码垛案例分析.docx

1码垛工作站案例分析1、IO 单元信号定义 DSQC652 IO 单元2、系统信号的关联3、程序数据PERS wobjdata WobjPallet_L:=FALSE,TRUE,-456.216,-2058.49,-233.373,1,0,0,0,0,0,0,1,0,0,0;PERS wobjdata WobjPallet_R:=FALSE,TRUE,-421.764,1102.39,-233.373,1,0,0,0,0,0,0,1,0,0,0;PERS tooldata tGripper:=TRUE,0,0,527,1,0,0,0,20,0,0,150,1,0,0,0,0,0,0;PERS loaddata LoadFull:=20,0,0,300,1,0,0,0,0,0,0.1;PERS wobjdata CurWobj;PERS jointtarget jposHome:=0,0,0,0,0,0,9E+09,9E+09,