三菱机器人程序.doc

'//////////////定义输入////////////
Def Io in0=Bit,0
Def Io in1=Bit,1
Def Io in3=Bit,3
Def Io in4=Bit,4
Def Io in5=Bit,5
Def Io in6=Bit,6
Def Io in7=Bit,7
Def Io in8=Bit,8
Def Io in9=Bit,9
Def Io in10=Bit,10
Def Io in11=Bit,11
Def Io in12=Bit,12
Def Io in13=Bit,13
Def Io in14=Bit,14
Def Io in15=Bit,15
'///////////////定义/输出//////////
Def Io out0=Bit,0
Def Io out1=Bit,1
Def Io out3=Bit,3
Def Io out4=Bit,4
Def Io out5=Bit,5
Def Io out6=Bit,6
Def Io out7=Bit,7
Def Io out8=Bit,8
Def Io out9=Bit,9
Def Io out10=Bit,10
Def Io out11=Bit,11
Def Io out12=Bit,12
Def Io out13=Bit,13
Def Io out14=Bit,14
Def 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=p11
p21=p11
p22=p11
p12.Y=p11.Y+12
p21.X=p11.X+12
p22.X=p11.X+12
p22.Y=p11.Y+12
p15=(Plt 1,3)
p16=p15
p25=p15
p26=p15
p16.Y=p15.Y+12
p25.X=p15.X+12
p26.X=p15.X+12
p26.Y=p15.Y+12
p31=(Plt 1,8)
p32=p31
p41=p31
p42=p31
p32.Y=p31.Y+12
p41.X=p31.X+12
p42.X=p31.X+12
p42.Y=p31.Y+12
p35=(Plt 1,6)
p36=p35
p45=p35
p46=p35
p36.Y=p35.Y+12
p45.X=p35.X+12
p46.X=p35.X+12
p46.Y=p35.Y+12
p51=(Plt 1,9)
p52=p51
p61=p51
p62=p51
p52.Y=p51.Y+12
p61.X=p51.X+12
p62.X=p51.X+12
p62.Y=p51.Y+12
p55=(Plt 1,11)
p56=p55
p65=p55
p66=p55
p56.Y=p55.Y+12
p65.X=p55.X+12
p66.X=p55.X+12
p66.Y=p55.Y+12
p75=(Plt 1,14)
p76=p75
p85=p75
p86=p75
p76.Y=p75.Y+12
p85.X=p75.X+12
p86.X=p75.X+12
p86.Y=p75.Y+12
p72=p71
p81=p71
p82=p71
p72.Y=p71.Y+12
p81.X=p71.X+12
p82.X=p71.X+12
p81.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fw
EndIf
EndIf
If 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 Then
GoSub *fw1 '夹具1复位
EndIf
EndIf
If 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 Then
GoSub *fw2 '夹具2复位
EndIf
EndIf
If 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 Then
GoSub *fw3 '夹具3复位
EndIf
EndIf
If M_05#>3 Then
out14=1
M_05#=0
EndIf
If M_In(6)=1 And M_05#=0 Then
GoSub *ks1 '一次装机
EndIf
If M_In(6)=1 And M_05#=1 Then
GoSub *ks2 '二次装机
EndIf
If M_In(6)=1 And M_05#=2 Then
GoSub *ks3 '三次装机
EndIf
If M_In(6)=1 And M_05#=3 Then
GoSub *ks4 '四次装机
EndIf
End
'////////////////复位程序////////////
*fw '程序复位
Ovrd 80
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out5=1
m_outb(6)=0 '将输出信号6-13的8个位关闭
M_00#=0
M_05#=0
M_01#=0
Return '/////////////////////////////////////
'//////////////////复位1/////////////////////
*fw1
Ovrd 70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=0
out13=0
Mov p1
Mov p23
ovrd 50
Spd 400
Mvs p20-p204
Mvs p20
Dly 0.2
out11=1
Dly 0.2
Mvs p20+p203
out11=0
GoSub *fw4
Return '///////////////////////////
'/////////////////////// 复位2////////////
*fw2
Ovrd 70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=0
out13=0
ovrd 50
Mov p40+p201
Spd 400
Mvs p40
Dly 0.2
out11=1
Dly 0.2
Mvs p40+p203
out11=0
GoSub *fw4
Return '///////////////////////////
'/////////////////复位3////////////////
*fw3
Ovrd 70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=1
out13=0
Mov p5
out12=0
ovrd 51
Mov p2
Spd 600
Mvs p33
Mvs p30+p200
Mvs p30
Dly 0.2
out11=1
Dly 0.2
Mvs p30+p203
out11=0
M_05#=M_05#+1
If M_In(6)=0 Then GoTo *fw4
Return '//////////////////////////////
'///////////////////正常复位//////////
*fw4
Ovrd 50
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out11=0
out12=0
out13=0
out15=0
out7=0
out6=0
out14=0
Return
'///////////////////取夹具1///////////
*jj1
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Ovrd 50
Mov p20+p201
Spd 700
Mov p20+p203
Spd 300
out11=1
Mvs p20
Dly 0.2
out11=0
Dly 0.2
Mvs p20+p200
p23=P_Curr
Mvs p23-p204
p23=P_Curr
Mvs p23+p201
p23=P_Curr
Return
'///////////////////取夹具2//////////
*jj2
Spd 400
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Mvs p40+p203
out11=1
Mvs p40
Dly 0.2
out11=0
Dly 0.2
Spd 600
Mvs p40+p201
Mvs p210+p203
Spd 400
Mvs p210
out13=1
Mvs p221
Mvr p221,p220,p219
Mvs p218
Mvr p218,p217,p216
Mvs p215
Mvr p215,p214,p213
Mvs p212
Mvr p212,p211,p210
out13=0
out6=1
Spd 600
Mvs p210+p201
out6=0
Mvs p40+p201
Spd 400
Mvs p40
Dly 0.2
out11=1
Dly 0.2
Mvs p40+p203
out6=1
Dly 0.2
out6=0
Return
'///////////////////取夹具3//////////////////
*jj3
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Spd 400
Mvs p30+p203
out11=1
Spd 300
Mvs p30
Dly 0.2
out11=0
Dly 0.2
Spd 400
Mvs p30+p200
p33=P_Curr
Mvs p33-p202
p33=P_Curr
Mvs p33+p201
Return
'///////////////////去取盖//////////////////
*qg
Ovrd 50
Mov p5
Mov p5
Mov p7
Wait M_In(7)=1
out12=1
out13=0
Mov p8+p0
out12=0
Spd 200
Mvs p8
Dly 0.2
out13=1
Dly 0.2
out15=1
Dly 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 *jg
Ovrd 40
Mov p231+p201
Spd 200
If M_In(15)=1 And M_00#>3 Then
out10=1
Wait M_Out(10)=0
M_00#=0
EndIf
If M_00#=0 Then '第一层
If M_In(15)=1 Then
Mov p6
EndIf
Wait M_In(15)=0
Mov p231+p201
Spd 200
Mvs p231
EndIf
If M_In(15)=1 And M_00#=1 Then '第二层
Mvs p231+p0
EndIf
If M_In(15)=1 And M_00#=2 Then '第三层
Mvs p231+p203
EndIf
If M_In(15)=1 And M_00#=3 Then '第四层
Mvs p231+p203+p0
EndIf
Dly 0.2
out13=0
out12=1
Mvs p231+p201
out8=1 '入库完成
GoSub *fw3
out8=0
M_00#=M_00#+1
Return
*ck1 '///////////////////////////////////////////////黑色盖
GoSub *jg
Ovrd 40
Mov p240+p201
Spd 200
If M_In(14)=1 And M_01#>3 Then
out9=1
Wait M_Out(9)=0
M_01#=0
EndIf
If M_01#=0 Then '第一层
If M_In(14)=1 Then
Mov p6
EndIf
Wait M_In(14)=0
Mov p240+p201
Spd 200
Mvs p240
EndIf
If M_In(14)=1 And M_01#=1 Then '第二层
Mvs p240+p0
EndIf
If M_In(14)=1 And M_01#=2 Then '第三层
Mvs p240+p203
EndIf
If M_In(14)=1 And M_01#=3 Then '第四层
Mvs p240+p203+p0
EndIf
Dly 0.2
out13=0
out12=1
Mvs p240+p201
out8=1 '入库完成
GoSub *fw3
out8=0
M_01#=M_01#+1
Return
'////////////////////去加盖//////////////////////
*jg
Mvs p8+p203
Ovrd 50
Mov p7
Mov p6
Mov p9
Mov p10+p0
Spd 200
Mvs p10
Dly 0.2
out7=1
Dly 0.2
out7=0
Mvs p10+p0
Ovrd 50
Mov p9
Mov p6
Return
'//////////////////////////一次装机//////////////////////////
*ks1
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键////////////////////////////
Ovrd 50
Mov p3
Ovrd 70
Mov p11+p0
Spd 200
Mvs p11
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p11+p0
Mov p3
Mov p104+p0
Spd 200
Mvs p104
Dly 0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly 0.2
out12=0
Ovrd 70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键/////////////////////
Mov p15+p0
Spd 200
Mvs p15
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p15+p0
Mov p3
Mov p105+p0
Spd 200
Mvs p105
Dly 0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly 0.2
out13=0
Ovrd 70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键///////////////
Mov p31+p0
Spd 200
Mvs p31
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p31+p0
Mov p3
Mov p108+p0
Spd 200
Mvs p108
Dly 0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly 0.2
out12=0
Ovrd 70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键/////////////////////
Mov p35+p0
Spd 200
Mvs p35
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p35+p0
Mov p3
Mov p109+p0
Spd 200
Mvs p109
Dly 0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly 0.2
out13=0
Ovrd 70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键///////////////
Mov p51+p0
Spd 200
Mvs p51
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p51+p0
Mov p3
Mov p112+p0
Spd 200
Mvs p112
Dly 0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly 0.2
out12=0
Ovrd 70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键//////////////////
Mov p55+p0
Spd 200
Mvs p55
out12=1
Dly 0.2
Ovrd 70
Mvs p55+p0
Mov p3
Mov p113+p0
Spd 200
Mvs p113
Dly 0.2
out12=0
Ovrd 70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Mov p71+p0
Spd 200
Mvs p71
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p71+p0
Mov p3
Mov p114+p0
Spd 200
Mvs p114
Dly 0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly 0.2
out13=0
Ovrd 70
Mvs p100+p0
Mov p3
'//////////////////////装挂机键//////////////////
Mov p75+p0
Spd 200
Mvs p75
out12=1
Dly 0.2
Ovrd 70
Mvs p75+p0
Mov p3
Mov p102+p0
Spd 200
Mvs p102
Dly 0.2
out12=0
Ovrd 70
Mvs p102+p0
Mov p3
'/////////////////////////装方向键/////////////////
Mov p50+p0
Spd 200
Mvs p50
out12=1
Dly 0.2
Ovrd 70
Mvs p50+p0
Mov p3
Mov p101+p0
Spd 200
Mvs p101
Dly 0.2
out12=0
Ovrd 70
Mvs p101+p203
out6=1
'/////////////////////////放回夹具1////////////
Ovrd 50
Mov p23
Spd 450
Mvs p20-p204
out6=0
Spd 400
Mvs p20
Dly 0.2
out11=1
Dly 0.2
Mvs p20+p203
out6=1
Dly 0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
Return
'//////////////////////////二次装机//////////////////////////
*ks2
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键////////////////////////////
Ovrd 50
Mov p3
Ovrd 70
Mov p12+p0
Spd 200
Mvs p12
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p12+p0
Mov p3
Mov p104+p0
Spd 200
Mvs p104
Dly 0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly 0.2
out12=0
Ovrd 70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键/////////////////////
Mov p16+p0
Spd 200
Mvs p16
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p16+p0
Mov p3
Mov p105+p0
Spd 200
Mvs p105
Dly 0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly 0.2
out13=0
Ovrd 70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键///////////////
Mov p32+p0
Spd 200
Mvs p32
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p32+p0
Mov p3
Mov p108+p0
Spd 200
Mvs p108
Dly 0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly 0.2
out12=0
Ovrd 70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键/////////////////////
Mov p36+p0
Spd 200
Mvs p36
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p36+p0
Mov p3
Mov p109+p0
Spd 200
Mvs p109
Dly 0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly 0.2
out13=0
Ovrd 70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键///////////////
Mov p52+p0
Spd 200
Mvs p52
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p52+p0
Mov p3
Mov p112+p0
Spd 200
Mvs p112
Dly 0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly 0.2
out12=0
Ovrd 70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键//////////////////
Mov p56+p0
Spd 200
Mvs p56
out12=1
Dly 0.2
Ovrd 70
Mvs p56+p0
Mov p3
Mov p113+p0
Spd 200
Mvs p113
Dly 0.2
out12=0
Ovrd 70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Mov p72+p0
Spd 200
Mvs p72
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p72+p0
Mov p3
Mov p114+p0
Spd 200
Mvs p114
Dly 0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly 0.2
out13=0
Ovrd 70
Mvs p100+p0
Mov p3
'//////////////////////装挂机键//////////////////
Mov p76+p0
Spd 200
Mvs p76
out12=1
Dly 0.2
Ovrd 70
Mvs p76+p0
Mov p3
Mov p102+p0
Spd 200
Mvs p102
Dly 0.2
out12=0
Ovrd 70
Mvs p102+p0
Mov p3
'/////////////////////////装方向键/////////////////
Mov p60+p0
Spd 200
Mvs p60
out12=1
Dly 0.2
Ovrd 70
Mvs p60+p0
Mov p3
Mov p101+p0
Spd 200
Mvs p101
Dly 0.2
out12=0
Ovrd 70
Mvs p101+p203
out6=1
'/////////////////////////放回夹具1////////////
Ovrd 50
Mov p23
Spd 450
Mvs p20-p204
out6=0
Spd 400
Mvs p20
Dly 0.2
out11=1
Dly 0.2
Mvs p20+p203
out6=1
Dly 0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
Return
'//////////////////////////三次装机//////////////////////////
*ks3
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键////////////////////////////
Ovrd 50
Mov p3
Ovrd 70
Mov p21+p0
Spd 200
Mvs p21
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p21+p0
Mov p3
Mov p104+p0
Spd 200
Mvs p104
Dly 0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly 0.2
out12=0
Ovrd 70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键/////////////////////
Mov p25+p0
Spd 200
Mvs p25
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p25+p0
Mov p3
Mov p105+p0
Spd 200
Mvs p105
Dly 0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly 0.2
out13=0
Ovrd 70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键///////////////
Mov p41+p0
Spd 200
Mvs p41
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p41+p0
Mov p3
Mov p108+p0
Spd 200
Mvs p108
Dly 0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly 0.2
out12=0
Ovrd 70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键/////////////////////
Mov p45+p0
Spd 200
Mvs p45
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p45+p0
Mov p3
Mov p109+p0
Spd 200
Mvs p109
Dly 0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly 0.2
out13=0
Ovrd 70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键///////////////
Mov p61+p0
Spd 200
Mvs p61
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p61+p0
Mov p3
Mov p112+p0
Spd 200
Mvs p112
Dly 0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly 0.2
out12=0
Ovrd 70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键//////////////////
Mov p65+p0
Spd 200
Mvs p65
out12=1
Dly 0.2
Ovrd 70
Mvs p65+p0
Mov p3
Mov p113+p0
Spd 200
Mvs p113
Dly 0.2
out12=0
Ovrd 70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Mov p81+p0
Spd 200
Mvs p81
out12=1
out13=1
Dly 0.2
Ovrd 70
Mvs p81+p0
Mov p3
Mov p114+p0
Spd 200
Mvs p114
Dly 0.2
out12=0
Mvs p1