(10,4)    put(toString("",_nItem+1))    //刷新激光传感器信号    gotoxy(10,6)    put("                          ")    if diFCheckSensor==true      gotoxy(10,6)      put("ON")    else      gotoxy(10,6)      put("OFF")    endIf    //刷新正反向判断    gotoxy(10,8)    put("                          ")    if _bPartRight      gotoxy(10,8)      put("正向")    elseIf _bPartReverse      gotoxy(10,8)      put("反向")    endIf    //刷新检测偏差    gotoxy(10,10)    put("                          ")    gotoxy(10,10)    put(toString("0.2",_nDifY)+"mm")    delay(0)  endWhileend

robotpower()

begin  while true    //控制器在远程模式    // if (workingMode()==4 or workingMode()==1)    if workingMode()==4      if !isPowered()        enablePower()        //控制器运行模式切换延时时间        delay(1)        wait(isPowered())      endIf    elseIf workingMode()==1      enablePower()      //wait(isPowered())    elseIf workingMode()==2 or workingMode()==3      disablePower()      doERobotDone=false    endIf    delay(0)  endWhileend

ProductionCycle()

begin  //开始回零  //wait(diEPlcReady==true or (workingMode()==1 and isPowered()and delay(2)) or doEhome==true)  wait(diEPlcReady==true or doEhome==true or diEManualStart==true)  doERobotDone=false  sState="回原点"  l_pHome=jointToPoint(tGripper,world,jHome)  l_pHere=here(tGripper,world)  l_pHere.trsf.z=max(l_pHere.trsf.z,50)  movel(l_pHere,tGripper,mSpeedL)  movej(jHome,tGripper,mSpeedL)  waitEndMove()  open(tGripper)  doEhome=true  //循环生产  while true    call Pallet()    delay(0)  endWhileend

CheckSafeArea()

begin  while true    l_pHere=here(tGripper,world)    if l_pHere.trsf.x>nXLimitMax or l_pHere.trsf.x<nXLimitMin or l_pHere.trsf.y>nYLimitMax or l_pHere.trsf.y<nYLimitMin      // disablePower()      stopMove()      resetMotion()      l_bAlarm=true    else      l_bAlarm=false    endIf    if l_bAlarm and !l_bLastAlarm      popUpMsg("机器人超出安全工作空间！")      logMsg("机器人超出安全工作空间！")    endIf    l_bLastAlarm=l_bAlarm    //判断机器人是否在home位    l_pHome=jointToPoint(tGripper,world,jHome)    if distance(l_pHere,l_pHome)<5      doEhome=true    else      doEhome=false    endIf    delay(0)  endWhileend

Pallet()

begin  //在进行开启/关闭阀门时  //最好是使用waitendmove()等点到位以后再使用  //wait(diEPlcDone==true)  //doERobotDone=false  wait(diEStart==true or diEManualStart==true)  doERobotDone=false  //if !isPowered()   //call start()  //endIf  //抓放循环，5次  for _nItem=0 to 4    //运动开始    //wait(diEStart==true or workingMode()==1)    //去取件    sState="取件中"    l_pPickAppro=appro(pPick[_nItem],{0,0,-nPickAppro,0,0,0})    movej(l_pPickAppro,tGripper,mSpeedH)    doEhome=false    movel(pPick[_nItem],tGripper,mSpeedL)    waitEndMove()    close(tGripper)    l_nMoveID=movel(l_pPickAppro,tGripper,mSpeedL)    //去检测    wait(getMoveId()>l_nMoveID+0.5)    sState="检测中"    movej(pCheckReady,tGripper,mSpeedH)    movel(pCheckStart,tGripper,mSpeedL)    l_nMoveID=movel(pCheckOver,tGripper,mSpeedLL)    //开始检测激光传感器状态    wait(getMoveId()>l_nMoveID)    //        _bStartCheck=true    //        wait(_bCheckArrived)    //        _bCheckArrived=false    //    do    //    until (diFCheckSensor==false)    //传感器感应到后，停止手臂运动，清除运动指令    //检测导光条的边缘，若检测不到信号则报警    if watch(diFCheckSensor==false,3)==false      sState="无导光条"      doERobotError=true      stopMove()      resetMotion()      wait(diEReset==true)      doERobotError=false      //PLC复位后给出回原信号，机械手回原      wait(diEPlcReady==true)      doERobotDone=false      doERobotError=false      sState="回原点"      l_pHome=jointToPoint(tGripper,world,jHome)      l_pHere=here(tGripper,world)      l_pHere.trsf.z=max(l_pHere.trsf.z,50)      movel(l_pHere,tGripper,mSpeedL)      movej(jHome,tGripper,mSpeedL)      waitEndMove()      open(tGripper)      doEhome=true      return    endIf    stopMove()    resetMotion()    //检测到导光条，外部绿灯亮    doESensor=!diFCheckSensor    //delay(0.5)    //计算工件Y向位置偏差    l_pHere=here(tGripper,world)    _nDifY=l_pHere.trsf.y-pCheckMark.trsf.y    //向上提起，判断正反向    l_pCheckRight=l_pHere    //向上提起到pCheckUp的高度    l_pCheckRight.trsf.z=pCheckUp.trsf.z    //向里伸入0.2mm    l_pCheckRight.trsf.y=l_pHere.trsf.y+0.2    movel(l_pCheckRight,tGripper,mSpeedL)    waitEndMove()    //延时检测    delay(0.1)    //如果光电感应不到，判断为正向,并计算调整后的放件位置    if diFCheckSensor==true      _bPartRight=true      _bPartReverse=false      //l_pPlace=compose(pPlace[0,_nItem],fPlacePallet,{0,_nDifY,0,0,0,0})      l_pPlace=appro(pPlace[0,_nItem],{-_nDifY,0,0,0,0,0})      //否则，为反向,并计算调整后的放件位置    else      _bPartRight=false      _bPartReverse=true      //l_pPlace=compose(pPlace[1,_nItem],fPlacePallet,{0,-_nDifY,0,0,0,0})      l_pPlace=appro(pPlace[1,_nItem],{-_nDifY,0,0,0,0,0})    endIf    //向上提起，离开检测区    l_pCheckAppro=appro(l_pCheckRight,{0,0,-20,0,0,0})    movel(l_pCheckAppro,tGripper,mSpeedL)    if _bPartRight      l_nMoveID=movej(pCheckReady,tGripper,mSpeedH)    else      l_nMoveID=movej(jhomen,tGripper,mSpeedH)    endIf    waitEndMove()    //去放件    wait(getMoveId()>l_nMoveID+0.3)    sState="放件中"    //外部绿灯灭    doESensor=false    //去放件准备位    l_pPlaceAppro=appro(l_pPlace,{0,0,-nPlaceAppro,0,0,0})    movej(l_pPlaceAppro,tGripper,mSpeedH)    //根据压入深度，计算压入点    l_pPress=appro(l_pPlace,{0,0,nPressDeepth,0,0,0})    //计算压入准备位，在压入点上方nPressAppro高，角度与放件位相同。    l_pPressAppro=appro(l_pPress,{0,0,-nPressAppro,0,0,0})    //到压入准备位,打开夹爪    movel(l_pPressAppro,tGripper,mSpeedL)    waitEndMove()    open(tGripper)    //延时nPressDelay s,保证夹爪已打开    delay(nPressDelay)    //压入卡槽    movel(l_pPress,tGripper,mSpeedL)    //回准备位    l_nMoveID=movel(l_pPlaceAppro,tGripper,mSpeedL)    wait(getMoveId()>l_nMoveID+0.5)    _bPartReverse=false    _bPartRight=false    delay(0)  endFor  //放件完成，回原点,发送完成信号  sState="回原点"  movej(jHome,tGripper,mSpeedH)  waitEndMove()  doERobotDone=true  //       delay(10)end