三菱机器人程序Word文档下载推荐.docx
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三菱机器人程序Word文档下载推荐.docx
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p35=(Plt1,6)
p36=p35
p45=p35
p46=p35
p36.Y=p35.Y+
p45.X=p35.X+
p46.X=p35.X+
p46.Y=p35.Y+
p51=(Plt1,9)
p52=p51
p61=p51
p62=p51
p52.Y=p51.Y+
p61.X=p51.X+
p62.X=p51.X+
p62.Y=p51.Y+
p55=(Plt1,11)
p56=p55
p65=p55
p66=p55
p56.Y=p55.Y+
p65.X=p55.X+
p66.X=p55.X+
p66.Y=p55.Y+
p75=(Plt1,14)
判断3个夹具是否在原位
程序fw
判断1夹具是否在原位
夹具1复位
判断夹具2是否在原位
夹具2复位
判断夹具3是否在原位
夹具3复位
一次装机
二次装机
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+12p72=p71p81=p71p82=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)=0ThenIfM_In(11)=0AndM_In(13)=0ThenGoSub*fw
EndIf
IfM_In(9)=1AndM_In(10)=1Then
IfM_In(11)=0AndM_In(13)=0ThenGoSub*fw1
IfM_In(9)=1AndM_In(10)=0Then
IfM_In(11)=1AndM_In(13)=0ThenGoSub*fw2
IfM_In(11)=0AndM_In(13)=1ThenGoSub*fw3
IfM_05#>
3Thenout14=1M_05#=0EndIf
IfM_In(6)=1AndM_05#=0Then
GoSub*ks1
IfM_In(6)=1AndM_05#=1ThenGoSub*ks2
IfM_In(6)=1AndM_05#=2Then
三次装机
四次装机
程序复位
将输出信号6-13的8个
GoSub*ks3
IfM_In(6)=1AndM_05#=3ThenGoSub*ks4
EndIfEnd'
////////////////复位程序////////////*fw
Ovrd80j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5
Movj1
Movjydout5=1m_outb(6)=0位关闭M_00#=0M_05#=0M_01#=0Return'
/////////////////////////////////////'
//////////////////复位1/////////////////////
*fw1
Ovrd70j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5
Movj1Movjydout12=0out13=0
Movp1Movp23ovrd50Spd400
Mvsp20-p204
Mvsp20Dly0.2out11=1Dly0.2
Mvsp20+p203out11=0
GoSub*fw4
Return'
///////////////////////////
///////////////////////复位2////////////*fw2
Movjydout12=0out13=0ovrd50
Movp40+p201
Spd400
Mvsp40
Dly0.2out11=1
Dly0.2
Mvsp40+p203out11=0
///////////////////////////'
/////////////////复位3////////////////
*fw3
Movjydout12=1out13=0
Movp5out12=0ovrd51
Movp2
Spd600
Mvsp33
Mvsp30+p200
Mvsp30
out11=1
Mvsp30+p203out11=0
M_05#=M_05#+1
IfM_In(6)=0ThenGoTo*fw4Return'
//////////////////////////////'
///////////////////正常复位//////////*fw4
Ovrd50j1=J_Currj1.J2=jyd.J2j1.J3=jyd.J3j1.J4=jyd.J4j1.J5=jyd.J5
Movjydout11=0out12=0out13=0out15=0out7=0out6=0out14=0Return'
///////////////////取夹具1///////////*jj1
WaitM_In(10)=0
WaitM_In(11)=0
WaitM_In(13)=0
Ovrd50
Movp20+p201
Spd700
Movp20+p203
Spd300out11=1Mvsp20Dly0.2out11=0Dly0.2
Mvsp20+p200p23=P_Curr
Mvsp23-p204p23=P_Curr
Mvsp23+p201p23=P_Curr
Return
///////////////////取夹具2//////////*jj2
Mvsp40+p203out11=1
Dly0.2out11=0
Mvsp40+p201
Mvsp210+p203
Mvsp210out13=1
Mvsp221
Mvrp221,p220,p219
Mvsp218
Mvrp218,p217,p216
Mvsp215
Mvrp215,p214,p213
Mvsp212
Mvrp212,p211,p210out13=0out6=1
Spd600Mvsp210+p201out6=0
Mvsp40+p203out6=1
Dly0.2out6=0
///////////////////取夹具3//////////////////*jj3
Mvsp30+p203out11=1
Spd300
Mvsp30+p200p33=P_CurrMvsp33-p202p33=P_Curr
Mvsp33+p201
///////////////////去取盖//////////////////
*qg
Movp5
Movp7
WaitM_In(7)=1out12=1out13=0
Movp8+p0out12=0
Spd200
Mvsp8
Dly0.2out13=1
Dly0.2out15=1
Dly0.5
/////////////////入仓库///////////////////
判断颜色
白色盖
IfM_In(8)=1ThenGoTo*ck2ElseGoTo*ck1Return
*ck2'
//////////////////////////////////////////////
GoSub*jg
Ovrd40
Movp231+p201
IfM_In(15)=1AndM_00#>
3Thenout10=1
WaitM_Out(10)=0
M_00#=0
IfM_00#=0Then
第一层
IfM_In(15)=1Then
Movp6
WaitM_In(15)=0
Mvsp231
IfM_In(15)=1AndM_00#=
1Then'
第二层
Mvsp231+p0
2Then'
第三层
Mvsp231+p203
3Then'
第四层
Mvsp231+p203+p0
out13=0
out12=1
Mvsp231+p201
out8=1'
入库完成
GoSub*fw3
out8=0
M_00#=M_00#+1
*ck1'
///////////////////////////////////////////////黑色盖
Movp240+p201
IfM_In(14)=1AndM_01#>
3Then
out9=1
WaitM_Out(9)=0
M_01#=0
IfM_01#=0Then'
IfM_In(14)=1Then
WaitM_In(14)=0
Mvsp240EndIfIfM_In(14)=1AndM_01#=Mvsp240+p0EndIf
IfM_In(14)=1AndM_01#=Mvsp240+p203EndIf
IfM_In(14)=1AndM_01#=Mvsp240+p203+p0EndIfDly0.2out13=0out12=1
Mvsp240+p201out8=1GoSub*fw3out8=0
M_01#=M_01#+Return'
////////////////////*jgMvsp8+p203Ovrd50Movp7Movp6Movp9Movp10+p0Spd200Mvsp10Dly0.2out7=1Dly0.2out7=0
Mvsp10+p0Ovrd50Movp9Movp6Return'
//////////////////////////*ks1out5=0out6=0out7=0out8=0
1Then
第二层
2Then
第三层
1
去加盖//////////////////////
一次装机//////////////////////////
out14=0
out15=0
GoSub*jj1
/////////////////////装1和2键////////////////////////////
Movp3
Ovrd70
Movp11+p0
Mvsp11
out13=1
Mvsp11+p0
Movp104+p0
Mvsp104
Mvsp104+p0
Mvsp103+p0
Mvsp103
out12=0
///////////////////////装3和*键/////////////////////
Movp15+p0
Mvsp15
Mvsp15+p0
Movp105+p0
Mvsp105
Mvsp105+p0
Mvsp106+p0
Mvsp106
Dly0.2out13=0Ovrd70
///////////////////////////装4和5键///////////////
Movp31+p0
Mvsp31out12=1out13=1
Mvsp31+p0
Movp108+p0
Mvsp108
Dly0.2out13=0
Mvsp108+p0
Mvsp107+p0
Mvsp107
Dly0.2out12=0
///////////////////////装6和0键/////////////////////
Movp35+p0
Mvsp35out12=1out13=1
Mvsp35+p0
Movp109+p0
Mvsp109
Mvsp109+p0
Mvsp110+p0
Mvsp110
Dly0.2out13=0Ovrd70Mvsp110+p0
///////////////////////////装7和8键///////////////
Movp51+p0
Mvsp51out12=1out13=1
Mvsp51+p0
Movp112+p0
Mvsp112
Mvsp112+p0
Mvsp111+p0
Mvsp111
/////////////////////////////装9键//////////////////
Movp55+p0
Mvsp55out12=1
Mvsp55+p0
Movp113+p0
Mvsp113
Mvsp113+p0
//////////////////#和接听键////////////////
Movp71+p0Spd200Mvsp71out12=1out13=1Dly0.2
Ovrd70Mvsp71+p0Movp3Movp114+p0Spd200Mvsp114Dly0.2out12=0Mvsp114+p0Mvsp100+p0Mvsp100Dly0.2out13=0Ovrd70Mvsp100+p0Movp3'
//////////////////////Movp75+p0Spd200Mvsp75out12=1Dly0.2
Ovrd70Mvsp75+p0Movp3Movp102+p0Spd200Mvsp102Dly0.2out12=0Ovrd70Mvsp102+p0Movp3'
/////////////////////////Movp50+p0Spd200Mvsp50out12=1Dly0.2
装挂机键//////////////////
装方向键/////////////////
Mvsp50+p0Movp3Movp101+p0Spd200Mvsp101Dly0.2out12=0Ovrd70
Mvsp101+p203out6=1'
/////////////////////////Ovrd50Movp23Spd450
Mvsp20-p204out6=0Spd400Mvsp20
Dly0.2Mvsp20+p203out6=1
Dly0.2out6=0GoSub*jj2GoSub*jj3GoSub*qgReturn'
//////////////////////////*ks2out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1'
/////////////////////Ovrd50Movp3Ovrd70Movp12+p0Spd200Mvsp12out12=1
放回夹具1////////////
二次装
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