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Program
Program
TPErase;
SetDO DO_CLOSE_GRIPPER,0;
MoveJ Home_position,v1000,fine,Gripper_vakuum;
PulseDO\PLength:=0.5,DO_POKRENI_TRAKU;
WaitDI DI_KUTIJA_SPREMNA,1;
SetDO DO_POKRENI_TRAKU,0;
MoveJ offs(Tacka_na_kutiji_10,0,0,300),v1000,z50,Gripper_vakuum\WObj:=wobj0;
MoveL Tacka_na_kutiji_10,v150,fine,Gripper_vakuum;
WaitTime 1;
SetDO DO_CLOSE_GRIPPER,1;
waitDI DI_close_gripper,1;
!Ostavljanje kutije
TEST brojac
CASE 1,2,3:
OffsX:=(brojac-1)*150;
Offsy:=0;
OffsZ:=0;
CASE 4,5,6:
OffsX:=(brojac-4)*150;
OffsY:=125;
OffsZ:=0;
CASE 7,8,9:
OffsX:=(brojac-7)*150;
OffsY:=250;
OffsZ:=0;
CASE 10,11,12:
OffsX:=(brojac-10)*150;
OffsY:=375;
OffsZ:=0;
DEFAULT:
GOTO Kraj;
ENDTEST
MoveL offs(Tacka_na_kutiji_10,0,0,300),v300,z50,Gripper_vakuum;
MoveJ offs(Tacka_na_stolu_10,0,0,300),v1000,z50,Gripper_vakuum\WObj:=wobj0;
MoveL Offs(Tacka_na_stolu_10,OffsX,OffsY,OffsZ),v150,fine,Gripper_vakuum;
WaitTime 1;
SetDO DO_CLOSE_GRIPPER,0;
waitDI DI_close_gripper,0;
MoveLDO offs(Tacka_na_stolu_10,OffsX,OffsY,OffsZ+300),v300,z50,Gripper_vakuum,
DO_POKRENI_TRAKU,1;
MoveJ offs(Tacka_na_kutiji_10,0,0,300),v1000,z50,Gripper_vakuum\WObj:=wobj0;
TPWrite "Kutija";
ENDFOR
Kraj:
MoveAbsJ [[0,0,0,0,0,0],[9E09,9E09,9E09,9E09,9E09,9E09]],v1000,fine,Gripper_vakuum;
ENDPROC