川崎机器人程序.docx
《川崎机器人程序.docx》由会员分享，可在线阅读，更多相关《川崎机器人程序.docx（11页珍藏版）》请在冰豆网上搜索。
川崎机器人程序
川崎机器人程序
川崎机器人程序，已经测试在客户运行的
.SIG_COMMENT
CLEAR_COMMENT
X0001 "Automatic"
X0000 "CircleStartON"
X0005 "RPS-ST"
X0002 "TeachMode"
X0003 "Error"
X0004 "Home"
X0007 "FixedAirValveL"
X0008 "FixedWaterValveL"
X0009 "FixedAirValveR"
X000A "FixedWaterValveR"
X000B "FixedAirFlowValve"
X000C "MobileAirValveL"
X000D "MobileWaterValveL"
X000E "MobileAirValveR"
X0010 "MobileAirFlowValve"
X000F "MobileWaterValveR"
X0209 "PLCStart"
X0013 "ProgressComplete"
X0015 "ProgressRunning"
X020A "PLCProgressAllow"
X001F "RobotPowerON"
Y0000 "EXTMotorON"
Y0001 "EXTCircleStart"
Y0002 "RPS-ON"
Y0212 "RobotStandbyState"
Y0202 "ProgressRunningLight"
Y0216 "RPS-STOutput"
Y0010 "ProgressBreak"
Y0214 "RobotHomeOutput"
Y0213 "ProgressCompleteOutput"
Y0207 "FixedAirValveLOutput"
Y0208 "FixedWaterValveLOutput"
Y0209 "FixedAirValveROutput"
Y020A "FixedWaterValveROutput"
Y020B "FixedAirFlowValveOutput"
Y020C "MobileAirValveLOutput"
Y020D "MobileWaterValveLOutput"
Y020E "MobileAirValveROutput"
Y020F "MobileWaterValveROutput"
Y0210 "MobileAirFlowValveOutput"
Y0011 "RobotProgressAllow"
Y0003 "EXTPgReset"
Y0211 "ErrorOutput"
Y0215 "ProgressRunningOutput"
M0000 "StartSign"
M0100 "FirstStartSign"
M0101 "CircleStartCondition"
M0102 "ProgressRunningSign"
M0103 "ModeChangeSign"
K0000 "FirstStartMemory"
T0000 "PgResetPulse"
T0001 "MotorONPulse"
T0002 "CircleStartPulse"
T0003 "RPS-ONPulse"
T0004 "ModeChangePulse"
T0005 "ProgressCompletePulse"
T0050 "EXTMotorONDelay"
T0051 "CircleStartDelay"
V0000 "AlwaysON"
.END
.PROGRAMautostart.pc（）#0;AUTOSTART.PC
loop:
SOUT2001=4;输出信号4转化为内部信号2001（异常）
SOUT2002=7;输出信号7转化为内部信号2002（急停）
TWAIT0.02
IFSIG（2001）ORSIG（2002）THEN
BITS8,10=0;关闭所有阀门
END
IFSIG（1017）THEN
SIGNAL-22;作业信号切断
END
GOTOloop
.END
.PROGRAMlsqpg（）#0
LSQFST
LSQSTART
LSQSTR,&V0000
LSQMOVE,&X0020L,&Y0000H
LSQSTR,&V0000
LSQAND,&X020A
LSQOUT,&Y0011
LSQSTR,&V0000
LSQAND,&X0209
LSQOUT,&M0000
LSQSTR,&V0000
LSQAND,&M0000
LSQPTS
LSQSTR,&Y0003
LSQANDN,&T0000
LSQORS
LSQANDN,&K0000
LSQOUT,&Y0003
LSQTMR,&T0000,0.5
LSQSTR,&V0000
LSQAND,&X0000
LSQPTS
LSQSET,&K0000
LSQSTR,&V0000
LSQAND,&X001F
LSQPTS
LSQSTR,&V0000
LSQAND,&X0000
LSQNTS
LSQORS
LSQRST,&K0000
LSQSTR,&V0000
LSQAND,&Y0003
LSQTMR,&T0050,0.3
LSQSTR,&V0000
LSQAND,&T0050
LSQPTS
LSQSTR,&Y0000
LSQANDN,&T0001
LSQORS
LSQOUT,&Y0000
LSQTMR,&T0001,0.5
LSQSTR,&V0000
LSQAND,&X0001
LSQANDN,&X0002
LSQANDN,&X0003
LSQAND,&X0004
LSQOUT,&M0101
LSQSTR,&V0000
LSQAND,&Y0000
LSQTMR,&T0051,0.3
LSQSTR,&V0000
LSQAND,&T0051
LSQPTS
LSQSTR,&Y0001
LSQANDN,&T0002
LSQORS
LSQAND,&M0101
LSQOUT,&Y0001
LSQTMR,&T0002,0.5
LSQSTR,&V0000
LSQAND,&M0000
LSQPTS
LSQSTR,&Y0002
LSQANDN,&T0003
LSQORS
LSQAND,&K0000
LSQAND,&X0000
LSQAND,&X0005
LSQOUT,&Y0002
LSQTMR,&T0003,0.5
LSQSTR,&V0000
LSQAND,&X0003
LSQOUT,&Y0211
LSQSTR,&V0000
LSQAND,&X0015
LSQAND,&X0000
LSQAND,&X0003
LSQOUT,&M0102
LSQSTR,&V0000
LSQAND,&M0102
LSQOUT,&Y0202
LSQOUT,&Y0215
LSQSTR,&V0000
LSQAND,&X0002
LSQPTS
LSQSTR,&M0103
LSQANDN,&T0004
LSQORS
LSQOUT,&M0103
LSQTMR,&T0004,1
LSQSTR,&V0000
LSQAND,&M0103
LSQOUT,&Y0010
LSQSTR,&V0000
LSQAND,&X0013
LSQPTS
LSQSTR,&Y0213
LSQANDN,&T0005
LSQORS
LSQAND,&M0101
LSQOUT,&Y0213
LSQTMR,&T0005,1
LSQSTR,&V0000
LSQANDN,&M0102
LSQAND,&M0101
LSQAND,&X0000
LSQOUT,&Y0212
LSQSTR,&V0000
LSQAND,&X0004
LSQOUT,&Y0214
LSQSTR,&V0000
LSQAND,&X0005
LSQSTR,&V0000
LSQAND,&X001F
LSQANDN,&K0000
LSQANDN,&X0000
LSQAND,&M0101
LSQORS
LSQOUT,&Y0216
LSQSTR,&V0000
LSQAND,&X0007
LSQOUT,&Y0207
LSQSTR,&V0000
LSQAND,&X0008
LSQOUT,&Y0208
LSQSTR,&V0000
LSQAND,&X0009
LSQOUT,&Y0209
LSQSTR,&V0000
LSQAND,&X000A
LSQOUT,&Y020A
LSQSTR,&V0000
LSQAND,&X000B
LSQOUT,&Y020B
LSQSTR,&V0000
LSQAND,&X000C
LSQOUT,&Y020C
LSQSTR,&V0000
LSQAND,&X000D
LSQOUT,&Y020D
LSQSTR,&V0000
LSQAND,&X000E
LSQOUT,&Y020E
LSQSTR,&V0000
LSQAND,&X000F
LSQOUT,&Y020F
LSQSTR,&V0000
LSQAND,&X0010
LSQOUT,&Y0210
.END
.PROGRAMpg0（）#56;原点返回程序
POINThomepos=#HOME
（1）
IFDZ（homepos）>DZ（HERE）THEN
HEREtmp
POINT/Ztmp=homepos
LMOVEtmp
END
HOME
.END
.PROGRAMpg1（）#3
SPEED100ALWAYS
ACCURACY10ALWAYS
;
SWAIT1018
SIGNAL22;输出机器人运行中信号
SOUT2003=5;原点信号5转化为内部信号2003
IFSIG（-2002）THEN;判断机器人若不在原点，自动回原点
CALLpg0
END
JMOVE#a1;从原点到达模具大杠上方中点位置
LMOVE#a2;从大杠上方中点位置到达起喷位置
SIGNAL8,9,10,11;开始后喷雾动作
SIGNAL13,14,15,16;开始前喷雾动作
SPEED65ALWAYS
LMOVE#a3;喷雾到料柄位置
LMOVE#a4;
LMOVE#a5;
LMOVE#a6;
LMOVE#a7;
LMOVE#a8;
LMOVE#a9;
TWAIT0.2
BREAK
SIGNAL-9,-11;关闭后喷雾动作
SIGNAL-14,-16;关闭前喷雾动作
SIGNAL12,17;开始前后吹气动作
SPEED80ALWAYS
LMOVE#a10
LMOVE#a11
LMOVE#a12
LMOVE#a13
LMOVE#a14
LMOVE#a15
SIGNAL-8,-10,-12;关闭后吹气动作
SIGNAL-13,-15,-17;关闭前吹气动作
LMOVE#a16;回到模具大杠上方中点位置
SPEED100ALWAYS
HOME
SIGNAL-22;关闭机器人运行中信号
BREAK
PULSE20,1;机器人自动合模信号
;最后一步为简易示教带END的HOME点
JOINTSPEED9ACCU1TIMER0TOOL1WORK0ENDCLAMPOX=WX=#[61.955,-9.8526,-122.35,0.66367,-70.248,58.703] ;
.END
.PROGRAMpg11（）#1
SPEED100ALWAYS
ACCURACY10ALWAYS
10
HOME
JMOVE#a1;
LMOVE#a2;
SPEED65
ACCURACY1
LMOVE#a3;
BREAK
SIGNAL9,-10
LMOVE#a4
LMOVE#a5
JMOVE#a6
HOME
GOTO10
RETURN
.END
.PROGRAMpg2（）#5
SPEED100ALWAYS
ACCURACY10ALWAYS
;
SWAIT1018
SIGNAL22;输出机器人运行中信号
SOUT2003=5;原点信号5转化为内部信号2003
IFSIG（-2002）THEN;判断机器人若不在原点，自动回原点
CALLpg0
END
JMOVE#b1;从原点到达模具大杠上方中点位置
LMOVE#b2;从大杠上方中点位置到达起喷位置
SIGNAL8,9,10,11;开始后喷雾动作
SIGNAL13,14,15,16;开始前喷雾动作
SPEED65ALWAYS
LMOVE#b3;喷雾到料柄位置
LMOVE#b4;
LMOVE#b5;
LMOVE#b6;
LMOVE#b7;
LMOVE#b8;
LMOVE#b9;
TWAIT0.2
BREAK
SIGNAL-9,-11;关闭后喷雾动作
SIGNAL-14,-16;关闭前喷雾动作
SIGNAL12,17;开始前后吹气动作
SPEED80ALWAYS
LMOVE#b10
LMOVE#b11
LMOVE#b12
LMOVE#b13
LMOVE#b14
LMOVE#b15
SIGNAL-8,-10,-12;关闭后吹气动作
SIGNAL-13,-15,-17;关闭前吹气动作
JMOVE#b16;回到模具大杠上方中点位置
SPEED100ALWAYS
HOME
SIGNAL-22;关闭机器人运行中信号
BREAK
PULSE20,1;机器人自动合模信号
;最后一步为简易示教带END的HOME点
JOINTSPEED9ACCU1TIMER0TOOL1WORK0ENDCLAMPOX=WX=#[61.956,-9.8517,-122.35,0.66367,-70.248,58.701] ;
.END
.TRANS
dd0.0000000.000000-90.000000-180.00000090.000008-180.000000
homepos668.008789357.009338355.705414-164.773636177.183273136.124451
tmp-124.9559101088.450562355.705414-99.967484177.321884125.323441
.END
.JOINTS
#a1-0.66899820.048298-104.2989500.487176-58.44374544.684185
#a106.69330775.225403-91.0192340.194968-16.57221637.398117
#a11-8.55452975.233307-90.9950262.794698-16.49750950.139214
#a12-0.66955287.379578-81.2004931.690043-14.21586843.298588
#a136.69164475.225403-91.0192340.195940-16.57177537.396629
#a14-8.55314475.234825-90.9945072.793239-16.49838650.142185
#a15-0.66982987.381714-81.1999661.690530-14.21542843.296360
#a16-0.66955220.047386-104.2994690.486203-58.44418744.684193
#a2-0.66899870.191376-95.1170271.380818-17.48452243.619110
#b15-3.67893618.906328-103.7992780.749726-59.90405348.560635
#b16-3.67865818.906328-103.7992780.749726-59.90405348.560635
#b2-2.52744964.458733-100.5084991.904945-17.65942445.975887
#b3-2.52772784.484543-85.7099992.681899-12.43784145.169716
#b4-8.51684085.679688-79.2333072.793725-17.65239151.112541
#b57.99278185.650520-79.3699340.298043-17.66206036.993374
#b6-11.52650074.398254-87.7601932.869573-20.34096554.107822
#b78.47831879.050003-84.9688190.285401-18.64687336.536945
#b8-10.39469079.182495-84.3921202.924514-18.94350452.907822
#b9-1.83766778.092789-89.6183322.205905-14.91987244.964836
#dd0.0000000.000000-90.0000000.000000-90.0000000.000000
.END
升级会员 