三菱机器人程序.doc

/定义输入/Def Io in0=Bit,0Def Io in1=Bit,1Def Io in3=Bit,3Def Io in4=Bit,4Def Io in5=Bit,5Def Io in6=Bit,6Def Io in7=Bit,7Def Io in8=Bit,8Def Io in9=Bit,9Def Io in10=Bit,10Def Io in11=Bit,11Def Io in12=Bit,12Def Io in13=Bit,13Def Io in14=Bit,14Def Io in15=Bit,15/定义/输出/Def Io out0=Bit,0Def Io out1=Bit,1Def Io out3=Bit,3Def Io out4=Bit,4Def Io out5=Bit,5Def Io out6=Bit,6Def Io out7=Bit,7Def Io out8=Bit,8Def Io out9=Bit,9Def Io out10=Bit,10Def Io out11=Bit,11Def Io out12=Bit,12Def Io out13=Bit,13Def Io out14=Bit,14Def Io out15=Bit,15/定义变量/Def Jnt jyd 定义安全点Def Plt 1,p11,p17,p71,p77,4,4,1 定义托盘点j1=(+1.11,-60.00,+145.00,+0.00,+0.00,+86.61)jyd=(+0.00,-60.00,+145.00,+0.00,+0.00,-90.00)p0=(+0.00,+0.00,+20.00,+0.00,+0.00,+0.00)(0,0)p200=(+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)p201=(+0.00,+0.00,+150.00,+0.00,+0.00,+0.00)(0,0)p202=(+0.00,+135.00 ,+0.00,+0.00,+0.00,+0.00)(0,0)p203=(+0.00,+0.00,+60.00,+0.00,+0.00,+0.00)(0,0)p204=(+0.00,+20.00,+0.00,+0.00,+0.00,+0.00)(0,0)/托盘点/p12=p11p21=p11p22=p11p12.Y=p11.Y+12p21.X=p11.X+12p22.X=p11.X+12p22.Y=p11.Y+12p15=(Plt 1,3)p16=p15p25=p15p26=p15p16.Y=p15.Y+12p25.X=p15.X+12p26.X=p15.X+12p26.Y=p15.Y+12p31=(Plt 1,8)p32=p31p41=p31p42=p31p32.Y=p31.Y+12p41.X=p31.X+12p42.X=p31.X+12p42.Y=p31.Y+12p35=(Plt 1,6)p36=p35p45=p35p46=p35p36.Y=p35.Y+12p45.X=p35.X+12p46.X=p35.X+12p46.Y=p35.Y+12p51=(Plt 1,9)p52=p51p61=p51p62=p51p52.Y=p51.Y+12p61.X=p51.X+12p62.X=p51.X+12p62.Y=p51.Y+12p55=(Plt 1,11)p56=p55p65=p55p66=p55p56.Y=p55.Y+12p65.X=p55.X+12p66.X=p55.X+12p66.Y=p55.Y+12p75=(Plt 1,14)p76=p75p85=p75p86=p75p76.Y=p75.Y+12p85.X=p75.X+12p86.X=p75.X+12p86.Y=p75.Y+12p72=p71p81=p71p82=p71p72.Y=p71.Y+12p81.X=p71.X+12p82.X=p71.X+12p81.Y=p71.Y+12/判断/If M_In(9)=1 And M_In(10)=0 Then 判断3个夹具是否在原位If M_In(11)=0 And M_In(13)=0 Then GoSub *fw 程序fwEndIfEndIfIf M_In(9)=1 And M_In(10)=1 Then 判断1夹具是否在原位If M_In(11)=0 And M_In(13)=0 ThenGoSub *fw1 夹具1复位EndIfEndIfIf M_In(9)=1 And M_In(10)=0 Then 判断夹具2是否在原位If M_In(11)=1 And M_In(13)=0 ThenGoSub *fw2 夹具2复位EndIfEndIfIf M_In(9)=1 And M_In(10)=0 Then 判断夹具3是否在原位If M_In(11)=0 And M_In(13)=1 ThenGoSub *fw3 夹具3复位EndIfEndIfIf M_05#3 Thenout14=1M_05#=0EndIfIf M_In(6)=1 And M_05#=0 ThenGoSub *ks1 一次装机EndIfIf M_In(6)=1 And M_05#=1 ThenGoSub *ks2 二次装机EndIfIf M_In(6)=1 And M_05#=2 ThenGoSub *ks3 三次装机EndIfIf M_In(6)=1 And M_05#=3 ThenGoSub *ks4 四次装机EndIfEnd/复位程序/*fw 程序复位Ovrd 80j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Mov j1Mov jydout5=1m_outb(6)=0 将输出信号6-13的8个位关闭M_00#=0M_05#=0M_01#=0Return /复位1/*fw1Ovrd 70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Mov j1Mov jydout12=0out13=0Mov p1Mov p23ovrd 50Spd 400Mvs p20-p204Mvs p20Dly 0.2out11=1Dly 0.2Mvs p20+p203out11=0GoSub *fw4Return / 复位2/*fw2Ovrd 70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Mov j1Mov jydout12=0out13=0ovrd 50Mov p40+p201Spd 400Mvs p40Dly 0.2out11=1Dly 0.2Mvs p40+p203out11=0GoSub *fw4Return /复位3/*fw3Ovrd 70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Mov j1Mov jydout12=1out13=0Mov p5out12=0ovrd 51Mov p2Spd 600Mvs p33Mvs p30+p200Mvs p30Dly 0.2out11=1Dly 0.2Mvs p30+p203out11=0M_05#=M_05#+1If M_In(6)=0 Then GoTo *fw4Return /正常复位/*fw4Ovrd 50j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Mov j1Mov jydout11=0out12=0out13=0out15=0out7=0out6=0out14=0Return/取夹具1/*jj1Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Ovrd 50Mov p20+p201Spd 700Mov p20+p203Spd 300out11=1Mvs p20Dly 0.2out11=0Dly 0.2Mvs p20+p200p23=P_CurrMvs p23-p204p23=P_CurrMvs p23+p201p23=P_CurrReturn/取夹具2/*jj2Spd 400Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Mvs p40+p203out11=1Mvs p40Dly 0.2out11=0Dly 0.2Spd 600Mvs p40+p201Mvs p210+p203Spd 400Mvs p210out13=1Mvs p221Mvr p221,p220,p219Mvs p218Mvr p218,p217,p216Mvs p215Mvr p215,p214,p213Mvs p212Mvr p212,p211,p210out13=0out6=1Spd 600Mvs p210+p201out6=0Mvs p40+p201Spd 400Mvs p40Dly 0.2out11=1Dly 0.2Mvs p40+p203out6=1Dly 0.2out6=0Return/取夹具3/*jj3Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Spd 400Mvs p30+p203out11=1Spd 300Mvs p30Dly 0.2out11=0Dly 0.2Spd 400Mvs p30+p200p33=P_CurrMvs p33-p202p33=P_CurrMvs p33+p201Return/去取盖/*qgOvrd 50Mov p5Mov p5Mov p7Wait M_In(7)=1out12=1out13=0Mov p8+p0out12=0Spd 200Mvs p8Dly 0.2out13=1Dly 0.2out15=1Dly 0.5/入仓库/If M_In(8)=1 Then GoTo *ck2 Else GoTo *ck1 判断颜色Return*ck2 /白色盖GoSub *jgOvrd 40Mov p231+p201Spd 200If M_In(15)=1 And M_00#3 Thenout10=1Wait M_Out(10)=0M_00#=0EndIfIf M_00#=0 Then 第一层If M_In(15)=1 ThenMov p6EndIfWait M_In(15)=0Mov p231+p201Spd 200Mvs p231EndIfIf M_In(15)=1 And M_00#=1 Then 第二层Mvs p231+p0EndIfIf M_In(15)=1 And M_00#=2 Then 第三层Mvs p231+p203EndIfIf M_In(15)=1 And M_00#=3 Then 第四层Mvs p231+p203+p0EndIfDly 0.2out13=0out12=1Mvs p231+p201out8=1 入库完成GoSub *fw3out8=0M_00#=M_00#+1Return*ck1 /黑色盖GoSub *jgOvrd 40Mov p240+p201Spd 200If M_In(14)=1 And M_01#3 Thenout9=1Wait M_Out(9)=0M_01#=0EndIfIf M_01#=0 Then 第一层If M_In(14)=1 ThenMov p6EndIfWait M_In(14)=0Mov p240+p201Spd 200Mvs p240EndIfIf M_In(14)=1 And M_01#=1 Then 第二层Mvs p240+p0EndIfIf M_In(14)=1 And M_01#=2 Then 第三层Mvs p240+p203EndIfIf M_In(14)=1 And M_01#=3 Then 第四层Mvs p240+p203+p0EndIfDly 0.2out13=0out12=1Mvs p240+p201out8=1 入库完成GoSub *fw3out8=0M_01#=M_01#+1Return/去加盖/*jgMvs p8+p203Ovrd 50Mov p7Mov p6Mov p9Mov p10+p0Spd 200Mvs p10Dly 0.2out7=1Dly 0.2 out7=0Mvs p10+p0Ovrd 50Mov p9Mov p6Return/一次装机/*ks1out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1/装1和2键/Ovrd 50Mov p3Ovrd 70Mov p11+p0Spd 200Mvs p11out12=1out13=1Dly 0.2Ovrd 70Mvs p11+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly 0.2out13=0Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2out12=0Ovrd 70Mvs p103+p0Mov p3/ 装3和*键/Mov p15+p0Spd 200Mvs p15out12=1out13=1Dly 0.2Ovrd 70Mvs p15+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2out12=0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2out13=0Ovrd 70Mvs p106+p0Mov p3/ 装4和5键/Mov p31+p0Spd 200Mvs p31out12=1out13=1Dly 0.2Ovrd 70Mvs p31+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2out13=0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2out12=0Ovrd 70Mvs p107+p0Mov p3/ 装6和0键/Mov p35+p0Spd 200Mvs p35out12=1out13=1Dly 0.2Ovrd 70Mvs p35+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2out12=0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2out13=0Ovrd 70Mvs p110+p0Mov p3/ 装7和8键/Mov p51+p0Spd 200Mvs p51out12=1out13=1Dly 0.2Ovrd 70Mvs p51+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2out13=0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2out12=0Ovrd 70Mvs p111+p0Mov p3/装9键/Mov p55+p0Spd 200Mvs p55out12=1Dly 0.2Ovrd 70Mvs p55+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2out12=0Ovrd 70Mvs p113+p0Mov p3/#和接听键/Mov p71+p0Spd 200Mvs p71out12=1out13=1Dly 0.2Ovrd 70Mvs p71+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2out12=0Mvs p114+p0Mvs p100+p0Mvs p100Dly 0.2out13=0Ovrd 70Mvs p100+p0Mov p3/装挂机键/Mov p75+p0Spd 200Mvs p75out12=1Dly 0.2Ovrd 70Mvs p75+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2out12=0Ovrd 70Mvs p102+p0Mov p3/装方向键/Mov p50+p0Spd 200Mvs p50out12=1Dly 0.2Ovrd 70Mvs p50+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly 0.2out12=0Ovrd 70Mvs p101+p203out6=1/放回夹具1/Ovrd 50Mov p23Spd 450Mvs p20-p204out6=0Spd 400Mvs p20Dly 0.2out11=1Dly 0.2Mvs p20+p203out6=1Dly 0.2out6=0GoSub *jj2GoSub *jj3GoSub *qgReturn/二次装机/*ks2out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1/装1和2键/Ovrd 50Mov p3Ovrd 70Mov p12+p0Spd 200Mvs p12out12=1out13=1Dly 0.2Ovrd 70Mvs p12+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly 0.2out13=0Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2out12=0Ovrd 70Mvs p103+p0Mov p3/ 装3和*键/Mov p16+p0Spd 200Mvs p16out12=1out13=1Dly 0.2Ovrd 70Mvs p16+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2out12=0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2out13=0Ovrd 70Mvs p106+p0Mov p3/ 装4和5键/Mov p32+p0Spd 200Mvs p32out12=1out13=1Dly 0.2Ovrd 70Mvs p32+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2out13=0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2out12=0Ovrd 70Mvs p107+p0Mov p3/ 装6和0键/Mov p36+p0Spd 200Mvs p36out12=1out13=1Dly 0.2Ovrd 70Mvs p36+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2out12=0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2out13=0Ovrd 70Mvs p110+p0Mov p3/ 装7和8键/Mov p52+p0Spd 200Mvs p52out12=1out13=1Dly 0.2Ovrd 70Mvs p52+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2out13=0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2out12=0Ovrd 70Mvs p111+p0Mov p3/装9键/Mov p56+p0Spd 200Mvs p56out12=1Dly 0.2Ovrd 70Mvs p56+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2out12=0Ovrd 70Mvs p113+p0Mov p3/#和接听键/Mov p72+p0Spd 200Mvs p72out12=1out13=1Dly 0.2Ovrd 70Mvs p72+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2out12=0Mvs p114+p0Mvs p100+p0Mvs p100Dly 0.2out13=0Ovrd 70Mvs p100+p0Mov p3/装挂机键/Mov p76+p0Spd 200Mvs p76out12=1Dly 0.2Ovrd 70Mvs p76+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2out12=0Ovrd 70Mvs p102+p0Mov p3/装方向键/Mov p60+p0Spd 200Mvs p60out12=1Dly 0.2Ovrd 70Mvs p60+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly 0.2out12=0Ovrd 70Mvs p101+p203out6=1/放回夹具1/Ovrd 50Mov p23Spd 450Mvs p20-p204out6=0Spd 400Mvs p20Dly 0.2out11=1Dly 0.2Mvs p20+p203out6=1Dly 0.2out6=0GoSub *jj2GoSub *jj3GoSub *qgReturn/三次装机/*ks3out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1/装1和2键/Ovrd 50Mov p3Ovrd 70Mov p21+p0Spd 200Mvs p21out12=1out13=1Dly 0.2Ovrd 70Mvs p21+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly 0.2out13=0Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2out12=0Ovrd 70Mvs p103+p0Mov p3/ 装3和*键/Mov p25+p0Spd 200Mvs p25out12=1out13=1Dly 0.2Ovrd 70Mvs p25+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2out12=0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2out13=0Ovrd 70Mvs p106+p0Mov p3/ 装4和5键/Mov p41+p0Spd 200Mvs p41out12=1out13=1Dly 0.2Ovrd 70Mvs p41+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2out13=0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2out12=0Ovrd 70Mvs p107+p0Mov p3/ 装6和0键/Mov p45+p0Spd 200Mvs p45out12=1out13=1Dly 0.2Ovrd 70Mvs p45+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2out12=0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2out13=0Ovrd 70Mvs p110+p0Mov p3/ 装7和8键/Mov p61+p0Spd 200Mvs p61out12=1out13=1Dly 0.2Ovrd 70Mvs p61+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2out13=0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2out12=0Ovrd 70Mvs p111+p0Mov p3/装9键/Mov p65+p0Spd 200Mvs p65out12=1Dly 0.2Ovrd 70Mvs p65+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2out12=0Ovrd 70Mvs p113+p0Mov p3/#和接听键/Mov p81+p0Spd 200Mvs p81out12=1out13=1Dly 0.2Ovrd 70Mvs p81+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2out12=0Mvs p114+p0Mvs p100+p0Mvs p100Dly 0.2out13=0Ovrd 70Mvs p100+p0Mov p3/装挂机键/Mov p85+p0Spd 200Mvs p85out12=1Dly 0.2Ovrd 70Mvs p85+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2out12=0Ovrd 70Mvs p102+p0Mov p3/装方向键/Mov p70+p0Spd 200Mvs p70out12=1Dly 0.2Ovrd 70Mvs p70+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly 0.2out12=0Ovrd 70Mvs p101+p203out6=1/放回夹具1/Ovrd 50Mov p23Spd 450Mvs p20-p204out6=0Spd 400Mvs p20Dly 0.2out11=1Dly 0.2Mvs p20+p203out6=1Dly 0.2out6=0GoSub *jj2GoSub *jj3GoSub *qgReturn/四次装机/*ks4out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1/装1和2键/Ovrd 50Mov p3Ovrd 70Mov p22+p0Spd 200Mvs p22out12=1out13=1Dly 0.2Ovrd 70Mvs p22+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly 0.2out13=0Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2out12=0Ovrd 70Mvs p103+p0Mov p3/ 装3和*键/Mov p26+p0Spd 200Mvs p26out12=1out13=1Dly 0.2Ovrd 70Mvs p26+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2out12=0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2out13=0Ovrd 70Mvs p106+p0Mov p3/ 装4和5键/Mov p42+p0Spd 200Mvs p42out12=1out13=1Dly 0.2Ovrd 70Mvs p42+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2out13=0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2out12=0Ovrd 70Mvs p107+p0Mov p3/ 装6和0键/Mov p46+p0Spd 200Mvs p46out12=1out13=1Dly 0.2Ovrd 70Mvs p46+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2out12=0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2out13=0Ovrd 70Mvs p110+p0Mov p3/ 装7和8键/Mov p62+p0Spd 200Mvs p62out12=1out13=1Dly 0.2Ovrd 70Mvs p62+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2out13=0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2out12=0Ovrd 70Mvs p111+p0Mov p3/装9键/Mov p66+p0Spd 200Mvs p66out12=1Dly 0.2Ovrd 70Mvs p66+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2out12=0Ovrd 70Mvs p113+p0Mov p3/#和接听键/Mov p82+p0Spd 200Mvs p82out12=1out13=1Dly 0.2Ovrd 70Mvs p82+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2out12=0Mvs p114+p0Mvs p100+p0Mvs p100Dly 0.2out13=0Ovrd 70Mvs p100+p0Mov p3/装挂机键/Mov p86+p0Spd 200Mvs p86out12=1Dly 0.2Ovrd 70Mvs p86+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2out12=0Ovrd 70Mvs p102+p0Mov p3/装方向键/Mov p80+p0Spd 200Mvs p80out12=1Dly 0.2Ovrd 70Mvs p80+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly 0.2out12=0Ovrd 70Mvs p101+p203out14=1out6=1/放回夹具1/Ovrd 50Mov p23Spd 450Mvs p20-p204out14=0out6=0Spd 400Mvs p20Dly 0.2out11=1Dly 0.2Mvs p20+p203out6=1Dly 0.2out6=0GoSub *jj2GoSub *jj3GoSub *qgReturnp0=(0.000,0.000,20.000,0.000,0.000,0.000)(0,0)p1=(88.400,177.780,361.570,-179.190,0.050,91.490)(7,15728640)p2=(-154.670,138.600,418.830,177.240,-2.220,93.990)(7,0)p3=(224.200,54.510,338.440,-179.710,-0.010,36.290)(7,15728640)p5=(