法那科机器人专机程序.doc

/PROG PNS0001/ATTROWNER= MNEDITOR;COMMENT= MAIN;PROG_SIZE= 4009;CREATE= DATE 15-10-11 TIME 17:39:40;MODIFIED= DATE 15-11-04 TIME 10:23:42;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= 00000000 00000000;/APPL/MN 1: UFRAME_NUM=0 ; 2: UTOOL_NUM=1 ; 3: PAYLOAD1 ; 4: ; 5: !HOME AND INITI ; 6: LBL888 ; 7: IF UO7:At perchON,JMP LBL9999 ; 8: CALL HOME ; 9: CALL HAND_OPEN ; 10: ; 11: !CYCLE START ; 12: ; 13: LBL10 ; 14:J P1:WAIT_PSN 100% FINE ; 15: CALL HAND_OPEN ; 16: WAIT DI2:M1_LOAD_PMT=ON OR DI12:M2_LOAD_PMT=ON ; 17: ; 18: WAIT DI10:LIAOJIA_READY=ON ; 19: ; 20: !GO TO PICK ; 21:J P2:PICK_APPR 100% FINE ; 22: ; 23:L P21:JIEJIN_POINT 100mm/sec FINE ; 24:L P22:JIEJIN_POINT_LEF 30mm/sec FINE ; 25: ; 26: WAIT .60(sec) ; 27: ; 28: CALL HAND_CLOSE ; 29: WAIT .40(sec) ; 30: DO11:HAND_CLOSE=PULSE,1.0sec ; 31: ; 32: WAIT DI9:FEEDIN_HOME=ON ; 33: ; 34: ; 35:L P20:TAIQI_POINT 100mm/sec FINE ; 36:L P23:OUT_POINT 500mm/sec CNT10 ; 37: !PICK FINISH ; 38:J P9:GO M1 M2 WAIT 100% CNT100 ; 39: ; 40: !* * ; 41: !* SELECT TASK * ; 42: ; 43: WAIT DI2:M1_LOAD_PMT=ON OR DI12:M2_LOAD_PMT=ON ; 44: ; 45: IF DI2:M1_LOAD_PMT=ON,JMP LBL1 ; 46: IF DI12:M2_LOAD_PMT=ON,JMP LBL2 ; 47: ; 48: !* GO TO M1 * ; 49: ; 50: LBL1:M1_LOAD ; 51: !GO TO M1 PUT ; 52: ; 53: DO6:M1_CLIP_OPEN_REQ=PULSE,1.0sec ; 54:J P35:GUODUO 100% CNT100 ; 55: ; 56:L P36 1000mm/sec CNT100 ; 57: ; 58:J P37:M1_IN 100% CNT10 ; 59:L P3 100mm/sec FINE ; 60:L P38:M1_APPR 30mm/sec FINE ; 61:L P39:M1_CENTER 30mm/sec FINE ; 62: WAIT .80(sec) ; 63:L P40:M1_JIAJIN_POINT 2mm/sec FINE ; 64: DO5:M1_CLIP_CLOSE_REQ=PULSE,1.0sec ; 65: WAIT DI4:M1_CLIP_CLOSED=ON ; 66: !M1 PICK FINISH ; 67: ; 68: WAIT 1.50(sec) ; 69: CALL HAND_OPEN ; 70: WAIT 1.50(sec) ; 71: ; 72:L P41:M1_REBACK_POIT 100mm/sec FINE ; 73:J P45:M1_REBACK 60% CNT10 ; 74:L P46 100mm/sec FINE ; 75:J P47:M1_OUT 70% CNT100 ; 76: ; 77: DO3:M1_LOAD_FIN=PULSE,1.0sec ; 78:J P36 100% CNT50 ; 79:J P35:GUODUO 100% CNT100 ; 80: JMP LBL3 ; 81: ; 82: !* ; 83: !* GO TO M2 * ; 84: ; 85: LBL2:M2_LOAD ; 86: !GO TO M2 PUT ; 87: ; 88: DO10:M2_OPEN_REQUE=PULSE,1.0sec ; 89:J P30:GUODU 100% CNT100 ; 90:L P31 2000mm/sec CNT100 ; 91: ; 92:J P32:M2_IN 100% CNT5 ; 93: ; 94:L P33:JIEJIE 100mm/sec FINE ; 95: ; 96:L P34:M2_CENTER 50mm/sec FINE ; 97: WAIT 1.00(sec) ; 98:L P44:JIAJIN_POINT 2mm/sec FINE ; 99: DO9:M2_CLIP_CLOSE_REQ=PULSE,1.0sec ; 100: WAIT DI14:M2_CLIP_CLOSED=ON ; 101: !M2 PICK FINISH ; 102: ; 103: WAIT 1.50(sec) ; 104: CALL HAND_OPEN ; 105: WAIT 1.50(sec) ; 106: ; 107:L P4:M2 REBACK_POINT 10mm/sec FINE ; 108:L P5 100mm/sec FINE ; 109:J P6:M2_IN 100% CNT100 ; 110: ; 111: DO7:M2_LOAD_FIN=PULSE,1.0sec ; 112:J P31 100% CNT50 ; 113:J P30:GUODU 100% CNT100 ; 114: ; 115: JMP LBL3 ; 116: ; 117: ; 118: !* GO HOME * ; 119: ; 120: LBL3:WAIT_PSN ; 121:J P1:WAIT_PSN 100% CNT100 ; 122: DO14:SHA_FINI=PULSE,2.0sec ; 123: ; 124: ; 125: !CYCLE STOP ; 126: ; 127: IF (DI20:CYCLE STOP),JMP LBL999 ; 128: ; 129: JMP LBL10 ; 130: ; 131: !* NOT AT HOME ; 132: LBL999 ; 133: DO15:R2 CYCLE_STOP=ON ; 134: CALL HOME ; 135: CALL HAND_OPEN ; 136: END ; 137: ; 138: ; 139: LBL9999 ; 140: UALM. ; 141: MessageNOT AT HOME ; 142: ; 143: ; 144: ; 145: ;/PROG -BCKED2-/ATTROWNER= BACKGRND;COMMENT= ;PROG_SIZE= 132;CREATE= DATE 15-11-03 TIME 11:06:22;MODIFIED= DATE 15-11-03 TIME 11:06:22;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= 00000000 00000000;/MN/POS/END/PROG -BCKED8-/ATTROWNER= BACKGRND;COMMENT= ;PROG_SIZE= 132;CREATE= DATE 15-06-29 TIME 11:54:20;MODIFIED= DATE 15-06-29 TIME 11:54:20;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= 00000000 00000000;/MN/POS/END/PROG -BCKED9-/ATTROWNER= BACKGRND;COMMENT= ;PROG_SIZE= 132;CREATE= DATE 15-06-29 TIME 11:54:20;MODIFIED= DATE 15-06-29 TIME 11:54:20;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= 00000000 00000000;/MN/POS/END/PROG -BCKEDT- Macro/ATTROWNER= BACKGRND;COMMENT= GETDATA;PROG_SIZE= 282;CREATE= DATE 15-11-08 TIME 10:19:46;MODIFIED= DATE 15-11-08 TIME 10:19:46;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= 00000000 00000000;/APPL/MN 1: !Get Data Macro ; 2: CALL GESNDDAT(AR1,1,AR2,AR3,AR4,AR5,AR6,AR7,AR8,AR9) ;/POS/END/PROG GETDATA Macro/ATTROWNER= MNEDITOR;COMMENT= Get PC Data;PROG_SIZE= 286;CREATE= DATE 10-10-14 TIME 11:38:12;MODIFIED= DATE 99-06-01 TIME 14:21:38;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= 00000000 00000000;/APPL/MN 1: !Get Data Macro ; 2: CALL GESNDDAT(AR1,1,AR2,AR3,AR4,AR5,AR6,AR7,AR8,AR9) ;/POS/END/PROG HAND_CLOSE/ATTROWNER= MNEDITOR;COMMENT= ;PROG_SIZE= 186;CREATE= DATE 15-09-25 TIME 10:30:34;MODIFIED= DATE 15-10-10 TIME 14:36:06;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= 00000000 00000000;/MN 1: ; 2: RO1:HAND_OPEN_ON=OFF ; 3: WAIT RI2:HAND_CLOSE=ON ; 4: ; 5: ;/POS/END/PROG HAND_OPEN/ATTROWNER= MNEDITOR;COMMENT= ;PROG_SIZE= 186;CREATE= DATE 15-09-25 TIME 10:30:40;MODIFIED= DATE 15-10-10 TIME 14:35:10;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= 00000000 00000000;/MN 1: ; 2: RO1:HAND_OPEN_ON=ON ; 3: WAIT RI1:HAND_OPEN=ON ; 4: ; 5: ;/POS/END/PROG HOME/ATTROWNER= MNEDITOR;COMMENT= ;PROG_SIZE= 174;CREATE= DATE 15-10-09 TIME 15:08:34;MODIFIED= DATE 15-10-11 TIME 13:56:20;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= 00000000 00000000;/MN 1: UFRAME_NUM=0 ; 2: UTOOL_NUM=1 ; 3:J PR1:HOME 30% FINE ;/POS/END/PROG INITI/ATTROWNER= MNEDITOR;COMMENT= ;PROG_SIZE= 332;CREATE= DATE 15-10-09 TIME 15:13:04;MODIFIED= DATE 15-10-12 TIME 17:14:44;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= 00000000 00000000;/MN 1: CALL HAND_OPEN ; 2: DO5:M1_CLIP_CLOSE_REQ=OFF ; 3: DO9:M2_CLIP_CLOSE_REQ=OFF ; 4: ; 5: DO3:M1_LOAD_FIN=OFF ; 6: DO4:M1_PICK_FIN=OFF ; 7: DO5:M1_CLIP_CLOSE_REQ=OFF ; 8: DO6:M1_CLIP_OPEN_REQ=OFF ; 9: DO7:M2_LOAD_FIN=OFF ; 10: DO9:M2_CLIP_CLOSE_REQ=OFF ; 11: DO9:M2_CLIP_CLOSE_REQ=OFF ; 12: DO10:M2_OPEN_REQUE=OFF ; 13: DO14:SHA_FINI=OFF ; 14: ; 15: ;/POS/END/PROG PICK_AND_LOADM1/ATTROWNER= MNEDITOR;COMMENT= ;PROG_SIZE= 2180;CREATE= DATE 15-09-25 TIME 09:53:14;MODIFIED= DATE 15-09-25 TIME 17:16:52;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= 00000000 00000000;/MN 1: ; 2: ; 3: ; 4: ; 5: ; 6:J P1:WAIT_PSN 100% FINE ; 7: CALL HAND_OPEN ; 8: WAIT DI2:M1_LOAD_PMT=ON OR DI12:M2_LOAD_PMT=ON ; 9: DO12:HAND_OPEN=ON ; 10:J P2:PICK_PSN 100% FINE ; 11: CALL HAND_CLOSE ; 12: WAIT DI9:FEEDIN_HOME=ON ; 13: DO6:M1_CLIP_OPEN_REQ=PULSE,1.0sec ; 14:L P3:RT1 1600mm/sec CNT20 ; 15:L P4:RT2 1600mm/sec CNT20 ; 16: !* * * ; 17: !* SEL * ; 18: WAIT DI2:M1_LOAD_PMT=ON OR DI12:M2_LOAD_PMT=ON ; 19: IF DI2:M1_LOAD_PMT=ON,JMP LBL1 ; 20: IF DI12:M2_LOAD_PMT=ON,JMP LBL2 ; 21: !* * * ; 22: ; 23: LBL1:M1_LOAD ; 24:L P5 2000mm/sec CNT100 ; 25:J P6 100% CNT100 ; 26:J P7 100% CNT100 ; 27:L P8 2000mm/sec CNT50 ; 28:L P9:PSN 800mm/sec FINE ; 29: DO5:M1_CLIP_CLOSE_REQ=PULSE,1.0sec ; 30: WAIT DI4:M1_CLIP_CLOSED=ON ; 31: ; 32: CALL HAND_OPEN ; 33:L P10 2000mm/sec CNT20 ; 34: DO3:M1_LOAD_FIN=PULSE,1.0sec ; 35:J P11 100% CNT100 ; 36:J P12 100% CNT100 ; 37: JMP LBL3 ; 38: ; 39: LBL2:M2_LOAD ; 40:J P13 100% CNT100 ; 41:L P15 2000mm/sec CNT100 ; 42:L P16:OUT 2000mm/sec CNT100 ; 43:L P17:PSN 500mm/sec FINE ; 44: DO9:M2_CLIP_CLOSE_REQ=PULSE,1.0sec ; 45: WAIT DI14:M2_CLIP_CLOSED=ON ; 46: CALL HAND_OPEN ; 47: ; 48:L P18:OUT 2000mm/sec CNT20 ; 49: DO7:M2_LOAD_FIN=PULSE,1.0sec ; 50:L P19 2000mm/sec CNT50 ; 51:J P20 100% CNT100 ; 52: JMP LBL3 ; 53: ; 54: ; 55: ; 56: ; 57: LBL3:WAIT_PSN ; 58:J P14:WAIT_PSN 100% CNT100 ;/PROG REQMENU Macro/ATTROWNER= MNEDITOR;COMMENT= Request PC Menu;PROG_SIZE= 262;CREATE= DATE 10-10-14 TIME 11:46:32;MODIFIED= DATE 99-06-01 TIME 14:22:06;FILE_NAME= SENDDATA;VERSION= 0;LINE_COUNT= 2;MEMORY_SIZE= 634;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= 00000000 00000000;/APPL/MN 1: !Request Menu Macro ; 2: CALL GESNDEVT(AR1,1,AR2) ;/POS/END/PROG SENDDATA Macro/ATTROWNER= MNEDITOR;COMMENT= Send PC Data;PROG_SIZE= 288;CREATE= DATE 10-10-09 TIME 13:30:34;MODIFIED= DATE 99-06-01 TIME 14:22:28;FILE_NAME= SENDEVNT;VERSION= 0;LINE_COUNT= 2;MEMORY_SIZE= 660;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= 00000000 00000000;/APPL/MN 1: !Send Data Macro ; 2: CALL GESNDDAT(AR1,AR2,AR3,AR4,AR5,AR6,AR7,AR8,AR9,AR10) ;/POS/END/PROG SENDEVNT Macro/ATTROWNER= MNEDITOR;COMMENT= Send PC Event;PROG_SIZE= 224;CREATE= DATE 10-10-09 TIME 12:23:20;MODIFIED= DATE 99-06-01 TIME 14:22:46;FILE_NAME= ;VERSION= 0;LINE_COUNT= 2;MEMORY_SIZE= 596;PROTECT= READ;TCD: STACK_SIZE= 0, TASK_PRIORITY= 50