川崎机器人程序.docx

1、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_COMMENTCLEAR_COMMENTX0001 AutomaticX0000 Circle Start ONX0005 RPS-STX0002 Teach ModeX0003 ErrorX0004 HomeX0007 Fixed Air Valve LX0008 Fixed Water Valve LX0009 Fixed Air Valve RX000A Fixed Water Valve RX000B Fixed Air Flow ValveX000C Mobile Air Valve LX000D Mobile

2、 Water Valve LX000E Mobile Air Valve RX0010 Mobile Air Flow ValveX000F Mobile Water Valve RX0209 PLC StartX0013 Progress CompleteX0015 Progress RunningX020A PLC Progress AllowX001F Robot Power ONY0000 EXT Motor ONY0001 EXT Circle StartY0002 RPS- ONY0212 Robot Standby StateY0202 Progress Running Ligh

3、tY0216 RPS-ST OutputY0010 Progress BreakY0214 Robot Home OutputY0213 Progress Complete OutputY0207 Fixed Air Valve L OutputY0208 Fixed Water Valve L OutputY0209 Fixed Air Valve R OutputY020A Fixed Water Valve R OutputY020B Fixed Air Flow Valve OutputY020C Mobile Air Valve L OutputY020D Mobile Water

4、Valve L OutputY020E Mobile Air Valve R OutputY020F Mobile Water Valve R OutputY0210 Mobile Air Flow Valve OutputY0011 Robot Progress AllowY0003 EXT Pg ResetY0211 Error OutputY0215 Progress Running OutputM0000 Start SignM0100 First Start SignM0101 Circle Start ConditionM0102 Progress Running SignM010

5、3 Mode Change SignK0000 First Start MemoryT0000 Pg Reset Pulse T0001 Motor ON PulseT0002 Circle Start PulseT0003 RPS-ON PulseT0004 Mode Change PulseT0005 Progress Complete PulseT0050 EXT Motor ON DelayT0051 Circle Start DelayV0000 Always ON.END.PROGRAM autostart.pc() #0;AUTOSTART.PCloop: SOUT 2001 =

6、 4;输出信号4转化为内部信号2001(异常) SOUT 2002 = 7;输出信号7转化为内部信号2002(急停) TWAIT 0.02 IF SIG(2001) OR SIG(2002) THEN BITS 8,10 = 0;关闭所有阀门 END IF SIG(1017) THEN SIGNAL -22;作业信号切断 END GOTO loop.END.PROGRAM lsqpg() #0 LSQ FST LSQ START LSQ STR,&V0000 LSQ MOVE,&X0020L,&Y0000H LSQ STR,&V0000 LSQ AND,&X020A LSQ OUT,&Y001

7、1 LSQ STR,&V0000 LSQ AND,&X0209 LSQ OUT,&M0000 LSQ STR,&V0000 LSQ AND,&M0000 LSQ PTS LSQ STR,&Y0003 LSQ ANDN,&T0000 LSQ ORS LSQ ANDN,&K0000 LSQ OUT,&Y0003 LSQ TMR,&T0000,0.5 LSQ STR,&V0000 LSQ AND,&X0000 LSQ PTS LSQ SET,&K0000 LSQ STR,&V0000 LSQ AND,&X001F LSQ PTS LSQ STR,&V0000 LSQ AND,&X0000 LSQ N

8、TS LSQ ORS LSQ RST,&K0000 LSQ STR,&V0000 LSQ AND,&Y0003 LSQ TMR,&T0050,0.3 LSQ STR,&V0000 LSQ AND,&T0050 LSQ PTS LSQ STR,&Y0000 LSQ ANDN,&T0001 LSQ ORS LSQ OUT,&Y0000 LSQ TMR,&T0001,0.5 LSQ STR,&V0000 LSQ AND,&X0001 LSQ ANDN,&X0002 LSQ ANDN,&X0003 LSQ AND,&X0004 LSQ OUT,&M0101 LSQ STR,&V0000 LSQ AND

9、,&Y0000 LSQ TMR,&T0051,0.3 LSQ STR,&V0000 LSQ AND,&T0051 LSQ PTS LSQ STR,&Y0001 LSQ ANDN,&T0002 LSQ ORS LSQ AND,&M0101 LSQ OUT,&Y0001 LSQ TMR,&T0002,0.5 LSQ STR,&V0000 LSQ AND,&M0000 LSQ PTS LSQ STR,&Y0002 LSQ ANDN,&T0003 LSQ ORS LSQ AND,&K0000 LSQ AND,&X0000 LSQ AND,&X0005 LSQ OUT,&Y0002 LSQ TMR,&T

10、0003,0.5 LSQ STR,&V0000 LSQ AND,&X0003 LSQ OUT,&Y0211 LSQ STR,&V0000 LSQ AND,&X0015 LSQ AND,&X0000 LSQ AND,&X0003 LSQ OUT,&M0102 LSQ STR,&V0000 LSQ AND,&M0102 LSQ OUT,&Y0202 LSQ OUT,&Y0215 LSQ STR,&V0000 LSQ AND,&X0002 LSQ PTS LSQ STR,&M0103 LSQ ANDN,&T0004 LSQ ORS LSQ OUT,&M0103 LSQ TMR,&T0004,1 LS

11、Q STR,&V0000 LSQ AND,&M0103 LSQ OUT,&Y0010 LSQ STR,&V0000 LSQ AND,&X0013 LSQ PTS LSQ STR,&Y0213 LSQ ANDN,&T0005 LSQ ORS LSQ AND,&M0101 LSQ OUT,&Y0213 LSQ TMR,&T0005,1 LSQ STR,&V0000 LSQ ANDN,&M0102 LSQ AND,&M0101 LSQ AND,&X0000 LSQ OUT,&Y0212 LSQ STR,&V0000 LSQ AND,&X0004 LSQ OUT,&Y0214 LSQ STR,&V00

12、00 LSQ AND,&X0005 LSQ STR,&V0000 LSQ AND,&X001F LSQ ANDN,&K0000 LSQ ANDN,&X0000 LSQ AND,&M0101 LSQ ORS LSQ OUT,&Y0216 LSQ STR,&V0000 LSQ AND,&X0007 LSQ OUT,&Y0207 LSQ STR,&V0000 LSQ AND,&X0008 LSQ OUT,&Y0208 LSQ STR,&V0000 LSQ AND,&X0009 LSQ OUT,&Y0209 LSQ STR,&V0000 LSQ AND,&X000A LSQ OUT,&Y020A LS

13、Q STR,&V0000 LSQ AND,&X000B LSQ OUT,&Y020B LSQ STR,&V0000 LSQ AND,&X000C LSQ OUT,&Y020C LSQ STR,&V0000 LSQ AND,&X000D LSQ OUT,&Y020D LSQ STR,&V0000 LSQ AND,&X000E LSQ OUT,&Y020E LSQ STR,&V0000 LSQ AND,&X000F LSQ OUT,&Y020F LSQ STR,&V0000 LSQ AND,&X0010 LSQ OUT,&Y0210.END.PROGRAM pg0() #56;原点返回程序 POI

14、NT homepos = #HOME(1) IF DZ(homepos)DZ(HERE) THEN HERE tmp POINT/Z tmp = homepos LMOVE tmp END HOME.END.PROGRAM pg1() #3 SPEED 100 ALWAYS ACCURACY 10 ALWAYS; SWAIT 1018 SIGNAL 22;输出机器人运行中信号 SOUT 2003 = 5;原点信号5转化为内部信号2003 IF SIG(-2002) THEN;判断机器人若不在原点，自动回原点 CALL pg0 END JMOVE #a1; 从原点到达模具大杠上方中点位置 LMO

15、VE #a2; 从大杠上方中点位置到达起喷位置 SIGNAL 8,9,10,11; 开始后喷雾动作 SIGNAL 13,14,15,16; 开始前喷雾动作 SPEED 65 ALWAYS LMOVE #a3; 喷雾到料柄位置 LMOVE #a4; LMOVE #a5; LMOVE #a6; LMOVE #a7; LMOVE #a8; LMOVE #a9; TWAIT 0.2 BREAK SIGNAL -9,-11; 关闭后喷雾动作 SIGNAL -14,-16; 关闭前喷雾动作 SIGNAL 12,17; 开始前后吹气动作 SPEED 80 ALWAYS LMOVE #a10 LMOVE #a

16、11 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 SPEED 100 ALWAYS HOME SIGNAL -22;关闭机器人运行中信号 BREAK PULSE 20,1;机器人自动合模信号;最后一步为简易示教带END的HOME点 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 END CLAMP OX= WX= #61.955,-9.8526,-122.35,0.

17、66367,-70.248,58.703 ;.END.PROGRAM pg11() #1 SPEED 100 ALWAYS ACCURACY 10 ALWAYS10 HOME JMOVE #a1; LMOVE #a2; SPEED 65 ACCURACY 1 LMOVE #a3; BREAK SIGNAL 9,-10 LMOVE #a4 LMOVE #a5 JMOVE #a6 HOME GOTO 10 RETURN.END.PROGRAM pg2() #5 SPEED 100 ALWAYS ACCURACY 10 ALWAYS; SWAIT 1018 SIGNAL 22;输出机器人运行中信号

18、SOUT 2003 = 5;原点信号5转化为内部信号2003 IF SIG(-2002) THEN;判断机器人若不在原点，自动回原点 CALL pg0 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 SIGNAL 8,9,10,11; 开始后喷雾动作 SIGNAL 13,14,15,16; 开始前喷雾动作 SPEED 65 ALWAYS LMOVE #b3; 喷雾到料柄位置 LMOVE #b4; LMOVE #b5; LMOVE #b6; LMOVE #b7; LMOVE #b8; LMOVE #b9; TWAIT 0.2 B

19、REAK SIGNAL -9,-11; 关闭后喷雾动作 SIGNAL -14,-16; 关闭前喷雾动作 SIGNAL 12,17; 开始前后吹气动作 SPEED 80 ALWAYS 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 SPEED 100 ALWAYS HOME SIGNAL -22;关闭机器人运行中信号 BREAK PULSE 20,1;机器

20、人自动合模信号;最后一步为简易示教带END的HOME点 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 END CLAMP OX= WX= #61.956,-9.8517,-122.35,0.66367,-70.248,58.701 ;.END.TRANSdd 0.000000 0.000000 -90.000000 -180.000000 90.000008 -180.000000homepos 668.008789 357.009338 355.705414 -164.773636 177.183273 136.124451tmp -124.955910 108

21、8.450562 355.705414 -99.967484 177.321884 125.323441.END.JOINTS#a1 -0.668998 20.048298 -104.298950 0.487176 -58.443745 44.684185#a10 6.693307 75.225403 -91.019234 0.194968 -16.572216 37.398117#a11 -8.554529 75.233307 -90.995026 2.794698 -16.497509 50.139214#a12 -0.669552 87.379578 -81.200493 1.69004

22、3 -14.215868 43.298588#a13 6.691644 75.225403 -91.019234 0.195940 -16.571775 37.396629#a14 -8.553144 75.234825 -90.994507 2.793239 -16.498386 50.142185#a15 -0.669829 87.381714 -81.199966 1.690530 -14.215428 43.296360#a16 -0.669552 20.047386 -104.299469 0.486203 -58.444187 44.684193#a2 -0.668998 70.1

23、91376 -95.117027 1.380818 -17.484522 43.619110#b15 -3.678936 18.906328 -103.799278 0.749726 -59.904053 48.560635#b16 -3.678658 18.906328 -103.799278 0.749726 -59.904053 48.560635#b2 -2.527449 64.458733 -100.508499 1.904945 -17.659424 45.975887#b3 -2.527727 84.484543 -85.709999 2.681899 -12.437841 45

24、.169716#b4 -8.516840 85.679688 -79.233307 2.793725 -17.652391 51.112541#b5 7.992781 85.650520 -79.369934 0.298043 -17.662060 36.993374#b6 -11.526500 74.398254 -87.760193 2.869573 -20.340965 54.107822#b7 8.478318 79.050003 -84.968819 0.285401 -18.646873 36.536945#b8 -10.394690 79.182495 -84.392120 2.924514 -18.943504 52.907822#b9 -1.837667 78.092789 -89.618332 2.205905 -14.919872 44.964836#dd 0.000000 0.000000 -90.000000 0.000000 -90.000000 0.000000.END