PROGRAM a()#0;左小车
HOME
SWAIT 39
RESET
ra = 1
100 HOME
JMOVE point0
LMOVE point1
LMOVE point2
LMOVE waitpoint;抓件等待点
POINT #pickfront = SHIFT(pickpoint BY 0,200.5*(ra-1),500) ;抓件上方点计算公式
LMOVE #pickfront;抓件上方点
SPEED 10
POINT #picka = SHIFT(pickpoint BY 0,200*(ra-1),0) ;抓件点计算公式
LMOVE #picka;抓件点
TWAIT 1
SIGNAL 1
SPEED 20
LAPPRO #picka,500 ;抓件后上升位
LMOVE point3
SPEED 40
LMOVE point4
LMOVE point5
SPEED 50
LMOVE waitplace
TWAIT 1
CALL correct
LMOVE waitpoint2;放件等待点
POINT #placefront = SHIFT(placepoint BY 0,200*(ra-1),80)
LMOVE #placefront;放件上方点
SPEED 10
POINT #place = SHIFT(placepoint BY 0,200*(ra-1),0)
LMOVE #place;放件点
TWAIT 1
SIGNAL -1
SPEED 20
LAPPRO #place,120
LMOVE point30
ra = ra+1
IF ra<=5 THEN
GOTO 100
ELSE
GOTO 200
200 ra = 1
END
PULSE 51,1.5
HOME
.END
.PROGRAM b()#0;左小车
HOME
SWAIT 39
RESET
rb = 1
100 HOME
JMOVE pointb0
LMOVE pointb1
LMOVE pointb2
LMOVE waitpointb
POINT #pickfrontb = SHIFT(pickpointb BY 0,200*(rb-1),400)
LMOVE #pickfrontb
SPEED 10
POINT #pickb = SHIFT(pickpointb BY 0,200*(rb-1),0)
LMOVE #pickb
TWAIT 1
SIGNAL 1
SPEED 20
LAPPRO #pickb,500
LMOVE pointb3
SPEED 40
LMOVE pointb4
LMOVE pointb5
SPEED 50
LMOVE waitplace
TWAIT 1
CALL correct
LMOVE waitpoint2;放件等待点
POINT #placefront = SHIFT(placepoint BY 200*(rb-1),0,80)
LMOVE #placefront;放件上方点
SPEED 10
POINT #place = SHIFT(placepoint BY 200*(rb-1),0,0)
LMOVE #place;放件点
TWAIT 1
SIGNAL -1
SPEED 20
LAPPRO #place,120
LMOVE point30
rb = rb+1
IF rb<=5 THEN
GOTO 100
ELSE
GOTO 200
200 rb = 1
END
PULSE 51,1.5
HOME
.END
.PROGRAM correct()#0
LMOVE waitplace
SPEED 20
LMOVE p1acepoint
TWAIT 1
SWAIT 1004
SIGNAL -1
LMOVE point06
LMOVE point6
SPEED 40
LMOVE point7
SPEED 80
LMOVE point8
LMOVE #pick2
TWAIT 1
SIGNAL 1
SWAIT 1001,1002,1003
LMOVE point9
LMOVE point10
LMOVE point12
LMOVE point14
.END
.PROGRAM home()#0
HOME
.END
.PROGRAM main()#0
CALL home
CALL pg30
.END
.PROGRAM pg10()#2
HOME
SWAIT 39
RESET
ra = 1
100 HOME
JMOVE point0
LMOVE point1
LMOVE point2
LMOVE waitpoint
POINT #pickfront = SHIFT(pickpoint BY 0,200.5*(ra-1),500)
LMOVE #pickfront
SPEED 10
POINT #picka = SHIFT(pickpoint BY 0,200*(ra-1),0)
LMOVE #picka
TWAIT 1
SIGNAL 1
SPEED 20
LAPPRO #picka,500
LMOVE point3
SPEED 40
LMOVE point4
LMOVE point5
SPEED 50
LMOVE waitplace
TWAIT 1
ra = ra+1
IF ra<=5 THEN
GOTO 100
ELSE
GOTO 200
200 ra = 1
END
PULSE 51,1.5
HOME
.END