Fanuc机器人2x2码垛程序示例 - 300x200x100毫米箱子

下面是一个使用Fanuc机器人编写的2x2码垛程序示例：

1: PROGRAM Palletizing
2:  DEF Palletizing()
3:  CONST INT BOX_WIDTH = 300
4:  CONST INT BOX_LENGTH = 200
5:  CONST INT BOX_HEIGHT = 100
6:  CONST INT PALLET_X = 1000
7:  CONST INT PALLET_Y = 1000
8:  CONST INT PALLET_Z = 500
9:  CONST INT PALLET_OFFSET_X = 50
10: CONST INT PALLET_OFFSET_Y = 50
11: CONST INT PALLET_OFFSET_Z = 100
12:
13:  PALLET POS1[2,2,3]
14:  POS1[1,1,1] = {PALLET_X, PALLET_Y, PALLET_Z}
15:  POS1[1,2,1] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y, PALLET_Z}
16:  POS1[2,1,1] = {PALLET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z}
17:  POS1[2,2,1] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z}
18:  POS1[1,1,2] = {PALLET_X, PALLET_Y, PALLET_Z + BOX_HEIGHT + PALLET_OFFSET_Z}
19:  POS1[1,2,2] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y, PALLET_Z + BOX_HEIGHT + PALLET_OFFSET_Z}
20:  POS1[2,1,2] = {PALLET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z + BOX_HEIGHT + PALLET_OFFSET_Z}
21:  POS1[2,2,2] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z + BOX_HEIGHT + PALLET_OFFSET_Z}
22:  POS1[1,1,3] = {PALLET_X, PALLET_Y, PALLET_Z + 2 * (BOX_HEIGHT + PALLET_OFFSET_Z)}
23:  POS1[1,2,3] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y, PALLET_Z + 2 * (BOX_HEIGHT + PALLET_OFFSET_Z)}
24:  POS1[2,1,3] = {PALLET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z + 2 * (BOX_HEIGHT + PALLET_OFFSET_Z)}
25:  POS1[2,2,3] = {PALLET_X + BOX_WIDTH + PALLET_OFFSET_X, PALLET_Y + BOX_LENGTH + PALLET_OFFSET_Y, PALLET_Z + 2 * (BOX_HEIGHT + PALLET_OFFSET_Z)}
26:
27:  MOVE L POS1[1,1,1] ; Move to position 1
28:  WAIT SEC 1 ; Wait for 1 second
29:  MOVE L POS1[1,2,1] ; Move to position 2
30:  WAIT SEC 1 ; Wait for 1 second
31:  MOVE L POS1[2,1,1] ; Move to position 3
32:  WAIT SEC 1 ; Wait for 1 second
33:  MOVE L POS1[2,2,1] ; Move to position 4
34:  WAIT SEC 1 ; Wait for 1 second
35:  MOVE L POS1[1,1,2] ; Move to position 5
36:  WAIT SEC 1 ; Wait for 1 second
37:  MOVE L POS1[1,2,2] ; Move to position 6
38:  WAIT SEC 1 ; Wait for 1 second
39:  MOVE L POS1[2,1,2] ; Move to position 7
40:  WAIT SEC 1 ; Wait for 1 second
41:  MOVE L POS1[2,2,2] ; Move to position 8
42:  WAIT SEC 1 ; Wait for 1 second
43:  MOVE L POS1[1,1,3] ; Move to position 9
44:  WAIT SEC 1 ; Wait for 1 second
45:  MOVE L POS1[1,2,3] ; Move to position 10
46:  WAIT SEC 1 ; Wait for 1 second
47:  MOVE L POS1[2,1,3] ; Move to position 11
48:  WAIT SEC 1 ; Wait for 1 second
49:  MOVE L POS1[2,2,3] ; Move to position 12
50:  END Palletizing

该程序首先定义了箱子的尺寸和堆垛位置的常量。然后，通过一个3x4的数组'POS1'定义了12个堆垛位置。每个位置包括X、Y、Z坐标。在程序的主体部分，机器人按顺序移动到每个堆垛位置，并等待1秒。你可以根据实际情况进行调整和修改。