三菱机器人程序.doc-资源下载-咨信网-让知识获取变得高效

三菱机器人程序.doc

1、'//////////////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 I

2、o 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,1

3、3 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)

4、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)

5、'////////////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+1

6、2 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.

7、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 An

8、d 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

9、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

10、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

11、 '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#=

12、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 o

13、ut5=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 M

14、ov 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

15、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

16、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////////// *f

17、w4 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+

18、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 Dl

19、y 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

20、 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

21、 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

22、 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

23、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

24、 '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 Mo

25、v 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 out1

26、3=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

27、 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

28、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+p

29、0 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 2

30、00 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 out1

31、2=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

32、 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//////

33、////////// 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

34、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.

35、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////

36、////////////////////// *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

37、 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

38、 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

39、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+

40、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 '////////////////

41、/////////////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

42、 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

43、 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//

44、////////// 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=

45、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

46、 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 '////////

47、/////////////////// 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////////

48、///////////// 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 Sp

49、d 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 Dl

50、y 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

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