三菱机器人程序.docx
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三菱机器人程序
'//////////////定义输入////////////
DefIoin0=Bit,0
DefIoin1=Bit,1
DefIoin3=Bit,3
DefIoin4=Bit,4
DefIoin5=Bit,5
DefIoin6=Bit,6
DefIoin7=Bit,7
DefIoin8=Bit,8
DefIoin9=Bit,9
DefIoin10=Bit,10
DefIoin11=Bit,11
DefIoin12=Bit,12
DefIoin13=Bit,13
DefIoin14=Bit,14
DefIoin15=Bit,15
'///////////////定义/输出//////////
DefIoout0=Bit,0
DefIoout1=Bit,1
DefIoout3=Bit,3
DefIoout4=Bit,4
DefIoout5=Bit,5
DefIoout6=Bit,6
DefIoout7=Bit,7
DefIoout8=Bit,8
DefIoout9=Bit,9
DefIoout10=Bit,10
DefIoout11=Bit,11
DefIoout12=Bit,12
DefIoout13=Bit,13
DefIoout14=Bit,14
DefIoout15=Bit,15
'//////////////定义变量//////////////
DefJntjyd'定义安全点
DefPlt1,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=（Plt1,3）
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=（Plt1,8）
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=（Plt1,6）
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=（Plt1,9）
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=（Plt1,11）
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=（Plt1,14）
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/////////////
IfM_In（9）=1AndM_In（10）=0Then'判断3个夹具是否在原位
IfM_In（11）=0AndM_In（13）=0Then
GoSub*fw'程序fw
EndIf
EndIf
IfM_In（9）=1AndM_In（10）=1Then'判断1夹具是否在原位
IfM_In（11）=0AndM_In（13）=0Then
GoSub*fw1'夹具1复位
EndIf
EndIf
IfM_In（9）=1AndM_In（10）=0Then'判断夹具2是否在原位
IfM_In（11）=1AndM_In（13）=0Then
GoSub*fw2'夹具2复位
EndIf
EndIf
IfM_In（9）=1AndM_In（10）=0Then'判断夹具3是否在原位
IfM_In（11）=0AndM_In（13）=1Then
GoSub*fw3'夹具3复位
EndIf
EndIf
IfM_05#>3Then
out14=1
M_05#=0
EndIf
IfM_In（6）=1AndM_05#=0Then
GoSub*ks1'一次装机
EndIf
IfM_In（6）=1AndM_05#=1Then
GoSub*ks2'二次装机
EndIf
IfM_In（6）=1AndM_05#=2Then
GoSub*ks3'三次装机
EndIf
IfM_In（6）=1AndM_05#=3Then
GoSub*ks4'四次装机
EndIf
End
'////////////////复位程序////////////
*fw'程序复位
Ovrd80
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Movj1
Movjyd
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
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Movj1
Movjyd
out12=0
out13=0
Movp1
Movp23
ovrd50
Spd400
Mvsp20-p204
Mvsp20
Dly0.2
out11=1
Dly0.2
Mvsp20+p203
out11=0
GoSub*fw4
Return'///////////////////////////
'///////////////////////复位2////////////
*fw2
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Movj1
Movjyd
out12=0
out13=0
ovrd50
Movp40+p201
Spd400
Mvsp40
Dly0.2
out11=1
Dly0.2
Mvsp40+p203
out11=0
GoSub*fw4
Return'///////////////////////////
'/////////////////复位3////////////////
*fw3
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Movj1
Movjyd
out12=1
out13=0
Movp5
out12=0
ovrd51
Movp2
Spd600
Mvsp33
Mvsp30+p200
Mvsp30
Dly0.2
out11=1
Dly0.2
Mvsp30+p203
out11=0
M_05#=M_05#+1
IfM_In（6）=0ThenGoTo*fw4
Return'//////////////////////////////
'///////////////////正常复位//////////
*fw4
Ovrd50
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Movj1
Movjyd
out11=0
out12=0
out13=0
out15=0
out7=0
out6=0
out14=0
Return
'///////////////////取夹具1///////////
*jj1
WaitM_In（10）=0
WaitM_In（11）=0
WaitM_In（13）=0
Ovrd50
Movp20+p201
Spd700
Movp20+p203
Spd300
out11=1
Mvsp20
Dly0.2
out11=0
Dly0.2
Mvsp20+p200
p23=P_Curr
Mvsp23-p204
p23=P_Curr
Mvsp23+p201
p23=P_Curr
Return
'///////////////////取夹具2//////////
*jj2
Spd400
WaitM_In（10）=0
WaitM_In（11）=0
WaitM_In（13）=0
Mvsp40+p203
out11=1
Mvsp40
Dly0.2
out11=0
Dly0.2
Spd600
Mvsp40+p201
Mvsp210+p203
Spd400
Mvsp210
out13=1
Mvsp221
Mvrp221,p220,p219
Mvsp218
Mvrp218,p217,p216
Mvsp215
Mvrp215,p214,p213
Mvsp212
Mvrp212,p211,p210
out13=0
out6=1
Spd600
Mvsp210+p201
out6=0
Mvsp40+p201
Spd400
Mvsp40
Dly0.2
out11=1
Dly0.2
Mvsp40+p203
out6=1
Dly0.2
out6=0
Return
'///////////////////取夹具3//////////////////
*jj3
WaitM_In（10）=0
WaitM_In（11）=0
WaitM_In（13）=0
Spd400
Mvsp30+p203
out11=1
Spd300
Mvsp30
Dly0.2
out11=0
Dly0.2
Spd400
Mvsp30+p200
p33=P_Curr
Mvsp33-p202
p33=P_Curr
Mvsp33+p201
Return
'///////////////////去取盖//////////////////
*qg
Ovrd50
Movp5
Movp5
Movp7
WaitM_In（7）=1
out12=1
out13=0
Movp8+p0
out12=0
Spd200
Mvsp8
Dly0.2
out13=1
Dly0.2
out15=1
Dly0.5
'/////////////////入仓库///////////////////
IfM_In（8）=1ThenGoTo*ck2ElseGoTo*ck1'判断颜色
Return
*ck2'//////////////////////////////////////////////白色盖
GoSub*jg
Ovrd40
Movp231+p201
Spd200
IfM_In（15）=1AndM_00#>3Then
out10=1
WaitM_Out（10）=0
M_00#=0
EndIf
IfM_00#=0Then'第一层
IfM_In（15）=1Then
Movp6
EndIf
WaitM_In（15）=0
Movp231+p201
Spd200
Mvsp231
EndIf
IfM_In（15）=1AndM_00#=1Then'第二层
Mvsp231+p0
EndIf
IfM_In（15）=1AndM_00#=2Then'第三层
Mvsp231+p203
EndIf
IfM_In（15）=1AndM_00#=3Then'第四层
Mvsp231+p203+p0
EndIf
Dly0.2
out13=0
out12=1
Mvsp231+p201
out8=1'入库完成
GoSub*fw3
out8=0
M_00#=M_00#+1
Return
*ck1'///////////////////////////////////////////////黑色盖
GoSub*jg
Ovrd40
Movp240+p201
Spd200
IfM_In（14）=1AndM_01#>3Then
out9=1
WaitM_Out（9）=0
M_01#=0
EndIf
IfM_01#=0Then'第一层
IfM_In（14）=1Then
Movp6
EndIf
WaitM_In（14）=0
Movp240+p201
Spd200
Mvsp240
EndIf
IfM_In（14）=1AndM_01#=1Then'第二层
Mvsp240+p0
EndIf
IfM_In（14）=1AndM_01#=2Then'第三层
Mvsp240+p203
EndIf
IfM_In（14）=1AndM_01#=3Then'第四层
Mvsp240+p203+p0
EndIf
Dly0.2
out13=0
out12=1
Mvsp240+p201
out8=1'入库完成
GoSub*fw3
out8=0
M_01#=M_01#+1
Return
'////////////////////去加盖//////////////////////
*jg
Mvsp8+p203
Ovrd50
Movp7
Movp6
Movp9
Movp10+p0
Spd200
Mvsp10
Dly0.2
out7=1
Dly0.2
out7=0
Mvsp10+p0
Ovrd50
Movp9
Movp6
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////////////////////////////
Ovrd50
Movp3
Ovrd70
Movp11+p0
Spd200
Mvsp11
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp11+p0
Movp3
Movp104+p0
Spd200
Mvsp104
Dly0.2
out13=0
Mvsp104+p0
Mvsp103+p0
Mvsp103
Dly0.2
out12=0
Ovrd70
Mvsp103+p0
Movp3
'///////////////////////装3和*键/////////////////////
Movp15+p0
Spd200
Mvsp15
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp15+p0
Movp3
Movp105+p0
Spd200
Mvsp105
Dly0.2
out12=0
Mvsp105+p0
Mvsp106+p0
Mvsp106
Dly0.2
out13=0
Ovrd70
Mvsp106+p0
Movp3
'///////////////////////////装4和5键///////////////
Movp31+p0
Spd200
Mvsp31
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp31+p0
Movp3
Movp108+p0
Spd200
Mvsp108
Dly0.2
out13=0
Mvsp108+p0
Mvsp107+p0
Mvsp107
Dly0.2
out12=0
Ovrd70
Mvsp107+p0
Movp3
'///////////////////////装6和0键/////////////////////
Movp35+p0
Spd200
Mvsp35
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp35+p0
Movp3
Movp109+p0
Spd200
Mvsp109
Dly0.2
out12=0
Mvsp109+p0
Mvsp110+p0
Mvsp110
Dly0.2
out13=0
Ovrd70
Mvsp110+p0
Movp3
'///////////////////////////装7和8键///////////////
Movp51+p0
Spd200
Mvsp51
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp51+p0
Movp3
Movp112+p0
Spd200
Mvsp112
Dly0.2
out13=0
Mvsp112+p0
Mvsp111+p0
Mvsp111
Dly0.2
out12=0
Ovrd70
Mvsp111+p0
Movp3
'/////////////////////////////装9键//////////////////
Movp55+p0
Spd200
Mvsp55
out12=1
Dly0.2
Ovrd70
Mvsp55+p0
Movp3
Movp113+p0
Spd200
Mvsp113
Dly0.2
out12=0
Ovrd70
Mvsp113+p0
Movp3
'//////////////////#和接听键////////////////
Movp71+p0
Spd200
Mvsp71
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp71+p0
Movp3
Movp114+p0
Spd200
Mvsp114
Dly0.2
out12=0
Mvsp114+p0
Mvsp100+p0
Mvsp100
Dly0.2
out13=0
Ovrd70
Mvsp100+p0
Movp3
'//////////////////////装挂机键//////////////////
Movp75+p0
Spd200
Mvsp75
out12=1
Dly0.2
Ovrd70
Mvsp75+p0
Movp3
Movp102+p0
Spd200
Mvsp102
Dly0.2
out12=0
Ovrd70
Mvsp102+p0
Movp3
'/////////////////////////装方向键/////////////////
Movp50+p0
Spd200
Mvsp50
out12=1
Dly0.2
Ovrd70
Mvsp50+p0
Movp3
Movp101+p0
Spd200
Mvsp101
Dly0.2
out12=0
Ovrd70
Mvsp101+p203
out6=1
'/////////////////////////放回夹具1////////////
Ovrd50
Movp23
Spd450
Mvsp20-p204
out6=0
Spd400
Mvsp20
Dly0.2
out11=1
Dly0.2
Mvsp20+p203
out6=1
Dly0.2
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////////////////////////////
Ovrd50
Movp3
Ovrd70
Movp12+p0
Spd200
Mvsp12
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp12+p0
Movp3
Movp104+p0
Spd200
Mvsp104
Dly0.2
out13=0
Mvsp104+p0
Mvsp103+p0
Mvsp103
Dly0.2
out12=0
Ovrd70
Mvsp103+p0
Movp3
'///////////////////////装3和*键/////////////////////
Movp16+p0
Spd200
Mvsp16
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp16+p0
Movp3
Movp105+p0
Spd200
Mvsp105
Dly0.2
out12=0
Mvsp105+p0
Mvsp106+p0
Mvsp106
Dly0.2
out13=0
Ovrd70
Mvsp106+p0
Movp3
'///////////////////////////装4和5键///////////////
Movp32+p0
Spd200
Mvsp32
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp32+p0
Movp3
Movp108+p0
Spd200
Mvsp108
Dly0.2
out13=0
Mvsp108+p0
Mvsp107+p0
Mvsp107
Dly0.2
out12=0
Ovrd70
Mvsp107+p0
Movp3
'///////////////////////装6和0键/////////////////////
Movp36+p0
Spd200
Mvsp36
out12=1
out13=1
Dly0.2
Ovrd70
Mvsp36+p0
Movp3
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