法那科机器人专机程序Word文档格式.docx
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LBL[888];
7:
IFUO[7:
Atperch]<
>
ON,JMPLBL[9999];
8:
CALLHOME;
9:
CALLHAND_OPEN;
10:
11:
CYCLESTART;
12:
13:
LBL[10];
14:
JP[1:
WAIT_PSN]100%FINE;
15:
16:
WAITDI[2:
M1_LOAD_PMT]=ONORDI[12:
M2_LOAD_PMT]=ON;
17:
18:
WAITDI[10:
LIAOJIA_READY]=ON;
19:
20:
GOTOPICK;
21:
JP[2:
PICK_APPR]100%FINE;
22:
23:
LP[21:
JIEJIN_POINT]100mm/secFINE;
24:
LP[22:
JIEJIN_POINT_LEF]30mm/secFINE;
25:
26:
WAIT.60（sec）;
27:
28:
CALLHAND_CLOSE;
29:
WAIT.40（sec）;
30:
DO[11:
HAND_CLOSE]=PULSE,1.0sec;
31:
32:
WAITDI[9:
FEEDIN_HOME]=ON;
33:
34:
35:
LP[20:
TAIQI_POINT]100mm/secFINE;
36:
LP[23:
OUT_POINT]500mm/secCNT10;
37:
PICKFINISH;
38:
JP[9:
GOM1M2WAIT]100%CNT100;
39:
40:
******;
41:
***SELECTTASK***;
42:
43:
44:
45:
IFDI[2:
M1_LOAD_PMT]=ON,JMPLBL[1];
46:
IFDI[12:
M2_LOAD_PMT]=ON,JMPLBL[2];
47:
48:
***GOTOM1***;
49:
50:
LBL[1:
M1_LOAD];
51:
GOTOM1PUT;
52:
53:
DO[6:
M1_CLIP_OPEN_REQ]=PULSE,1.0sec;
54:
JP[35:
GUODUO]100%CNT100;
55:
56:
LP[36]1000mm/secCNT100;
57:
58:
JP[37:
M1_IN]100%CNT10;
59:
LP[3]100mm/secFINE;
60:
LP[38:
M1_APPR]30mm/secFINE;
61:
LP[39:
M1_CENTER]30mm/secFINE;
62:
WAIT.80（sec）;
63:
LP[40:
M1_JIAJIN_POINT]2mm/secFINE;
64:
DO[5:
M1_CLIP_CLOSE_REQ]=PULSE,1.0sec;
65:
WAITDI[4:
M1_CLIP_CLOSED]=ON;
66:
M1PICKFINISH;
67:
68:
WAIT1.50（sec）;
69:
70:
71:
72:
LP[41:
M1_REBACK_POIT]100mm/secFINE;
73:
JP[45:
M1_REBACK]60%CNT10;
74:
LP[46]100mm/secFINE;
75:
JP[47:
M1_OUT]70%CNT100;
76:
77:
DO[3:
M1_LOAD_FIN]=PULSE,1.0sec;
78:
JP[36]100%CNT50;
79:
80:
JMPLBL[3];
81:
82:
***;
83:
***GOTOM2***;
84:
85:
LBL[2:
M2_LOAD];
86:
GOTOM2PUT;
87:
88:
DO[10:
M2_OPEN_REQUE]=PULSE,1.0sec;
89:
JP[30:
GUODU]100%CNT100;
90:
LP[31]2000mm/secCNT100;
91:
92:
JP[32:
M2_IN]100%CNT5;
93:
94:
LP[33:
JIEJIE]100mm/secFINE;
95:
96:
LP[34:
M2_CENTER]50mm/secFINE;
97:
WAIT1.00（sec）;
98:
LP[44:
JIAJIN_POINT]2mm/secFINE;
99:
DO[9:
M2_CLIP_CLOSE_REQ]=PULSE,1.0sec;
100:
WAITDI[14:
M2_CLIP_CLOSED]=ON;
101:
M2PICKFINISH;
102:
103:
104:
105:
106:
107:
LP[4:
M2REBACK_POINT]10mm/secFINE;
108:
LP[5]100mm/secFINE;
109:
JP[6:
M2_IN]100%CNT100;
110:
111:
DO[7:
M2_LOAD_FIN]=PULSE,1.0sec;
112:
JP[31]100%CNT50;
113:
114:
115:
116:
117:
118:
***GOHOME***;
119:
120:
LBL[3:
WAIT_PSN];
121:
WAIT_PSN]100%CNT100;
122:
DO[14:
SHA_FINI]=PULSE,2.0sec;
123:
124:
125:
CYCLESTOP;
126:
127:
IF（DI[20:
CYCLESTOP]）,JMPLBL[999];
128:
129:
JMPLBL[10];
130:
131:
***NOTATHOME;
132:
LBL[999];
133:
DO[15:
R2CYCLE_STOP]=ON;
134:
135:
136:
END;
137:
138:
139:
LBL[9999];
140:
UALM[...];
141:
Message[NOTATHOME];
142:
143:
144:
145:
/PROG-BCKED2-
OWNER=BACKGRND;
"
PROG_SIZE=132;
CREATE=DATE15-11-03TIME11:
06:
22;
MODIFIED=DATE15-11-03TIME11:
FILE_NAME=;
LINE_COUNT=0;
MEMORY_SIZE=376;
DEFAULT_GROUP=*,*,*,*,*;
/POS
/END
/PROG-BCKED8-
CREATE=DATE15-06-29TIME11:
54:
20;
MODIFIED=DATE15-06-29TIME11:
/PROG-BCKED9-
/PROG-BCKEDT-Macro
GETDATA"
PROG_SIZE=282;
CREATE=DATE15-11-08TIME10:
19:
46;
MODIFIED=DATE15-11-08TIME10:
FILE_NAME=GETDATA;
LINE_COUNT=2;
MEMORY_SIZE=654;
GetDataMacro;
CALLGESNDDAT（AR[1],1,AR[2],AR[3],AR[4],AR[5],AR[6],AR[7],AR[8],AR[9]）;
/PROGGETDATAMacro
GetPCData"
PROG_SIZE=286;
CREATE=DATE10-10-14TIME11:
38:
12;
MODIFIED=DATE99-06-01TIME14:
21:
38;
FILE_NAME=SENDDATA;
MEMORY_SIZE=658;
PROTECT=READ;
/PROGHAND_CLOSE
PROG_SIZE=186;
CREATE=DATE15-09-25TIME10:
30:
34;
MODIFIED=DATE15-10-10TIME14:
36:
06;
LINE_COUNT=5;
MEMORY_SIZE=538;
RO[1:
HAND_OPEN_ON]=OFF;
WAITRI[2:
HAND_CLOSE]=ON;
/PROGHAND_OPEN
35:
10;
HAND_OPEN_ON]=ON;
WAITRI[1:
HAND_OPEN]=ON;
/PROGHOME
PROG_SIZE=174;
CREATE=DATE15-10-09TIME15:
08:
MODIFIED=DATE15-10-11TIME13:
56:
LINE_COUNT=3;
MEMORY_SIZE=534;
JPR[1:
HOME]30%FINE;
/PROGINITI
PROG_SIZE=332;
13:
04;
MODIFIED=DATE15-10-12TIME17:
14:
44;
LINE_COUNT=15;
MEMORY_SIZE=652;
M1_CLIP_CLOSE_REQ]=OFF;
M2_CLIP_CLOSE_REQ]=OFF;
M1_LOAD_FIN]=OFF;
DO[4:
M1_PICK_FIN]=OFF;
M1_CLIP_OPEN_REQ]=OFF;
M2_LOAD_FIN]=OFF;
M2_OPEN_REQUE]=OFF;
SHA_FINI]=OFF;
/PROGPICK_AND_LOADM1
PROG_SIZE=2180;
CREATE=DATE15-09-25TIME09:
53:
14;
MODIFIED=DATE15-09-25TIME17:
16:
52;
LINE_COUNT=58;
MEMORY_SIZE=2596;
DO[12:
PICK_PSN]100%FINE;
LP[3:
RT1]1600mm/secCNT20;
RT2]1600mm/secCNT20;
*********;
***SEL***;
LP[5]2000mm/secCNT100;
JP[6]100%CNT100;
JP[7]100%CNT100;
LP[8]2000mm
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