三菱机器人程序

定义输入 Def Io in0 Bit 0 Def Io in1 Bit 1 Def Io in3 Bit 3 Def Io in4 Bit 4 Def Io in5 Bit 5 Def Io in6 Bit 6 Def Io in7 Bit 7 Def Io in8 Bit 8 Def Io in9 Bit 9 Def Io in10 Bit 10 Def Io in11 Bit 11 Def Io in12 Bit 12 Def Io in13 Bit 13 Def Io in14 Bit 14 Def Io in15 Bit 15 定义 输出 Def Io out0 Bit 0 Def Io out1 Bit 1 Def Io out3 Bit 3 Def Io out4 Bit 4 Def Io out5 Bit 5 Def Io out6 Bit 6 Def Io out7 Bit 7 Def Io out8 Bit 8 Def Io out9 Bit 9 Def Io out10 Bit 10 Def Io out11 Bit 11 Def Io out12 Bit 12 Def Io out13 Bit 13 Def Io out14 Bit 14 Def Io out15 Bit 15 定义变量 Def Jnt jyd 定义安全点 Def Plt 1 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 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 00 0 0 托盘点 p12 p11 p21 p11 p22 p11 p12 Y p11 Y 12 p21 X p11 X 12 p22 X p11 X 12 p22 Y p11 Y 12 p15 Plt 1 3 p16 p15 p25 p15 p26 p15 p16 Y p15 Y 12 p25 X p15 X 12 p26 X p15 X 12 p26 Y p15 Y 12 p31 Plt 1 8 p32 p31 p41 p31 p42 p31 p32 Y p31 Y 12 p41 X p31 X 12 p42 X p31 X 12 p42 Y p31 Y 12 p35 Plt 1 6 p36 p35 p45 p35 p46 p35 p36 Y p35 Y 12 p45 X p35 X 12 p46 X p35 X 12 p46 Y p35 Y 12 p51 Plt 1 9 p52 p51 p61 p51 p62 p51 p52 Y p51 Y 12 p61 X p51 X 12 p62 X p51 X 12 p62 Y p51 Y 12 p55 Plt 1 11 p56 p55 p65 p55 p66 p55 p56 Y p55 Y 12 p65 X p55 X 12 p66 X p55 X 12 p66 Y p55 Y 12 p75 Plt 1 14 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 12 p72 p71 p81 p71 p82 p71 p72 Y p71 Y 12 p81 X p71 X 12 p82 X p71 X 12 p81 Y p71 Y 12 判断 If M In 9 1 And M In 10 0 Then 判断3个夹具是否在原位 If M In 11 0 And M In 13 0 Then GoSub fw 程序fw EndIf EndIf If M In 9 1 And M In 10 1 Then 判断1夹具是否在原位 If M In 11 0 And M In 13 0 Then GoSub fw1 夹具1复位 EndIf EndIf If M In 9 1 And M In 10 0 Then 判断夹具2是否在原位 If M In 11 1 And M In 13 0 Then GoSub fw2 夹具2复位 EndIf EndIf If M In 9 1 And M In 10 0 Then 判断夹具3是否在原位 If M In 11 0 And M In 13 1 Then GoSub fw3 夹具3复位 EndIf EndIf If M 05 3 Then out14 1 M 05 0 EndIf If M In 6 1 And M 05 0 Then GoSub ks1 一次装机 EndIf If M In 6 1 And M 05 1 Then GoSub ks2 二次装机 EndIf If M In 6 1 And M 05 2 Then GoSub ks3 三次装机 EndIf If M In 6 1 And M 05 3 Then GoSub ks4 四次装机 EndIf End 复位程序 fw 程序复位 Ovrd 80 j1 J Curr j1 J2 jyd J2 j1 J3 jyd J3 j1 J4 jyd J4 j1 J5 jyd J5 Mov j1 Mov jyd out5 1 m outb 6 0 将输出信号6 13的8个 位关闭 M 00 0 M 05 0 M 01 0 Return 复位1 fw1 Ovrd 70 j1 J Curr j1 J2 jyd J2 j1 J3 jyd J3 j1 J4 jyd J4 j1 J5 jyd J5 Mov j1 Mov jyd out12 0 out13 0 Mov p1 Mov p23 ovrd 50 Spd 400 Mvs p20 p204 Mvs p20 Dly 0 2 out11 1 Dly 0 2 Mvs p20 p203 out11 0 GoSub fw4 Return 复位2 fw2 Ovrd 70 j1 J Curr j1 J2 jyd J2 j1 J3 jyd J3 j1 J4 jyd J4 j1 J5 jyd J5 Mov j1 Mov jyd out12 0 out13 0 ovrd 50 Mov p40 p201 Spd 400 Mvs p40 Dly 0 2 out11 1 Dly 0 2 Mvs p40 p203 out11 0 GoSub fw4 Return 复位3 fw3 Ovrd 70 j1 J Curr j1 J2 jyd J2 j1 J3 jyd J3 j1 J4 jyd J4 j1 J5 jyd J5 Mov j1 Mov jyd out12 1 out13 0 Mov p5 out12 0 ovrd 51 Mov p2 Spd 600 Mvs p33 Mvs p30 p200 Mvs p30 Dly 0 2 out11 1 Dly 0 2 Mvs p30 p203 out11 0 M 05 M 05 1 If M In 6 0 Then GoTo fw4 Return 正常复位 fw4 Ovrd 50 j1 J Curr j1 J2 jyd J2 j1 J3 jyd J3 j1 J4 jyd J4 j1 J5 jyd J5 Mov j1 Mov jyd out11 0 out12 0 out13 0 out15 0 out7 0 out6 0 out14 0 Return 取夹具1 jj1 Wait M In 10 0 Wait M In 11 0 Wait M In 13 0 Ovrd 50 Mov p20 p201 Spd 700 Mov p20 p203 Spd 300 out11 1 Mvs p20 Dly 0 2 out11 0 Dly 0 2 Mvs p20 p200 p23 P Curr Mvs p23 p204 p23 P Curr Mvs p23 p201 p23 P Curr Return 取夹具2 jj2 Spd 400 Wait M In 10 0 Wait M In 11 0 Wait M In 13 0 Mvs p40 p203 out11 1 Mvs p40 Dly 0 2 out11 0 Dly 0 2 Spd 600 Mvs p40 p201 Mvs p210 p203 Spd 400 Mvs p210 out13 1 Mvs p221 Mvr p221 p220 p219 Mvs p218 Mvr p218 p217 p216 Mvs p215 Mvr p215 p214 p213 Mvs p212 Mvr p212 p211 p210 out13 0 out6 1 Spd 600 Mvs p210 p201 out6 0 Mvs p40 p201 Spd 400 Mvs p40 Dly 0 2 out11 1 Dly 0 2 Mvs p40 p203 out6 1 Dly 0 2 out6 0 Return 取夹具3 jj3 Wait M In 10 0 Wait M In 11 0 Wait M In 13 0 Spd 400 Mvs p30 p203 out11 1 Spd 300 Mvs p30 Dly 0 2 out11 0 Dly 0 2 Spd 400 Mvs p30 p200 p33 P Curr Mvs p33 p202 p33 P Curr Mvs p33 p201 Return 去取盖 qg Ovrd 50 Mov p5 Mov p5 Mov p7 Wait M In 7 1 out12 1 out13 0 Mov p8 p0 out12 0 Spd 200 Mvs p8 Dly 0 2 out13 1 Dly 0 2 out15 1 Dly 0 5 入仓库 If M In 8 1 Then GoTo ck2 Else GoTo ck1 判断颜色 Return ck2 白色盖 GoSub jg Ovrd 40 Mov p231 p201 Spd 200 If M In 15 1 And M 00 3 Then out10 1 Wait M Out 10 0 M 00 0 EndIf If M 00 0 Then 第一层 If M In 15 1 Then Mov p6 EndIf Wait M In 15 0 Mov p231 p201 Spd 200 Mvs p231 EndIf If M In 15 1 And M 00 1 Then 第二层 Mvs p231 p0 EndIf If M In 15 1 And M 00 2 Then 第三层 Mvs p231 p203 EndIf If M In 15 1 And M 00 3 Then 第四层 Mvs p231 p203 p0 EndIf Dly 0 2 out13 0 out12 1 Mvs p231 p201 out8 1 入库完成 GoSub fw3 out8 0 M 00 M 00 1 Return ck1 黑色盖 GoSub jg Ovrd 40 Mov p240 p201 Spd 200 If M In 14 1 And M 01 3 Then out9 1 Wait M Out 9 0 M 01 0 EndIf If M 01 0 Then 第一层 If M In 14 1 Then Mov p6 EndIf Wait M In 14 0 Mov p240 p201 Spd 200 Mvs p240 EndIf If M In 14 1 And M 01 1 Then 第二层 Mvs p240 p0 EndIf If M In 14 1 And M 01 2 Then 第三层 Mvs p240 p203 EndIf If M In 14 1 And M 01 3 Then 第四层 Mvs p240 p203 p0 EndIf Dly 0 2 out13 0 out12 1 Mvs p240 p201 out8 1 入库完成 GoSub fw3 out8 0 M 01 M 01 1 Return 去加盖 jg Mvs p8 p203 Ovrd 50 Mov p7 Mov p6 Mov p9 Mov p10 p0 Spd 200 Mvs p10 Dly 0 2 out7 1 Dly 0 2 out7 0 Mvs p10 p0 Ovrd 50 Mov p9 Mov p6 Return 一次装机 ks1 out5 0 out6 0 out7 0 out8 0 out14 0 out15 0 GoSub jj1 装1和2键 Ovrd 50 Mov p3 Ovrd 70 Mov p11 p0 Spd 200 Mvs p11 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p11 p0 Mov p3 Mov p104 p0 Spd 200 Mvs p104 Dly 0 2 out13 0 Mvs p104 p0 Mvs p103 p0 Mvs p103 Dly 0 2 out12 0 Ovrd 70 Mvs p103 p0 Mov p3 装3和 键 Mov p15 p0 Spd 200 Mvs p15 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p15 p0 Mov p3 Mov p105 p0 Spd 200 Mvs p105 Dly 0 2 out12 0 Mvs p105 p0 Mvs p106 p0 Mvs p106 Dly 0 2 out13 0 Ovrd 70 Mvs p106 p0 Mov p3 装4和5键 Mov p31 p0 Spd 200 Mvs p31 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p31 p0 Mov p3 Mov p108 p0 Spd 200 Mvs p108 Dly 0 2 out13 0 Mvs p108 p0 Mvs p107 p0 Mvs p107 Dly 0 2 out12 0 Ovrd 70 Mvs p107 p0 Mov p3 装6和0键 Mov p35 p0 Spd 200 Mvs p35 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p35 p0 Mov p3 Mov p109 p0 Spd 200 Mvs p109 Dly 0 2 out12 0 Mvs p109 p0 Mvs p110 p0 Mvs p110 Dly 0 2 out13 0 Ovrd 70 Mvs p110 p0 Mov p3 装7和8键 Mov p51 p0 Spd 200 Mvs p51 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p51 p0 Mov p3 Mov p112 p0 Spd 200 Mvs p112 Dly 0 2 out13 0 Mvs p112 p0 Mvs p111 p0 Mvs p111 Dly 0 2 out12 0 Ovrd 70 Mvs p111 p0 Mov p3 装9键 Mov p55 p0 Spd 200 Mvs p55 out12 1 Dly 0 2 Ovrd 70 Mvs p55 p0 Mov p3 Mov p113 p0 Spd 200 Mvs p113 Dly 0 2 out12 0 Ovrd 70 Mvs p113 p0 Mov p3 和接听键 Mov p71 p0 Spd 200 Mvs p71 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p71 p0 Mov p3 Mov p114 p0 Spd 200 Mvs p114 Dly 0 2 out12 0 Mvs p114 p0 Mvs p100 p0 Mvs p100 Dly 0 2 out13 0 Ovrd 70 Mvs p100 p0 Mov p3 装挂机键 Mov p75 p0 Spd 200 Mvs p75 out12 1 Dly 0 2 Ovrd 70 Mvs p75 p0 Mov p3 Mov p102 p0 Spd 200 Mvs p102 Dly 0 2 out12 0 Ovrd 70 Mvs p102 p0 Mov p3 装方向键 Mov p50 p0 Spd 200 Mvs p50 out12 1 Dly 0 2 Ovrd 70 Mvs p50 p0 Mov p3 Mov p101 p0 Spd 200 Mvs p101 Dly 0 2 out12 0 Ovrd 70 Mvs p101 p203 out6 1 放回夹具1 Ovrd 50 Mov p23 Spd 450 Mvs p20 p204 out6 0 Spd 400 Mvs p20 Dly 0 2 out11 1 Dly 0 2 Mvs p20 p203 out6 1 Dly 0 2 out6 0 GoSub jj2 GoSub jj3 GoSub qg Return 二次装机 ks2 out5 0 out6 0 out7 0 out8 0 out14 0 out15 0 GoSub jj1 装1和2键 Ovrd 50 Mov p3 Ovrd 70 Mov p12 p0 Spd 200 Mvs p12 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p12 p0 Mov p3 Mov p104 p0 Spd 200 Mvs p104 Dly 0 2 out13 0 Mvs p104 p0 Mvs p103 p0 Mvs p103 Dly 0 2 out12 0 Ovrd 70 Mvs p103 p0 Mov p3 装3和 键 Mov p16 p0 Spd 200 Mvs p16 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p16 p0 Mov p3 Mov p105 p0 Spd 200 Mvs p105 Dly 0 2 out12 0 Mvs p105 p0 Mvs p106 p0 Mvs p106 Dly 0 2 out13 0 Ovrd 70 Mvs p106 p0 Mov p3 装4和5键 Mov p32 p0 Spd 200 Mvs p32 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p32 p0 Mov p3 Mov p108 p0 Spd 200 Mvs p108 Dly 0 2 out13 0 Mvs p108 p0 Mvs p107 p0 Mvs p107 Dly 0 2 out12 0 Ovrd 70 Mvs p107 p0 Mov p3 装6和0键 Mov p36 p0 Spd 200 Mvs p36 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p36 p0 Mov p3 Mov p109 p0 Spd 200 Mvs p109 Dly 0 2 out12 0 Mvs p109 p0 Mvs p110 p0 Mvs p110 Dly 0 2 out13 0 Ovrd 70 Mvs p110 p0 Mov p3 装7和8键 Mov p52 p0 Spd 200 Mvs p52 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p52 p0 Mov p3 Mov p112 p0 Spd 200 Mvs p112 Dly 0 2 out13 0 Mvs p112 p0 Mvs p111 p0 Mvs p111 Dly 0 2 out12 0 Ovrd 70 Mvs p111 p0 Mov p3 装9键 Mov p56 p0 Spd 200 Mvs p56 out12 1 Dly 0 2 Ovrd 70 Mvs p56 p0 Mov p3 Mov p113 p0 Spd 200 Mvs p113 Dly 0 2 out12 0 Ovrd 70 Mvs p113 p0 Mov p3 和接听键 Mov p72 p0 Spd 200 Mvs p72 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p72 p0 Mov p3 Mov p114 p0 Spd 200 Mvs p114 Dly 0 2 out12 0 Mvs p114 p0 Mvs p100 p0 Mvs p100 Dly 0 2 out13 0 Ovrd 70 Mvs p100 p0 Mov p3 装挂机键 Mov p76 p0 Spd 200 Mvs p76 out12 1 Dly 0 2 Ovrd 70 Mvs p76 p0 Mov p3 Mov p102 p0 Spd 200 Mvs p102 Dly 0 2 out12 0 Ovrd 70 Mvs p102 p0 Mov p3 装方向键 Mov p60 p0 Spd 200 Mvs p60 out12 1 Dly 0 2 Ovrd 70 Mvs p60 p0 Mov p3 Mov p101 p0 Spd 200 Mvs p101 Dly 0 2 out12 0 Ovrd 70 Mvs p101 p203 out6 1 放回夹具1 Ovrd 50 Mov p23 Spd 450 Mvs p20 p204 out6 0 Spd 400 Mvs p20 Dly 0 2 out11 1 Dly 0 2 Mvs p20 p203 out6 1 Dly 0 2 out6 0 GoSub jj2 GoSub jj3 GoSub qg Return 三次装机 ks3 out5 0 out6 0 out7 0 out8 0 out14 0 out15 0 GoSub jj1 装1和2键 Ovrd 50 Mov p3 Ovrd 70 Mov p21 p0 Spd 200 Mvs p21 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p21 p0 Mov p3 Mov p104 p0 Spd 200 Mvs p104 Dly 0 2 out13 0 Mvs p104 p0 Mvs p103 p0 Mvs p103 Dly 0 2 out12 0 Ovrd 70 Mvs p103 p0 Mov p3 装3和 键 Mov p25 p0 Spd 200 Mvs p25 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p25 p0 Mov p3 Mov p105 p0 Spd 200 Mvs p105 Dly 0 2 out12 0 Mvs p105 p0 Mvs p106 p0 Mvs p106 Dly 0 2 out13 0 Ovrd 70 Mvs p106 p0 Mov p3 装4和5键 Mov p41 p0 Spd 200 Mvs p41 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p41 p0 Mov p3 Mov p108 p0 Spd 200 Mvs p108 Dly 0 2 out13 0 Mvs p108 p0 Mvs p107 p0 Mvs p107 Dly 0 2 out12 0 Ovrd 70 Mvs p107 p0 Mov p3 装6和0键 Mov p45 p0 Spd 200 Mvs p45 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p45 p0 Mov p3 Mov p109 p0 Spd 200 Mvs p109 Dly 0 2 out12 0 Mvs p109 p0 Mvs p110 p0 Mvs p110 Dly 0 2 out13 0 Ovrd 70 Mvs p110 p0 Mov p3 装7和8键 Mov p61 p0 Spd 200 Mvs p61 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p61 p0 Mov p3 Mov p112 p0 Spd 200 Mvs p112 Dly 0 2 out13 0 Mvs p112 p0 Mvs p111 p0 Mvs p111 Dly 0 2 out12 0 Ovrd 70 Mvs p111 p0 Mov p3 装9键 Mov p65 p0 Spd 200 Mvs p65 out12 1 Dly 0 2 Ovrd 70 Mvs p65 p0 Mov p3 Mov p113 p0 Spd 200 Mvs p113 Dly 0 2 out12 0 Ovrd 70 Mvs p113 p0 Mov p3 和接听键 Mov p81 p0 Spd 200 Mvs p81 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p81 p0 Mov p3 Mov p114 p0 Spd 200 Mvs p114 Dly 0 2 out12 0 Mvs p114 p0 Mvs p100 p0 Mvs p100 Dly 0 2 out13 0 Ovrd 70 Mvs p100 p0 Mov p3 装挂机键 Mov p85 p0 Spd 200 Mvs p85 out12 1 Dly 0 2 Ovrd 70 Mvs p85 p0 Mov p3 Mov p102 p0 Spd 200 Mvs p102 Dly 0 2 out12 0 Ovrd 70 Mvs p102 p0 Mov p3 装方向键 Mov p70 p0 Spd 200 Mvs p70 out12 1 Dly 0 2 Ovrd 70 Mvs p70 p0 Mov p3 Mov p101 p0 Spd 200 Mvs p101 Dly 0 2 out12 0 Ovrd 70 Mvs p101 p203 out6 1 放回夹具1 Ovrd 50 Mov p23 Spd 450 Mvs p20 p204 out6 0 Spd 400 Mvs p20 Dly 0 2 out11 1 Dly 0 2 Mvs p20 p203 out6 1 Dly 0 2 out6 0 GoSub jj2 GoSub jj3 GoSub qg Return 四次装机 ks4 out5 0 out6 0 out7 0 out8 0 out14 0 out15 0 GoSub jj1 装1和2键 Ovrd 50 Mov p3 Ovrd 70 Mov p22 p0 Spd 200 Mvs p22 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p22 p0 Mov p3 Mov p104 p0 Spd 200 Mvs p104 Dly 0 2 out13 0 Mvs p104 p0 Mvs p103 p0 Mvs p103 Dly 0 2 out12 0 Ovrd 70 Mvs p103 p0 Mov p3 装3和 键 Mov p26 p0 Spd 200 Mvs p26 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p26 p0 Mov p3 Mov p105 p0 Spd 200 Mvs p105 Dly 0 2 out12 0 Mvs p105 p0 Mvs p106 p0 Mvs p106 Dly 0 2 out13 0 Ovrd 70 Mvs p106 p0 Mov p3 装4和5键 Mov p42 p0 Spd 200 Mvs p42 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p42 p0 Mov p3 Mov p108 p0 Spd 200 Mvs p108 Dly 0 2 out13 0 Mvs p108 p0 Mvs p107 p0 Mvs p107 Dly 0 2 out12 0 Ovrd 70 Mvs p107 p0 Mov p3 装6和0键 Mov p46 p0 Spd 200 Mvs p46 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p46 p0 Mov p3 Mov p109 p0 Spd 200 Mvs p109 Dly 0 2 out12 0 Mvs p109 p0 Mvs p110 p0 Mvs p110 Dly 0 2 out13 0 Ovrd 70 Mvs p110 p0 Mov p3 装7和8键 Mov p62 p0 Spd 200 Mvs p62 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p62 p0 Mov p3 Mov p112 p0 Spd 200 Mvs p112 Dly 0 2 out13 0 Mvs p112 p0 Mvs p111 p0 Mvs p111 Dly 0 2 out12 0 Ovrd 70 Mvs p111 p0 Mov p3 装9键 Mov p66 p0 Spd 200 Mvs p66 out12 1 Dly 0 2 Ovrd 70 Mvs p66 p0 Mov p3 Mov p113 p0 Spd 200 Mvs p113 Dly 0 2 out12 0 Ovrd 70 Mvs p113 p0 Mov p3 和接听键 Mov p82 p0 Spd 200 Mvs p82 out12 1 out13 1 Dly 0 2 Ovrd 70 Mvs p82 p0 Mov p3 Mov p114 p0 Spd 200 Mvs p114 Dly 0 2 out12 0 Mvs p114 p0 Mvs p100 p0 Mvs p100 Dly 0 2 out13 0 Ovrd 70 Mvs p100 p0 Mov p3 装挂机键 Mov p86 p0 Spd 200 Mvs p86 out12 1 Dly 0 2 Ovrd 70 Mvs p86 p0 Mov p3 Mov p102 p0 Spd 200 Mvs p102 Dly 0 2 out12 0 Ovrd 70 Mvs p102 p0 Mov p3 装方向键 Mov p80 p0 Spd 200 Mvs p80 out12 1 Dly 0 2 Ovrd 70 Mvs p80 p0 Mov p3 Mov p101 p0 Spd 200 Mvs p101 Dly 0 2 out12 0 Ovrd 70 Mvs p101 p203 out14 1 out6 1 放回夹具1 Ovrd 50 Mov p23 Spd 450 Mvs p20 p204 out14 0 out6 0 Spd 400 Mvs p20 Dly 0 2 out11 1 Dly 0 2 Mvs p20 p203 out6 1 Dly 0 2 out6 0 GoSub jj2 GoSub jj3 GoSub qg Return p0 0 000 0 000 20 000 0 000 0 000 0 000 0 0 p1 88 400 177 780 361 570 179 190 0 050 91 490 7 15728640 p2 154 670 138 600 418 830 177 240 2 220 93 990 7 0 p3 224 200 54 510 338 440 179 710 0 010 36 290 7 15728640 p5 113 400 122 320 483 400 179 140 0 790 30 240 7 0 p6 91 280 217 830 438 810 179 750 0 930 178 790 7 0 p7 153 020 262 020 392 510 179 750 0 940 179 930 7 0 p8 162 480 443 610 267 820 178 830 0 490 178 740 7 0 p9 233 070 55 460 418 420 179 750 0 930 2 420 7 0 p10 265 110 215 710 271 730 179 910 0 310 0 970 7 0 p11 299 600 155 680 300 410 179 310 0 150 2 470 7 15728640 p12 299 600 143 680 300 410 179 310 0 150 2 470 0 000 0 000 7 15728640 p15 298 660 96 580 301 140 179 310 0 150 2 470 0 000 0 000 7 15728640 p16 298 660 84 580 301 140 179 310 0 150 2 470 0 000 0 000 7 15728640 p17 298 190 67 030 301 510 179 310 0 150 2 470 7 15728640 p20 72 790 278 520 194 610 179 680 0 290 92 950 7 15728640 p21 311 600 155 680 300 410 179 310 0 150 2 470 0 000 0 000 7 15728640 p22 311 600 143 680 300 410 179 310 0 150 2 470 0 000 0 000 7 15728640 p23 72 790 264 970 339 750 179 680 0 290 92 950 0 000 0 000 7 15728640 p25 310 660 96 580 301 140 179 310 0 150 2 470 0 000 0 000 7 15728640 p26 310 660 84 580 301 140 179 310 0 150 2 470 0 000 0 000 7 15728640 p30 168 010 276 940 192 890 179 680 0 290 92 220 7 0 p31 329 340 155 200 300 470 179 310 0 150 2 470 0 000 0 000 7 15728640 p32 329 340 143 200 300 470 179 310 0 150 2 470 0 000 0 000 7 15728640 p33 163 270 151 470 194 950 179 480 0 120 91 250 0 000 0 000 7 0 p35 328 960 97 220 300 980 179 310 0 150 2 470 0 000 0 000 7 15728640 p36 328 960 85 220 300 980 179 310 0 150 2 470 0 000 0 000 7 15728640 p40 47 200 277 180 194 360 179 960 0 340 92 160 7 0 p41 341 340 155 200 300 470 179 310 0 150 2 470 0 000 0 000 7 15728640 p42 341 340 143 200 300 470 179 310 0 150 2 470 0 000 0 000 7 15728640 p45 340 960 97 220 300 980 179 310 0 150 2 470 0 000 0 000 7 15728640 p46 340 960 85 220 300 980 179 310 0 150 2 470 0 000 0 000 7 15728640 p50 374 600 64 000 301 810 179 310 0 150 2 470 7 15728640 p51 359 090 154 730 300 520 179 310 0 150 2 470 0 000 0 000 7 15728640 p52 359 090 142 730 300 520 179 310 0 150 2 470 0 000 0 000 7 15728640 p55 359 250 97 850 300 820 179 310 0 150 2 470 0 000 0 000 7 15728640 p56 359 250 85 850 300 820 179 310 0 150 2 470 0 000 0 000 7 15728640 p60 374 600 45 930 301 880 179 310 0 150 2 470 7 15728640 p61 371 090 154 730 300 520 179 310 0 150 2 470 0 000 0 000 7 15728640 p62 371 090 142 730 300 520 179 310 0 150 2 470 0 000 0 000 7 15728640 p65 371 250 97 850 300 820 179 310 0 150 2 470 0 000 0 000 7 15728640 p66 371 250 85 850 300 820 179 310 0 150 2 470 0 000 0 000 7 15728640 p70 392 740 64 010 301 540 179 310 0 150 2 470 7 15728640 p71 388 830 154 250 300 580 179 310 0 150 2 470 7 15728640 p72 388 830 142 250 300 580 179 310 0 150 2 470 0 000 0 000 7 15728640 p75 389 000 97 380 300 880 179 310 0 150 2 470 0 000 0 000 7 15728640 p76 389 000 85 380 300 880 179 310 0 150 2 470 0 000 0 000 7 15728640 p77 389 080 68 940 301 030 179 310 0 150 2 470 7 15728640 p80 392 810 46 080 301 350 179 310 0 150 2 470 7 15728640 p81 400 830 142 250 300 580 179 310 0 150 2 470 0 000 0 000 7 15728640 p82 400 830 154 250 300 580 179 310 0 150 2 470 0 000 0 000 7 15728640 p85 401 000 97 380 300 880 179 310 0 150 2 470 0 000 0 000 7 15728640 p86 401 000 85 380 300 880 179 310 0 150 2 470 0 000 0 000 7 15728640 p100 301 780 174 250 313 390 179 910 1 150 91 010 7 15728640 p101 254 290 174 850 313 240 179 910 1 150 91 010 7 15728640 p102 236 370 174 700 312 870 179 910 1 150 91 010 7 15728640 p103 271 990 188 730 313 020 179 910 1 150 91 010 7 1