三菱机器人程序Word文档下载推荐.docx

1、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.

2、00,+0.00,+0.00,+0.00,+0.00）（0,0）/托盘点/p12=p11p21=p11p22=p11p12.Y=p11.Y+12p21.X=p11.X+12p22.X=p11.X+12p22.Y=p11.Y+12p15=（Plt1,3）p16=p15p25=p15p26=p15p16.Y=p15.Y+12p25.X=p15.X+12p26.X=p15.X+12p26.Y=p15.Y+12p31=（Plt1,8）p32=p31p41=p31p42=p31p32.Y=p31.Y+12p41.X=p31.X+12p42.X=p31.X+12p42.Y=p31.Y+12p35=（Plt

3、1,6）p36=p35p45=p35p46=p35p36.Y=p35.Y+12p45.X=p35.X+12p46.X=p35.X+12p46.Y=p35.Y+12p51=（Plt1,9）p52=p51p61=p51p62=p51p52.Y=p51.Y+12p61.X=p51.X+12p62.X=p51.X+12p62.Y=p51.Y+12p55=（Plt1,11）p56=p55p65=p55p66=p55p56.Y=p55.Y+12p65.X=p55.X+12p66.X=p55.X+12p66.Y=p55.Y+12p75=（Plt1,14）p76=p75p85=p75p86=p75p76.Y=

4、p75.Y+12p85.X=p75.X+12p86.X=p75.X+12p86.Y=p75.Y+12p72=p71p81=p71p82=p71p72.Y=p71.Y+12p81.X=p71.X+12p82.X=p71.X+12p81.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）=0ThenGoSub*fw程序fwEndIfIfM_In（9）=1AndM_In（10）=1Then判断1夹具是否在原位GoSub*fw1夹具1复位判断夹具2是否在原位IfM_In（11）=1AndM_In（13

5、）=0ThenGoSub*fw2夹具2复位判断夹具3是否在原位IfM_In（11）=0AndM_In（13）=1ThenGoSub*fw3夹具3复位IfM_05#3Thenout14=1M_05#=0IfM_In（6）=1AndM_05#=0ThenGoSub*ks1一次装机IfM_In（6）=1AndM_05#=1ThenGoSub*ks2二次装机IfM_In（6）=1AndM_05#=2ThenGoSub*ks3三次装机IfM_In（6）=1AndM_05#=3ThenGoSub*ks4四次装机End/复位程序/*fw程序复位Ovrd80j1=J_Currj1.J2=jyd.J2j1.J3

6、=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Movj1Movjydout5=1m_outb（6）=0将输出信号6-13的8个位关闭M_00#=0M_01#=0Return/复位1/*fw1Ovrd70out12=0out13=0Movp1Movp23ovrd50Spd400Mvsp20-p204Mvsp20Dly0.2out11=1Mvsp20+p203out11=0GoSub*fw4/复位2/*fw2Movp40+p201Mvsp40Mvsp40+p203/复位3/*fw3out12=1Movp5ovrd51Movp2Spd600Mvsp33Mvsp30+p200Mvsp3

7、0Mvsp30+p203M_05#=M_05#+1IfM_In（6）=0ThenGoTo*fw4/正常复位/*fw4Ovrd50out15=0out7=0out6=0out14=0Return/取夹具1/*jj1WaitM_In（10）=0WaitM_In（11）=0WaitM_In（13）=0Movp20+p201Spd700Movp20+p203Spd300Mvsp20+p200p23=P_CurrMvsp23-p204Mvsp23+p201/取夹具2/*jj2Mvsp40+p201Mvsp210+p203Mvsp210out13=1Mvsp221Mvrp221,p220,p219Mvsp

8、218Mvrp218,p217,p216Mvsp215Mvrp215,p214,p213Mvsp212Mvrp212,p211,p210out6=1Mvsp210+p201/取夹具3/*jj3p33=P_CurrMvsp33-p202Mvsp33+p201/去取盖/*qgMovp7WaitM_In（7）=1Movp8+p0Spd200Mvsp8out15=1Dly0.5/入仓库/IfM_In（8）=1ThenGoTo*ck2ElseGoTo*ck1判断颜色*ck2/白色盖GoSub*jgOvrd40Movp231+p201IfM_In（15）=1AndM_00#out10=1WaitM_Out

9、（10）=0IfM_00#=0Then第一层IfM_In（15）=1ThenMovp6WaitM_In（15）=0Mvsp231IfM_In（15）=1AndM_00#=1Then第二层Mvsp231+p0IfM_In（15）=1AndM_00#=2Then第三层Mvsp231+p203IfM_In（15）=1AndM_00#=3Then第四层Mvsp231+p203+p0Mvsp231+p201out8=1入库完成GoSub*fw3out8=0M_00#=M_00#+1*ck1/黑色盖Movp240+p201IfM_In（14）=1AndM_01#out9=1WaitM_Out（9）=0If

10、M_01#=0ThenIfM_In（14）=1ThenWaitM_In（14）=0Mvsp240IfM_In（14）=1AndM_01#=1ThenMvsp240+p0IfM_In（14）=1AndM_01#=2ThenMvsp240+p203IfM_In（14）=1AndM_01#=3ThenMvsp240+p203+p0Mvsp240+p201M_01#=M_01#+1/去加盖/*jgMvsp8+p203Movp9Movp10+p0Mvsp10out7=1Mvsp10+p0/一次装机/*ks1out5=0GoSub*jj1/装1和2键/Movp3Movp11+p0Mvsp11Mvsp11+

11、p0Movp104+p0Mvsp104Mvsp104+p0Mvsp103+p0Mvsp103/装3和*键/Movp15+p0Mvsp15Mvsp15+p0Movp105+p0Mvsp105Mvsp105+p0Mvsp106+p0Mvsp106/装4和5键/Movp31+p0Mvsp31Mvsp31+p0Movp108+p0Mvsp108Mvsp108+p0Mvsp107+p0Mvsp107/装6和0键/Movp35+p0Mvsp35Mvsp35+p0Movp109+p0Mvsp109Mvsp109+p0Mvsp110+p0Mvsp110/装7和8键/Movp51+p0Mvsp51Mvsp51+

12、p0Movp112+p0Mvsp112Mvsp112+p0Mvsp111+p0Mvsp111/装9键/Movp55+p0Mvsp55Mvsp55+p0Movp113+p0Mvsp113Mvsp113+p0/#和接听键/Movp71+p0Mvsp71Mvsp71+p0Movp114+p0Mvsp114Mvsp114+p0Mvsp100+p0Mvsp100/装挂机键/Movp75+p0Mvsp75Mvsp75+p0Movp102+p0Mvsp102Mvsp102+p0/装方向键/Movp50+p0Mvsp50Mvsp50+p0Movp101+p0Mvsp101Mvsp101+p203/放回夹具1/Spd450GoSub*jj2GoSub*jj3GoSub*qg/二次装机/*ks2Movp12+p0Mvsp12Mvsp12+p0Movp16+p0Mvsp16Mvsp16+p0Movp32+p0Mvsp32Mvsp32+p0Movp36+p0Mvsp36Mvsp36+p0