三菱机器人程序.docx

1、三菱机器人程序/定义输入/DefIoin0=Bit,0DefIoin1=Bit,1DefIoin3=Bit,3DefIoin4=Bit,4DefIoin5=Bit,5DefIoin6=Bit,6DefIoin7=Bit,7DefIoin8=Bit,8DefIoin9=Bit,9DefIoin10=Bit,10DefIoin11=Bit,11DefIoin12=Bit,12DefIoin13=Bit,13DefIoin14=Bit,14DefIoin15=Bit,15/定义/输出/DefIoout0=Bit,0DefIoout1=Bit,1DefIoout3=Bit,3DefIoout4=Bit

2、,4DefIoout5=Bit,5DefIoout6=Bit,6DefIoout7=Bit,7DefIoout8=Bit,8DefIoout9=Bit,9DefIoout10=Bit,10DefIoout11=Bit,11DefIoout12=Bit,12DefIoout13=Bit,13DefIoout14=Bit,14DefIoout15=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.

3、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

4、.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=(Plt1,6)p36=p35p45=p35p46=p

5、35p36.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=p75.Y+12p85.X=p75.X+12p

6、86.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fwEndIfEndIfIfM_In(9)=1AndM_In(10)=1Then判断1夹具是否在原位IfM_In(11)=0AndM_In(13)=0ThenGoSub*fw1夹具1复位EndIfEndIfIfM_In(9)=1

7、AndM_In(10)=0Then判断夹具2是否在原位IfM_In(11)=1AndM_In(13)=0ThenGoSub*fw2夹具2复位EndIfEndIfIfM_In(9)=1AndM_In(10)=0Then判断夹具3是否在原位IfM_In(11)=0AndM_In(13)=1ThenGoSub*fw3夹具3复位EndIfEndIfIfM_05#3Thenout14=1M_05#=0EndIfIfM_In(6)=1AndM_05#=0ThenGoSub*ks1一次装机EndIfIfM_In(6)=1AndM_05#=1ThenGoSub*ks2二次装机EndIfIfM_In(6)=1A

8、ndM_05#=2ThenGoSub*ks3三次装机EndIfIfM_In(6)=1AndM_05#=3ThenGoSub*ks4四次装机EndIfEnd/复位程序/*fw程序复位Ovrd80j1=J_Currj1.J2=jyd.J2j1.J3=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_05#=0M_01#=0Return/复位1/*fw1Ovrd70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Movj1

9、Movjydout12=0out13=0Movp1Movp23ovrd50Spd400Mvsp20-p204Mvsp20Dly0.2out11=1Dly0.2Mvsp20+p203out11=0GoSub*fw4Return/复位2/*fw2Ovrd70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Movj1Movjydout12=0out13=0ovrd50Movp40+p201Spd400Mvsp40Dly0.2out11=1Dly0.2Mvsp40+p203out11=0GoSub*fw4Return/复位3/*fw3O

10、vrd70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Movj1Movjydout12=1out13=0Movp5out12=0ovrd51Movp2Spd600Mvsp33Mvsp30+p200Mvsp30Dly0.2out11=1Dly0.2Mvsp30+p203out11=0M_05#=M_05#+1IfM_In(6)=0ThenGoTo*fw4Return/正常复位/*fw4Ovrd50j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5Movj1Movj

11、ydout11=0out12=0out13=0out15=0out7=0out6=0out14=0Return/取夹具1/*jj1WaitM_In(10)=0WaitM_In(11)=0WaitM_In(13)=0Ovrd50Movp20+p201Spd700Movp20+p203Spd300out11=1Mvsp20Dly0.2out11=0Dly0.2Mvsp20+p200p23=P_CurrMvsp23-p204p23=P_CurrMvsp23+p201p23=P_CurrReturn/取夹具2/*jj2Spd400WaitM_In(10)=0WaitM_In(11)=0WaitM_In

12、(13)=0Mvsp40+p203out11=1Mvsp40Dly0.2out11=0Dly0.2Spd600Mvsp40+p201Mvsp210+p203Spd400Mvsp210out13=1Mvsp221Mvrp221,p220,p219Mvsp218Mvrp218,p217,p216Mvsp215Mvrp215,p214,p213Mvsp212Mvrp212,p211,p210out13=0out6=1Spd600Mvsp210+p201out6=0Mvsp40+p201Spd400Mvsp40Dly0.2out11=1Dly0.2Mvsp40+p203out6=1Dly0.2out6

13、=0Return/取夹具3/*jj3WaitM_In(10)=0WaitM_In(11)=0WaitM_In(13)=0Spd400Mvsp30+p203out11=1Spd300Mvsp30Dly0.2out11=0Dly0.2Spd400Mvsp30+p200p33=P_CurrMvsp33-p202p33=P_CurrMvsp33+p201Return/去取盖/*qgOvrd50Movp5Movp5Movp7WaitM_In(7)=1out12=1out13=0Movp8+p0out12=0Spd200Mvsp8Dly0.2out13=1Dly0.2out15=1Dly0.5/入仓库/I

14、fM_In(8)=1ThenGoTo*ck2ElseGoTo*ck1判断颜色Return*ck2/白色盖GoSub*jgOvrd40Movp231+p201Spd200IfM_In(15)=1AndM_00#3Thenout10=1WaitM_Out(10)=0M_00#=0EndIfIfM_00#=0Then第一层IfM_In(15)=1ThenMovp6EndIfWaitM_In(15)=0Movp231+p201Spd200Mvsp231EndIfIfM_In(15)=1AndM_00#=1Then第二层Mvsp231+p0EndIfIfM_In(15)=1AndM_00#=2Then第

15、三层Mvsp231+p203EndIfIfM_In(15)=1AndM_00#=3Then第四层Mvsp231+p203+p0EndIfDly0.2out13=0out12=1Mvsp231+p201out8=1入库完成GoSub*fw3out8=0M_00#=M_00#+1Return*ck1/黑色盖GoSub*jgOvrd40Movp240+p201Spd200IfM_In(14)=1AndM_01#3Thenout9=1WaitM_Out(9)=0M_01#=0EndIfIfM_01#=0Then第一层IfM_In(14)=1ThenMovp6EndIfWaitM_In(14)=0Mov

16、p240+p201Spd200Mvsp240EndIfIfM_In(14)=1AndM_01#=1Then第二层Mvsp240+p0EndIfIfM_In(14)=1AndM_01#=2Then第三层Mvsp240+p203EndIfIfM_In(14)=1AndM_01#=3Then第四层Mvsp240+p203+p0EndIfDly0.2out13=0out12=1Mvsp240+p201out8=1入库完成GoSub*fw3out8=0M_01#=M_01#+1Return/去加盖/*jgMvsp8+p203Ovrd50Movp7Movp6Movp9Movp10+p0Spd200Mvsp

17、10Dly0.2out7=1Dly0.2out7=0Mvsp10+p0Ovrd50Movp9Movp6Return/一次装机/*ks1out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1/装1和2键/Ovrd50Movp3Ovrd70Movp11+p0Spd200Mvsp11out12=1out13=1Dly0.2Ovrd70Mvsp11+p0Movp3Movp104+p0Spd200Mvsp104Dly0.2out13=0Mvsp104+p0Mvsp103+p0Mvsp103Dly0.2out12=0Ovrd70Mvsp103+p0Movp3/装3和

18、*键/Movp15+p0Spd200Mvsp15out12=1out13=1Dly0.2Ovrd70Mvsp15+p0Movp3Movp105+p0Spd200Mvsp105Dly0.2out12=0Mvsp105+p0Mvsp106+p0Mvsp106Dly0.2out13=0Ovrd70Mvsp106+p0Movp3/装4和5键/Movp31+p0Spd200Mvsp31out12=1out13=1Dly0.2Ovrd70Mvsp31+p0Movp3Movp108+p0Spd200Mvsp108Dly0.2out13=0Mvsp108+p0Mvsp107+p0Mvsp107Dly0.2ou

19、t12=0Ovrd70Mvsp107+p0Movp3/装6和0键/Movp35+p0Spd200Mvsp35out12=1out13=1Dly0.2Ovrd70Mvsp35+p0Movp3Movp109+p0Spd200Mvsp109Dly0.2out12=0Mvsp109+p0Mvsp110+p0Mvsp110Dly0.2out13=0Ovrd70Mvsp110+p0Movp3/装7和8键/Movp51+p0Spd200Mvsp51out12=1out13=1Dly0.2Ovrd70Mvsp51+p0Movp3Movp112+p0Spd200Mvsp112Dly0.2out13=0Mvsp1

20、12+p0Mvsp111+p0Mvsp111Dly0.2out12=0Ovrd70Mvsp111+p0Movp3/装9键/Movp55+p0Spd200Mvsp55out12=1Dly0.2Ovrd70Mvsp55+p0Movp3Movp113+p0Spd200Mvsp113Dly0.2out12=0Ovrd70Mvsp113+p0Movp3/#和接听键/Movp71+p0Spd200Mvsp71out12=1out13=1Dly0.2Ovrd70Mvsp71+p0Movp3Movp114+p0Spd200Mvsp114Dly0.2out12=0Mvsp114+p0Mvsp100+p0Mvsp

21、100Dly0.2out13=0Ovrd70Mvsp100+p0Movp3/装挂机键/Movp75+p0Spd200Mvsp75out12=1Dly0.2Ovrd70Mvsp75+p0Movp3Movp102+p0Spd200Mvsp102Dly0.2out12=0Ovrd70Mvsp102+p0Movp3/装方向键/Movp50+p0Spd200Mvsp50out12=1Dly0.2Ovrd70Mvsp50+p0Movp3Movp101+p0Spd200Mvsp101Dly0.2out12=0Ovrd70Mvsp101+p203out6=1/放回夹具1/Ovrd50Movp23Spd450M

22、vsp20-p204out6=0Spd400Mvsp20Dly0.2out11=1Dly0.2Mvsp20+p203out6=1Dly0.2out6=0GoSub*jj2GoSub*jj3GoSub*qgReturn/二次装机/*ks2out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1/装1和2键/Ovrd50Movp3Ovrd70Movp12+p0Spd200Mvsp12out12=1out13=1Dly0.2Ovrd70Mvsp12+p0Movp3Movp104+p0Spd200Mvsp104Dly0.2out13=0Mvsp104+p0Mvsp

23、103+p0Mvsp103Dly0.2out12=0Ovrd70Mvsp103+p0Movp3/装3和*键/Movp16+p0Spd200Mvsp16out12=1out13=1Dly0.2Ovrd70Mvsp16+p0Movp3Movp105+p0Spd200Mvsp105Dly0.2out12=0Mvsp105+p0Mvsp106+p0Mvsp106Dly0.2out13=0Ovrd70Mvsp106+p0Movp3/装4和5键/Movp32+p0Spd200Mvsp32out12=1out13=1Dly0.2Ovrd70Mvsp32+p0Movp3Movp108+p0Spd200Mvsp108Dly0.2out13=0Mvsp108+p0Mvsp107+p0Mvsp107Dly0.2out12=0Ovrd70Mvsp107+p0Movp3/装6和0键/Movp36+p0Spd200Mvsp36out12=1out13=1Dly0.2Ovrd70Mvsp36+p0Movp3