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    Jhonathan Bispo
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    The document defines a JengaSort module that sorts Jenga blocks into different bins. It contains constants for the home, pickup, and bin target poses. The main procedure continuously checks availability signals and calls the appropriate sorting path procedure. These procedures move the robot arm to pickup a block, move it to the corresponding bin target, and let go before returning home.

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    The document defines a JengaSort module that sorts Jenga blocks into different bins. It contains constants for the home, pickup, and bin target poses. The main procedure continuously checks availability signals and calls the appropriate sorting path procedure. These procedures move the robot arm to pickup a block, move it to the corresponding bin target, and let go before returning home.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    18 views2 pages

    RAPID CODE Example

    Uploaded by

    Jhonathan Bispo
    The document defines a JengaSort module that sorts Jenga blocks into different bins. It contains constants for the home, pickup, and bin target poses. The main procedure continuously checks availability signals and calls the appropriate sorting path procedure. These procedures move the robot arm to pickup a block, move it to the corresponding bin target, and let go before returning home.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 2

    MODULE JengaSort

    CONST robtarget Home_pose:=[[610.188859061,312.437612874,382.505978451],


    [0.708357249,-0.00186533,-0.001871958,-0.705849151],[0,0,0,0],
    [9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget PickupBlockTarget:=[[412.75,101.6,91.44],[1,0,0,0],[-1,0,-2,0],
    [9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Bin_Target_10:=[[1079.5,241.3,208.2],[1,0,0,0],[0,-1,-1,0],
    [9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Bin_Target_20:=[[1079.5,381,208.2],[1,0,0,0],[0,-1,-1,0],
    [9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Bin_Target_30:=[[1079.5,520.7,208.2],[1,0,0,0],[1,-1,0,0],
    [9E9,9E9,9E9,9E9,9E9,9E9]];
    PROC main()
    ConfL \Off;

    WHILE TRUE DO
    SetDO Ready,1;
    IF P1Avil = 1 THEN
    SetDO Ready,0;
    JengaBlock1SortPath;
    WHILE P1Avil = 1 DO
    ENDWHILE
    ENDIF
    IF P2Avil = 1 THEN
    SetDO Ready,0;
    JengaBlock2SortPath;
    WHILE P2Avil = 1 DO
    ENDWHILE
    ENDIF
    IF P3Avil = 1 THEN
    SetDO Ready,0;
    JengaBlock3SortPath;
    WHILE P3Avil = 1 DO
    ENDWHILE
    ENDIF
    ENDWHILE
    ENDPROC
    PROC Letgo()
    SetDO Vacuum,0;
    SetDO Release,1;
    WaitDI VacSense,1;
    SetDO Release,0;
    ENDPROC
    PROC Pickup()
    SetDO Vacuum,1;
    SetDO Release,0;
    WaitDI VacSense,0;
    SetDO Release,0;
    ENDPROC
    PROC JengaBlock1SortPath()
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    MoveL PickupBlockTarget,v200,fine,Hull_EndEffector\WObj:=Table;
    Pickup;
    MoveL Bin_Target_10,v200,fine,Hull_EndEffector\WObj:=Table;
    Letgo;

    Page 1 of 2
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    ENDPROC
    PROC JengaBlock2SortPath()
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    MoveL PickupBlockTarget,v200,fine,Hull_EndEffector\WObj:=Table;
    Pickup;
    MoveL Bin_Target_20,v200,fine,Hull_EndEffector\WObj:=Table;
    Letgo;
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    ENDPROC
    PROC JengaBlock3SortPath()
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    MoveL PickupBlockTarget,v200,fine,Hull_EndEffector\WObj:=Table;
    Pickup;
    MoveL Bin_Target_30,v200,fine,Hull_EndEffector\WObj:=Table;
    Letgo;
    MoveL Home_pose,v200,fine,Hull_EndEffector\WObj:=Table;
    ENDPROC

    ENDMODULE

    Page 2 of 2

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