自动焊台v0.1

背景：机器人+焊台
工艺：A点上方→A点→A点焊接→A点上方→B点上方→B点→B点焊接→B点上方→0点上方→0点→0点上方→终点
I/O：DIO(s2001)

'Created: 4/21/2020 4:41:28 PM
Module GPLDim count As IntegerPublic Sub MAIN#Region recipe1While Signal.DIO(s2001)==True                       'recipe1For count=1 To 10                         'loop 10 timesWhile Signal.DIO(s2002)=1             'startMove.Approach(point1,speed1)      'point1 upwardMove.Loc(point1,speed2)               'point1 locationSignal.DIO(s2003)=True                'send message "point1 ready"Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"Signal.DIO(s2003)=False                'send message "move to next point"Signal.DIO(s2004)=False                'send message "move to next point"Move.Approach(point1,speed2)Move.Approach(point2,speed1)Move.Loc(point2,speed2)Signal.DIO(s2003)=True                'send message "point2 ready"Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"Signal.DIO(s2003)=False                'send message "move to next point"Signal.DIO(s2004)=False                'send message "move to next point"Move.Approach(point2,speed2)End WhileEnd ForMove.Approach(point1,speed1)      'point0 upwardMove.Loc(point1,speed2)               'point0 locationSignal.DIO(s2005)=True                'send message "blush ready"Move.Trigger(Signal.DIO(s2006)==True) 'wait for "blush done"Signal.DIO(s2005)=False                'send message "move to next point"Signal.DIO(s2006)=False                'send message "move to next point"End While#End Region#Region recipe2While Signal.DIO(s2011)==True                       'recipe2For count=1 To 10                         'loop 10 timesWhile Signal.DIO(s2002)=1             'startMove.Approach(point1,speed1)      'point1 upwardMove.Loc(point1,speed2)               'point1 locationSignal.DIO(s2003)=True                'send message "point1 ready"Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"Signal.DIO(s2003)=False                'send message "move to next point"Signal.DIO(s2004)=False                'send message "move to next point"Move.Approach(point1,speed2)Move.Approach(point2,speed1)Move.Loc(point2,speed2)Signal.DIO(s2003)=True                'send message "point2 ready"Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"Signal.DIO(s2003)=False                'send message "move to next point"Signal.DIO(s2004)=False                'send message "move to next point"Move.Approach(point2,speed2)End WhileEnd ForMove.Approach(point1,speed1)      'point0 upwardMove.Loc(point1,speed2)               'point0 locationSignal.DIO(s2005)=True                'send message "blush ready"Move.Trigger(Signal.DIO(s2006)==True) 'wait for "blush done"Signal.DIO(s2005)=False                'send message "move to next point"Signal.DIO(s2006)=False                'send message "move to next point"End While#End RegionEnd Sub 
End Module

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