Wenn du deine Module hier zeigen würdest wäre einfacher.
Die Module sind Standard-Palettierassistenten von UR.
Ich poste das ganze Programm:
def aaa():
while (True):
Schleife_1 = 0
while (Schleife_1 < 12):
$ 3 "Palettieren"
Pose_2 = interpolate_pose(p[.120426602016, -.440190251002, .286110081682, -3.123016443266, .027484417219, -.070240871091],p[.120534394730, -.689790352592, .286686032829, -3.122986450373, .027238983624, -.070339493798], cnt_2/2.0)
if (cnt_2 >= 2):
cnt_2 = 0
else:
cnt_2 = cnt_2 + 1
end
$ 8 "Herangehenswe_1"
movel(pose_trans(Pose_2, pose_trans(pose_inv(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385]),p[.120564436728, -.440200240257, .316955698222, -3.123079966487, .027199925276, -.070461069086])), a=1.2, v=0.25)
$ 9 "MusterPunkt_1"
movel(Pose_2, a=1.2, v=0.25)
$ 10 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 11 "Warten: 1.0"
sleep(1.0)
$ 12 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 13 "Beenden_1"
movel(pose_trans(Pose_2, pose_trans(pose_inv(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385]),p[.120575110647, -.440204134012, .316936531329, -3.123023042021, .027238961937, -.070426741584])), a=1.2, v=0.25)
Schleife_1 = Schleife_1 + 1
end
$ 14 "Schleife 3 Mal"
Schleife_2 = 0
while (Schleife_2 < 12):
$ 15 "offset?p[0,0,0.1,0,0,0]"
global offset=p[0,0,0.1,0,0,0]
$ 16 "x?pose_add(Herangehenswe_1,offset)"
global x=pose_add(p[.120564436728, -.440200240257, .316955698222, -3.123079966487, .027199925276, -.070461069086],offset)
$ 17 "y?pose_add(MusterPunkt_1,offset)"
global y=pose_add(p[.120439458377, -.440207460590, .286127914811, -3.123050206445, .027389459666, -.070230175385],offset)
$ 18 "z?pose_add(Beenden_1,offset)"
global z=pose_add(p[.120575110647, -.440204134012, .316936531329, -3.123023042021, .027238961937, -.070426741584],offset)
$ 19 "Palettieren"
Pose_3 = interpolate_pose(p[.120446975294, -.440174300163, .386105743017, -3.122987072271, .027180023431, -.070180129829],p[.120412846630, -.689779079141, .407124937411, -3.123039817541, .027413468209, -.070154413182], cnt_3/2.0)
if (cnt_3 >= 2):
cnt_3 = 0
else:
cnt_3 = cnt_3 + 1
end
$ 24 "x"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], x), a=1.2, v=0.25)
$ 25 "y"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], y), a=1.2, v=0.25)
$ 26 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 27 "Warten: 1.0"
sleep(1.0)
$ 28 "Einstellen DO[0]=Ein"
set_standard_digital_out(0, True)
$ 29 "z"
movel(pose_trans(p[0.0,0.0,0.0,0.0,0.0,0.0], z), a=1.2, v=0.25)
Schleife_2 = Schleife_2 + 1
end
end