法那科机器人专机程序.docx
- 文档编号:6640721
- 上传时间:2023-01-08
- 格式:DOCX
- 页数:21
- 大小:17.68KB
法那科机器人专机程序.docx
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法那科机器人专机程序
/PROGPNS0001
/ATTR
OWNER=MNEDITOR;
COMMENT="MAIN";
PROG_SIZE=4009;
CREATE=DATE15-10-11TIME17:
39:
40;
MODIFIED=DATE15-11-04TIME10:
23:
42;
FILE_NAME=RSR0001;
VERSION=0;
LINE_COUNT=145;
MEMORY_SIZE=4469;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/APPL
/MN
1:
UFRAME_NUM=0;
2:
UTOOL_NUM=1;
3:
PAYLOAD[1];
4:
;
5:
!
HOMEANDINITI;
6:
LBL[888];
7:
IFUO[7:
Atperch]<>ON,JMPLBL[9999];
8:
CALLHOME;
9:
CALLHAND_OPEN;
10:
;
11:
!
CYCLESTART;
12:
;
13:
LBL[10];
14:
JP[1:
WAIT_PSN]100%FINE;
15:
CALLHAND_OPEN;
16:
WAITDI[2:
M1_LOAD_PMT]=ONORDI[12:
M2_LOAD_PMT]=ON;
17:
;
18:
WAITDI[10:
LIAOJIA_READY]=ON;
19:
;
20:
!
GOTOPICK;
21:
JP[2:
PICK_APPR]100%FINE;
22:
;
23:
LP[21:
JIEJIN_POINT]100mm/secFINE;
24:
LP[22:
JIEJIN_POINT_LEF]30mm/secFINE;
25:
;
26:
WAIT.60(sec);
27:
;
28:
CALLHAND_CLOSE;
29:
WAIT.40(sec);
30:
DO[11:
HAND_CLOSE]=PULSE,1.0sec;
31:
;
32:
WAITDI[9:
FEEDIN_HOME]=ON;
33:
;
34:
;
35:
LP[20:
TAIQI_POINT]100mm/secFINE;
36:
LP[23:
OUT_POINT]500mm/secCNT10;
37:
!
PICKFINISH;
38:
JP[9:
GOM1M2WAIT]100%CNT100;
39:
;
40:
!
******;
41:
!
***SELECTTASK***;
42:
;
43:
WAITDI[2:
M1_LOAD_PMT]=ONORDI[12:
M2_LOAD_PMT]=ON;
44:
;
45:
IFDI[2:
M1_LOAD_PMT]=ON,JMPLBL[1];
46:
IFDI[12:
M2_LOAD_PMT]=ON,JMPLBL[2];
47:
;
48:
!
***GOTOM1***;
49:
;
50:
LBL[1:
M1_LOAD];
51:
!
GOTOM1PUT;
52:
;
53:
DO[6:
M1_CLIP_OPEN_REQ]=PULSE,1.0sec;
54:
JP[35:
GUODUO]100%CNT100;
55:
;
56:
LP[36]1000mm/secCNT100;
57:
;
58:
JP[37:
M1_IN]100%CNT10;
59:
LP[3]100mm/secFINE;
60:
LP[38:
M1_APPR]30mm/secFINE;
61:
LP[39:
M1_CENTER]30mm/secFINE;
62:
WAIT.80(sec);
63:
LP[40:
M1_JIAJIN_POINT]2mm/secFINE;
64:
DO[5:
M1_CLIP_CLOSE_REQ]=PULSE,1.0sec;
65:
WAITDI[4:
M1_CLIP_CLOSED]=ON;
66:
!
M1PICKFINISH;
67:
;
68:
WAIT1.50(sec);
69:
CALLHAND_OPEN;
70:
WAIT1.50(sec);
71:
;
72:
LP[41:
M1_REBACK_POIT]100mm/secFINE;
73:
JP[45:
M1_REBACK]60%CNT10;
74:
LP[46]100mm/secFINE;
75:
JP[47:
M1_OUT]70%CNT100;
76:
;
77:
DO[3:
M1_LOAD_FIN]=PULSE,1.0sec;
78:
JP[36]100%CNT50;
79:
JP[35:
GUODUO]100%CNT100;
80:
JMPLBL[3];
81:
;
82:
!
***;
83:
!
***GOTOM2***;
84:
;
85:
LBL[2:
M2_LOAD];
86:
!
GOTOM2PUT;
87:
;
88:
DO[10:
M2_OPEN_REQUE]=PULSE,1.0sec;
89:
JP[30:
GUODU]100%CNT100;
90:
LP[31]2000mm/secCNT100;
91:
;
92:
JP[32:
M2_IN]100%CNT5;
93:
;
94:
LP[33:
JIEJIE]100mm/secFINE;
95:
;
96:
LP[34:
M2_CENTER]50mm/secFINE;
97:
WAIT1.00(sec);
98:
LP[44:
JIAJIN_POINT]2mm/secFINE;
99:
DO[9:
M2_CLIP_CLOSE_REQ]=PULSE,1.0sec;
100:
WAITDI[14:
M2_CLIP_CLOSED]=ON;
101:
!
M2PICKFINISH;
102:
;
103:
WAIT1.50(sec);
104:
CALLHAND_OPEN;
105:
WAIT1.50(sec);
106:
;
107:
LP[4:
M2REBACK_POINT]10mm/secFINE;
108:
LP[5]100mm/secFINE;
109:
JP[6:
M2_IN]100%CNT100;
110:
;
111:
DO[7:
M2_LOAD_FIN]=PULSE,1.0sec;
112:
JP[31]100%CNT50;
113:
JP[30:
GUODU]100%CNT100;
114:
;
115:
JMPLBL[3];
116:
;
117:
;
118:
!
***GOHOME***;
119:
;
120:
LBL[3:
WAIT_PSN];
121:
JP[1:
WAIT_PSN]100%CNT100;
122:
DO[14:
SHA_FINI]=PULSE,2.0sec;
123:
;
124:
;
125:
!
CYCLESTOP;
126:
;
127:
IF(DI[20:
CYCLESTOP]),JMPLBL[999];
128:
;
129:
JMPLBL[10];
130:
;
131:
!
***NOTATHOME;
132:
LBL[999];
133:
DO[15:
R2CYCLE_STOP]=ON;
134:
CALLHOME;
135:
CALLHAND_OPEN;
136:
END;
137:
;
138:
;
139:
LBL[9999];
140:
UALM[...];
141:
Message[NOTATHOME];
142:
;
143:
;
144:
;
145:
;
/PROG-BCKED2-
/ATTR
OWNER=BACKGRND;
COMMENT="";
PROG_SIZE=132;
CREATE=DATE15-11-03TIME11:
06:
22;
MODIFIED=DATE15-11-03TIME11:
06:
22;
FILE_NAME=;
VERSION=0;
LINE_COUNT=0;
MEMORY_SIZE=376;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=*,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
/POS
/END
/PROG-BCKED8-
/ATTR
OWNER=BACKGRND;
COMMENT="";
PROG_SIZE=132;
CREATE=DATE15-06-29TIME11:
54:
20;
MODIFIED=DATE15-06-29TIME11:
54:
20;
FILE_NAME=;
VERSION=0;
LINE_COUNT=0;
MEMORY_SIZE=376;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=*,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
/POS
/END
/PROG-BCKED9-
/ATTR
OWNER=BACKGRND;
COMMENT="";
PROG_SIZE=132;
CREATE=DATE15-06-29TIME11:
54:
20;
MODIFIED=DATE15-06-29TIME11:
54:
20;
FILE_NAME=;
VERSION=0;
LINE_COUNT=0;
MEMORY_SIZE=376;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=*,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
/POS
/END
/PROG-BCKEDT-Macro
/ATTR
OWNER=BACKGRND;
COMMENT="GETDATA";
PROG_SIZE=282;
CREATE=DATE15-11-08TIME10:
19:
46;
MODIFIED=DATE15-11-08TIME10:
19:
46;
FILE_NAME=GETDATA;
VERSION=0;
LINE_COUNT=2;
MEMORY_SIZE=654;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=*,*,*,*,*;
CONTROL_CODE=0000000000000000;
/APPL
/MN
1:
!
GetDataMacro;
2:
CALLGESNDDAT(AR[1],1,AR[2],AR[3],AR[4],AR[5],AR[6],AR[7],AR[8],AR[9]);
/POS
/END
/PROGGETDATAMacro
/ATTR
OWNER=MNEDITOR;
COMMENT="GetPCData";
PROG_SIZE=286;
CREATE=DATE10-10-14TIME11:
38:
12;
MODIFIED=DATE99-06-01TIME14:
21:
38;
FILE_NAME=SENDDATA;
VERSION=0;
LINE_COUNT=2;
MEMORY_SIZE=658;
PROTECT=READ;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=*,*,*,*,*;
CONTROL_CODE=0000000000000000;
/APPL
/MN
1:
!
GetDataMacro;
2:
CALLGESNDDAT(AR[1],1,AR[2],AR[3],AR[4],AR[5],AR[6],AR[7],AR[8],AR[9]);
/POS
/END
/PROGHAND_CLOSE
/ATTR
OWNER=MNEDITOR;
COMMENT="";
PROG_SIZE=186;
CREATE=DATE15-09-25TIME10:
30:
34;
MODIFIED=DATE15-10-10TIME14:
36:
06;
FILE_NAME=;
VERSION=0;
LINE_COUNT=5;
MEMORY_SIZE=538;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
1:
;
2:
RO[1:
HAND_OPEN_ON]=OFF;
3:
WAITRI[2:
HAND_CLOSE]=ON;
4:
;
5:
;
/POS
/END
/PROGHAND_OPEN
/ATTR
OWNER=MNEDITOR;
COMMENT="";
PROG_SIZE=186;
CREATE=DATE15-09-25TIME10:
30:
40;
MODIFIED=DATE15-10-10TIME14:
35:
10;
FILE_NAME=;
VERSION=0;
LINE_COUNT=5;
MEMORY_SIZE=538;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
1:
;
2:
RO[1:
HAND_OPEN_ON]=ON;
3:
WAITRI[1:
HAND_OPEN]=ON;
4:
;
5:
;
/POS
/END
/PROGHOME
/ATTR
OWNER=MNEDITOR;
COMMENT="";
PROG_SIZE=174;
CREATE=DATE15-10-09TIME15:
08:
34;
MODIFIED=DATE15-10-11TIME13:
56:
20;
FILE_NAME=;
VERSION=0;
LINE_COUNT=3;
MEMORY_SIZE=534;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
1:
UFRAME_NUM=0;
2:
UTOOL_NUM=1;
3:
JPR[1:
HOME]30%FINE;
/POS
/END
/PROGINITI
/ATTR
OWNER=MNEDITOR;
COMMENT="";
PROG_SIZE=332;
CREATE=DATE15-10-09TIME15:
13:
04;
MODIFIED=DATE15-10-12TIME17:
14:
44;
FILE_NAME=;
VERSION=0;
LINE_COUNT=15;
MEMORY_SIZE=652;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
1:
CALLHAND_OPEN;
2:
DO[5:
M1_CLIP_CLOSE_REQ]=OFF;
3:
DO[9:
M2_CLIP_CLOSE_REQ]=OFF;
4:
;
5:
DO[3:
M1_LOAD_FIN]=OFF;
6:
DO[4:
M1_PICK_FIN]=OFF;
7:
DO[5:
M1_CLIP_CLOSE_REQ]=OFF;
8:
DO[6:
M1_CLIP_OPEN_REQ]=OFF;
9:
DO[7:
M2_LOAD_FIN]=OFF;
10:
DO[9:
M2_CLIP_CLOSE_REQ]=OFF;
11:
DO[9:
M2_CLIP_CLOSE_REQ]=OFF;
12:
DO[10:
M2_OPEN_REQUE]=OFF;
13:
DO[14:
SHA_FINI]=OFF;
14:
;
15:
;
/POS
/END
/PROGPICK_AND_LOADM1
/ATTR
OWNER=MNEDITOR;
COMMENT="";
PROG_SIZE=2180;
CREATE=DATE15-09-25TIME09:
53:
14;
MODIFIED=DATE15-09-25TIME17:
16:
52;
FILE_NAME=;
VERSION=0;
LINE_COUNT=58;
MEMORY_SIZE=2596;
PROTECT=READ_WRITE;
TCD:
STACK_SIZE=0,
TASK_PRIORITY=50,
TIME_SLICE=0,
BUSY_LAMP_OFF=0,
ABORT_REQUEST=0,
PAUSE_REQUEST=0;
DEFAULT_GROUP=1,*,*,*,*;
CONTROL_CODE=0000000000000000;
/MN
1:
;
2:
;
3:
;
4:
;
5:
;
6:
JP[1:
WAIT_PSN]100%FINE;
7:
CALLHAND_OPEN;
8:
WAITDI[2:
M1_LOAD_PMT]=ONORDI[12:
M2_LOAD_PMT]=ON;
9:
DO[12:
HAND_OPEN]=ON;
10:
JP[2:
PICK_PSN]100%FINE;
11:
CALLHAND_CLOSE;
12:
WAITDI[9:
FEEDIN_HOME]=ON;
13:
DO[6:
M1_CLIP_OPEN_REQ]=PULSE,1.0sec;
14:
LP[3:
RT1]1600mm/secCNT20;
15:
LP[4:
RT2]1600mm/secCNT20;
16:
!
*********;
17:
!
***SEL***;
18:
WAITDI[2:
M1_LOAD_PMT]=ONORDI[12:
M2_LOAD_PMT]=ON;
19:
IFDI[2:
M1_LOAD_PMT]=ON,JMPLBL[1];
20:
IFDI[12:
M2_LOAD_PMT]=ON,JMPLBL[2];
21:
!
*********;
22:
;
23:
LBL[1:
M1_LOAD];
24:
LP[5]2000mm/secCNT100;
25:
JP[6]100%CNT100;
26:
JP[7]100%CNT100;
27:
LP[8]2000mm
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- 关 键 词:
- 机器人 专机 程序