法那科机器人专机程序Word文档格式.docx

1、 LBL888 ; 7: IF UO7:At perchON,JMP LBL9999 ; 8: CALL HOME ; 9: CALL HAND_OPEN ; 10: 11:CYCLE START ; 12: 13: LBL10 ; 14:J P1:WAIT_PSN 100% FINE ; 15: 16: WAIT DI2:M1_LOAD_PMT=ON OR DI12:M2_LOAD_PMT=ON ; 17: 18: WAIT DI10:LIAOJIA_READY=ON ; 19: 20:GO TO PICK ; 21:J P2:PICK_APPR 100% FINE ; 22: 23:L P

2、21:JIEJIN_POINT 100mm/sec FINE ; 24:L P22:JIEJIN_POINT_LEF 30mm/sec FINE ; 25: 26: WAIT .60（sec） ; 27: 28: CALL HAND_CLOSE ; 29: WAIT .40（sec） ; 30: DO11:HAND_CLOSE=PULSE,1.0sec ; 31: 32: WAIT DI9:FEEDIN_HOME=ON ; 33: 34: 35:L P20:TAIQI_POINT 100mm/sec FINE ; 36:L P23:OUT_POINT 500mm/sec CNT10 ; 37:

3、PICK FINISH ; 38:J P9:GO M1 M2 WAIT 100% CNT100 ; 39: 40:* * ; 41:* SELECT TASK * ; 42: 43: 44: 45: IF DI2:M1_LOAD_PMT=ON,JMP LBL1 ; 46: IF DI12:M2_LOAD_PMT=ON,JMP LBL2 ; 47: 48:* GO TO M1 * ; 49: 50: LBL1:M1_LOAD ; 51:GO TO M1 PUT ; 52: 53: DO6:M1_CLIP_OPEN_REQ=PULSE,1.0sec ; 54:J P35:GUODUO 100% C

4、NT100 ; 55: 56:L P36 1000mm/sec CNT100 ; 57: 58:J P37:M1_IN 100% CNT10 ; 59:L P3 100mm/sec FINE ; 60:L P38:M1_APPR 30mm/sec FINE ; 61:L P39:M1_CENTER 30mm/sec FINE ; 62: WAIT .80（sec） ; 63:L P40:M1_JIAJIN_POINT 2mm/sec FINE ; 64: DO5:M1_CLIP_CLOSE_REQ=PULSE,1.0sec ; 65: WAIT DI4:M1_CLIP_CLOSED=ON ;

5、66:M1 PICK FINISH ; 67: 68: WAIT 1.50（sec） ; 69: 70: 71: 72:L P41:M1_REBACK_POIT 100mm/sec FINE ; 73:J P45:M1_REBACK 60% CNT10 ; 74:L P46 100mm/sec FINE ; 75:J P47:M1_OUT 70% CNT100 ; 76: 77: DO3:M1_LOAD_FIN=PULSE,1.0sec ; 78:J P36 100% CNT50 ; 79: 80: JMP LBL3 ; 81: 82:* ; 83:* GO TO M2 * ; 84: 85:

6、 LBL2:M2_LOAD ; 86:GO TO M2 PUT ; 87: 88: DO10:M2_OPEN_REQUE=PULSE,1.0sec ; 89:J P30:GUODU 100% CNT100 ; 90:L P31 2000mm/sec CNT100 ; 91: 92:J P32:M2_IN 100% CNT5 ; 93: 94:L P33:JIEJIE 100mm/sec FINE ; 95: 96:L P34:M2_CENTER 50mm/sec FINE ; 97: WAIT 1.00（sec） ; 98:L P44:JIAJIN_POINT 2mm/sec FINE ; 9

7、9: DO9:M2_CLIP_CLOSE_REQ=PULSE,1.0sec ; 100: WAIT DI14:M2_CLIP_CLOSED=ON ; 101:M2 PICK FINISH ; 102: 103: 104: 105: 106: 107:L P4:M2 REBACK_POINT 10mm/sec FINE ; 108:L P5 100mm/sec FINE ; 109:J P6:M2_IN 100% CNT100 ; 110: 111: DO7:M2_LOAD_FIN=PULSE,1.0sec ; 112:J P31 100% CNT50 ; 113: 114: 115: 116:

8、 117: 118:* GO HOME * ; 119: 120: LBL3:WAIT_PSN ; 121:WAIT_PSN 100% CNT100 ; 122: DO14:SHA_FINI=PULSE,2.0sec ; 123: 124: 125:CYCLE STOP ; 126: 127: IF （DI20:CYCLE STOP）,JMP LBL999 ; 128: 129: JMP LBL10 ; 130: 131:* NOT AT HOME ; 132: LBL999 ; 133: DO15:R2 CYCLE_STOP=ON ; 134: 135: 136: END ; 137: 13

9、8: 139: LBL9999 ; 140: UALM. ; 141: MessageNOT AT HOME ; 142: 143: 144: 145:/PROG -BCKED2-OWNER = BACKGRND;PROG_SIZE = 132;CREATE = DATE 15-11-03 TIME 11:06:22;MODIFIED = DATE 15-11-03 TIME 11:FILE_NAME = ;LINE_COUNT = 0;MEMORY_SIZE = 376;DEFAULT_GROUP = *,*,*,*,*;/POS/END/PROG -BCKED8-CREATE = DATE

10、 15-06-29 TIME 11:54:20;MODIFIED = DATE 15-06-29 TIME 11:/PROG -BCKED9-/PROG -BCKEDT- MacroGETDATAPROG_SIZE = 282;CREATE = DATE 15-11-08 TIME 10:19:46;MODIFIED = DATE 15-11-08 TIME 10:FILE_NAME = GETDATA;LINE_COUNT = 2;MEMORY_SIZE = 654;Get Data Macro ; CALL GESNDDAT（AR1,1,AR2,AR3,AR4,AR5,AR6,AR7,AR

11、8,AR9） ;/PROG GETDATA MacroGet PC DataPROG_SIZE = 286;CREATE = DATE 10-10-14 TIME 11:38:12;MODIFIED = DATE 99-06-01 TIME 14:21:38;FILE_NAME = SENDDATA;MEMORY_SIZE = 658;PROTECT = READ;/PROG HAND_CLOSEPROG_SIZE = 186;CREATE = DATE 15-09-25 TIME 10:30:34;MODIFIED = DATE 15-10-10 TIME 14:36:06;LINE_COU

12、NT = 5;MEMORY_SIZE = 538; RO1:HAND_OPEN_ON=OFF ; WAIT RI2:HAND_CLOSE=ON ;/PROG HAND_OPEN35:10;HAND_OPEN_ON=ON ; WAIT RI1:HAND_OPEN=ON ;/PROG HOMEPROG_SIZE = 174;CREATE = DATE 15-10-09 TIME 15:08:MODIFIED = DATE 15-10-11 TIME 13:56:LINE_COUNT = 3;MEMORY_SIZE = 534;J PR1:HOME 30% FINE ;/PROG INITIPROG

13、_SIZE = 332;13:04;MODIFIED = DATE 15-10-12 TIME 17:14:44;LINE_COUNT = 15;MEMORY_SIZE = 652;M1_CLIP_CLOSE_REQ=OFF ;M2_CLIP_CLOSE_REQ=OFF ;M1_LOAD_FIN=OFF ; DO4:M1_PICK_FIN=OFF ;M1_CLIP_OPEN_REQ=OFF ;M2_LOAD_FIN=OFF ;M2_OPEN_REQUE=OFF ;SHA_FINI=OFF ;/PROG PICK_AND_LOADM1PROG_SIZE = 2180;CREATE = DATE 15-09-25 TIME 09:53:14;MODIFIED = DATE 15-09-25 TIME 17:16:52;LINE_COUNT = 58;MEMORY_SIZE = 2596; DO12:PICK_PSN 100% FINE ;L P3:RT1 1600mm/sec CNT20 ;RT2 1600mm/sec CNT20 ;* * * ;* SEL * ;L P5 2000mm/sec CNT100 ;J P6 100% CNT100 ;J P7 100% CNT100 ;L P8 2000mm