菱机器人程序

1、DefIoin0=Bit, 0DefIoin1=Bit, 1DefIoin3=Bit, 3DefIoin4=Bit, 4DefIoin5=Bit, 5DefIoin6=Bit, 6DefIoin7=Bit, 7DefIoin8=Bit, 8DefIoin9=Bit, 9DefIoin10=Bit, 10DefIoin11=Bit, 11DefIoin12=Bit, 12DefIoin13=Bit, 13DefIoin14=Bit, 14DefIoin15=Bit, 15/定义 / 输出 /DefIoout0=Bit, 0DefIoout1=Bit, 1DefIoout3=Bit, 3DefIo

2、out4=Bit, 4DefIoout5=Bit, 5DefIoout6=Bit, 6DefIoout7=Bit, 7DefIoout8=Bit, 8DefIoout9=Bit, 9DefIoout10=Bit, 10DefIoout11=Bit, 11DefIoout12=Bit, 12DefIoout13=Bit, 13DefIoout14=Bit, 14DefIoout15=Bit, 15/定义输入 / 定义变量 / 定义 安全点 定义托盘点Def Jnt jydDef Plt 1,p11,p17,p71,p77, 4,4,1j1=(+,+,+,+,+jyd=(+,+,+,+, p0=(

3、+,+,+,+,+,+(0,0)p200=(+,+,+,+,+,+(0,0)p201=(+,+,+,+,+,+(0,0)p202=(+,+ ,+,+,+,+(0,0)p203=(+,+,+,+,+,+(0,0)p204=(+,+,+,+,+,+(0,0)/ 托盘点 / p12=p11 p21=p11p22=p11 =+ 12 =+ 12 =+ 12 =+ 12p15=( Pit 1,3) p16=p15 p25=p15 p26=p15 =+ 12 =+ 12 =+ 12 =+ 12p31=( Pit 1,8) p32=p31 p41=p31 p42=p31 =+ 12 =+ 12 =+ 12

4、=+ 12p35=( Pit 1,6) p36=p35 p45=p35 p46=p35 =+ 12 =+ 12 =+ 12 =+ 12p51=( Pit 1,9) p52=p51 p61=p51 p62=p51 =+ 12 =+ 12 =+ 12 =+ 12p55=( Pit 1,11) p56=p55 p65=p55 p66=p55 =+ 12 =+ 12 =+ 12 =+ 12p75=( Pit 1,14)If M_In (6)= 1And M_05#=0 ThenGoSub *ks1EndIfIf M_In (6)= 1And M_05#=1 ThenGoSub *ks2EndIfIf

5、M_In (6)= 1And M_05#=2 Then 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=p75p85=p75p86=p75=+ 12=+ 12=+ 12=+ 12p72=p71p81=p71p82=p71=+ 12=+ 12=+ 12=+ 12/ 判断 /If M_In (9)= 1 And M_In (10)= 0 ThenIf M_In (11)= 0 And M_In (13)= 0 ThenGoSub *fwEndIfEndIfIf M_In (9)=

6、 1 And M_In (10)= 1 ThenIf M_In (11)= 0 And M_In (13)= 0 ThenGoSub *fw1EndIfEndIfIf M_In (9)= 1 And M_In (10)= 0 ThenIf M_In (11)= 1 And M_In (13)= 0 ThenGoSub *fw2EndIfEndIfIf M_In (9)= 1 And M_In (10)= 0 ThenIf M_In (11)= 0 And M_In (13)= 1 ThenGoSub *fw3EndIfEndIfIf M_05# 3 Thenout14= 1M_05#= 0En

7、dIf三次装机四次装机 程序复位GoSub *ks3EndIfIf M_In (6)= 1 And M_05#= 3 ThenGoSub *ks4EndIfEnd/ 复位程序 /*fwOvrd 80j1= J_CurrMov j1将输出信号 6- 13的8个Mov jyd out5= 1 m_outb (6)= 0 位关闭M_00#= 0M_05#= 0M_01#= 0Return / / 复位 1/ *fw1 Ovrd 70j1= J_CurrMov j1Mov jyd out12= 0 out13= 0Mov p1Mov p23 ovrd 50Spd 400Mvs p20-p204Mvs

8、p20Dly out11= 1DlyMvs p20+p203 out11= 0GoSub *fw4Return/复位 2/*fw2Ovrd 70j1= J_CurrMov j1Mov jyd out12= 0 out13= 0 ovrd 50Mov p40+p201Spd 400Mvs p40Dly out11= 1DlyMvs p40+p203 out11= 0GoSub *fw4Return / / 复位 3/ *fw3 Ovrd 70 j1= J_CurrMov j1Mov jyd out12= 1 out13= 0Mov p5 out12= 0 ovrd 51Mov p2Spd 600

9、Mvs p33Mvs p30+p200Mvs p30Dlyout11= 1DlyMvs p30+p203 out11= 0M_05#=M_05#+1If M_In (6)= 0 Then GoTo *fw4Return / / 正常复位 / *fw4Ovrd 50 j1= J_CurrMov j1Mov jyd out11= 0 out12= 0 out13= 0 out15= 0 out7= 0 out6= 0 out14= 0Return/ 取夹具 1/*jj1Wait M_In (10)= 0 Wait M_In (11)= 0 Wait M_In (13)= 0 Ovrd 50Mov

10、p20+p201Spd 700Mov p20+p203Spd 300 out11= 1Mvs p20 Dly out11= 0 DlyMvs p20+p200 p23= P_Curr Mvs p23-p204 p23= P_CurrMvs p23+p201 p23= P_CurrReturn取夹具 2/ *jj2Spd 400Wait M_In (10)= 0Wait M_In (11)= 0Wait M_In (13)= 0Mvs p40+p203out11= 1Mvs p40Dly out11= 0DlySpd 600Mvs p40+p201Mvs p210+p203Spd 400Mvs

11、p210out13= 1Mvs p221Mvr p221,p220,p219Mvs p218Mvr p218,p217,p216Mvs p215Mvr p215,p214,p213Mvs p212Mvr p212,p211,p210out13= 0out6= 1Spd 600Mvs p210+p201out6= 0Mvs p40+p201Spd 400Mvs p40Dlyout11= 1DlyMvs p40+p203out6= 1Dly out6= 0Return/ 取夹具 3/*jj3Wait M_In (10)= 0Wait M_In (11)= 0Wait M_In (13)= 0Spd

12、 400Mvs p30+p203out11= 1Spd 300Mvs p30Dlyout11= 0DlySpd 400Mvs p30+p200p33= P_CurrMvs p33-p202p33= P_CurrMvs p33+p201Return/ 去取盖 /*qg Ovrd 50Mov p5Mov p5Mov p7Wait M_In (7)= 1out12= 1out13= 0Mov p8+p0out12= 0Spd 200Mvs p8Dlyout13= 1Dlyout15= 1Dly判断颜色白色盖/ 入仓库 /If M_In (8)= 1 Then GoTo *ck2 Else GoTo

13、*ck1 Return*ck2 /GoSub *jgOvrd 40Mov p231+p201Spd 200If M_In (15)= 1 And M_00# 3 Thenout10= 1Wait M_Out (10)= 0M_00#= 0EndIfIf M_00#= 0 Then第一层If M_In (15)= 1 ThenMov p6EndIfWait M_In (15)= 0Mov p231+p201Spd 200Mvs p231EndIfIf M_In (15)= 1 And M_00#=1Then第二层Mvs p231+p0EndIfIf M_In (15)= 1 And M_00#=

14、2Then第三层Mvs p231+p203EndIfIf M_In (15)= 1 And M_00#=3Then第四层Mvs p231+p203+p0EndIfDlyout13= 0out12= 1Mvs p231+p201out8= 1入库完成GoSub *fw3out8= 0M_00#=M_00#+1Return*ck1 /黑色盖GoSub *jgOvrd 40Mov p240+p201Spd 200If M_In (14)= 1 And M_01# 3 Thenout9= 1Wait M_Out (9)= 0M_01#= 0EndIfIf M_01#= 0 Then第一层If M_In

15、 (14)= 1 ThenMov p6EndIfWait M_In (14)= 0Mov p240+p201Spd 200Mvs p240EndIfIf M_In (14)= 1 And M_01#=1 Then第二层Mvs p240+p0EndIfIf M_In (14)= 1 And M_01#=Mvs p240+p203EndIf2 Then第三层If M_In (14)= 1 And M_01#=Mvs p240+p203+p0EndIfDlyout13= 0out12= 1Mvs p240+p201out8= 13 Then第四层入库完成GoSub *fw3out8= 0M_01#=

16、M_01#+1Return/去加盖/*jgMvs p8+p203Ovrd 50Mov p7Mov p6Mov p9Mov p10+p0Spd 200Mvs p10Dlyout7= 1Dlyout7= 0Mvs p10+p0Ovrd 50Mov p9Mov p6Return/ 一次装机 /*ks1out5= 0out6= 0out7= 0out8= 0 out14= 0out15= 0GoSub *jj1/装1和2键 /Ovrd 50Mov p3Ovrd 70Mov p11+p0Spd 200Mvs p11out12= 1out13= 1DlyOvrd 70Mvs p11+p0Mov p3Mov

17、 p104+p0Spd 200Mvs p104Dlyout13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dlyout12= 0Ovrd 70Mvs p103+p0Mov p3/装3和*键 /Mov p15+p0Spd 200Mvs p15out12= 1out13= 1DlyOvrd 70Mvs p15+p0Mov p3Mov p105+p0Spd 200Mvs p105Dlyout12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0 Ovrd 70Mvs p106+p0 Mov p3 / Mov p31+p0Spd 200Mv

18、s p31 out12= 1 out13= 1DlyOvrd 70Mvs p31+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0Mvs p108+p0Mvs p107+p0 Mvs p107 Dly out12= 0 Ovrd 70Mvs p107+p0 Mov p3 /Mov p35+p0Spd 200Mvs p35 out12= 1 out13= 1DlyOvrd 70Mvs p35+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly out12= 0Mvs p109+p0Mvs p110+p0装 4 和 5 键 /装

19、6和 0 键/Mvs p110Dly out13= 0 Ovrd 70Mvs p110+p0Mov p3/装 7和 8键 /Mov p51+p0Spd 200Mvs p51 out12= 1 out13= 1DlyOvrd 70Mvs p51+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly out12= 0 Ovrd 70Mvs p111+p0Mov p3/装 9键 /Mov p55+p0Spd 200Mvs p55 out12= 1 Dly Ovrd 70Mvs p55+p0Mov

20、 p3Mov p113+p0Spd 200Mvs p113Dly out12= 0 Ovrd 70Mvs p113+p0Mov p3/# 和接听键 /Mov p71+p0Spd 200Mvs p71 out12= 1 out13= 1DlyOvrd 70Mvs p71+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly out12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dly out13= 0 Ovrd 70Mvs p100+p0Mov p3/ 装挂机键 /Mov p75+p0Spd 200Mvs p75 out12= 1 Dly Ovrd 7

21、0Mvs p75+p0Mov p3Mov p102+p0Spd 200Mvs p102 Dly out12= 0 Ovrd 70Mvs p102+p0Mov p3/ 装方向键 /Mov p50+p0Spd 200Mvs p50 out12= 1 Dly Ovrd 70Mvs p50+p0Mov p3 Mov p101+p0 Spd 200 Mvs p101 Dly out12= 0Ovrd 70Mvs p101+p203 out6= 1 / Ovrd 50Mov p23 Spd 450Mvs p20-p204 out6= 0 Spd 400 Mvs p20 Dly out11= 1DlyMvs

22、 p20+p203 out6= 1Dly out6= 0 GoSub *jj2 GoSub *jj3 GoSub *qg Return/ *ks2 out5= 0 out6= 0 out7= 0 out8= 0out14= 0 out15= 0 GoSub *jj1 / Ovrd 50 Mov p3 Ovrd 70Mov p12+p0 Spd 200 Mvs p12 out12= 1放回夹具 1/二次装机 /装1和2键 /out13= 1DlyOvrd 70Mvs p12+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly out13= 0Mvs p104+p0Mvs

23、p103+p0Mvs p103Dly out12= 0 Ovrd 70 Mvs p103+p0装3和*键/Mov p3 / Mov p16+p0 Spd 200Mvs p16 out12= 1 out13= 1DlyOvrd 70Mvs p16+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0Mvs p105+p0 Mvs p106+p0Mvs p106Dly out13= 0 Ovrd 70Mvs p106+p0装 4 和 5 键 /Mov p3 / Mov p32+p0 Spd 200Mvs p32 out12= 1装 6和 0 键/装 7 和

24、8 键 /out13= 1DlyOvrd 70Mvs p32+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly out12= 0 Ovrd 70 Mvs p107+p0Mov p3 / Mov p36+p0 Spd 200Mvs p36 out12= 1 out13= 1DlyOvrd 70Mvs p36+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly out12= 0Mvs p109+p0 Mvs p110+p0Mvs p110Dly out13= 0 O

25、vrd 70Mvs p110+p0Mov p3 / Mov p52+p0 Spd 200Mvs p52 out12= 1out13= 1DlyOvrd 70Mvs p52+p0Mov p3Mov p112+p0Spd 200Mvs p112Dlyout13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12= 0Ovrd 70Mvs p111+p0Mov p3/装 9键 /Mov p56+p0Spd 200Mvs p56out12= 1DlyOvrd 70Mvs p56+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly out12= 0O

26、vrd 70Mvs p113+p0Mov p3/# 和接听键 /Mov p72+p0Spd 200Mvs p72out12= 1out13= 1DlyOvrd 70Mvs p72+p0Mov p3Mov p114+p0Spd 200Mvs p114 Dly out12= 0Mvs p114+p0Mvs p100+p0Mvs p100 Dly out13= 0 Ovrd 70Mvs p100+p0Mov p3/ 装挂机键 /Mov p76+p0Spd 200Mvs p76 out12= 1 Dly Ovrd 70Mvs p76+p0Mov p3Mov p102+p0Spd 200Mvs p102

27、Dly out12= 0 Ovrd 70Mvs p102+p0Mov p3/ 装方向键 /Mov p60+p0Spd 200Mvs p60 out12= 1 Dly Ovrd 70Mvs p60+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly out12= 0 Ovrd 70Mvs p101+p203 out6= 1/ Ovrd 50 Mov p23 Spd 450 Mvs p20-p204 out6= 0Spd 400 Mvs p20 Dly out11= 1DlyMvs p20+p203 out6= 1 Dly out6= 0GoSub *jj2 GoSub *

28、jj3 GoSub *qg Return / *ks3 out5= 0 out6= 0 out7= 0 out8= 0 out14= 0 out15= 0GoSub *jj1 /Ovrd 50Mov p3 Ovrd 70Mov p21+p0 Spd 200 Mvs p21 out12= 1 out13= 1 DlyOvrd 70Mvs p21+p0Mov p3Mov p104+p0Spd 200Mvs p104 Dly out13= 0放回夹具 1/三次装机 /装1和2键 /Mvs p104+p0 Mvs p103+p0 Mvs p103 Dly out12= 0 Ovrd 70装3和*键/M

29、vs p103+p0 Mov p3 / Mov p25+p0 Spd 200 Mvs p25 out12= 1 out13= 1Dly Ovrd 70 Mvs p25+p0 Mov p3Mov p105+p0 Spd 200Mvs p105 Dly out12= 0Mvs p105+p0 Mvs p106+p0 Mvs p106 Dly out13= 0 Ovrd 70装 4 和 5 键 /Mvs p106+p0 Mov p3 / Mov p41+p0 Spd 200 Mvs p41 out12= 1 out13= 1Dly Ovrd 70 Mvs p41+p0 Mov p3Mov p108+

30、p0 Spd 200 Mvs p108Dly out13= 0装 6和 0 键/装 7 和 8 键 /Mvs p108+p0 Mvs p107+p0 Mvs p107 Dly out12= 0 Ovrd 70Mvs p107+p0 Mov p3 / Mov p45+p0 Spd 200 Mvs p45 out12= 1 out13= 1Dly Ovrd 70 Mvs p45+p0 Mov p3Mov p109+p0 Spd 200Mvs p109 Dly out12= 0Mvs p109+p0 Mvs p110+p0 Mvs p110 Dly out13= 0 Ovrd 70Mvs p110+

31、p0 Mov p3 / Mov p61+p0 Spd 200 Mvs p61 out12= 1 out13= 1Dly Ovrd 70 Mvs p61+p0 Mov p3Mov p112+p0 Spd 200 Mvs p112Dly out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12= 0Ovrd 70Mvs p111+p0Mov p3/装 9键 /Mov p65+p0Spd 200Mvs p65out12= 1DlyOvrd 70Mvs p65+p0Mov p3Mov p113+p0Spd 200Mvs p113Dlyout12= 0Ovrd 70M

32、vs p113+p0Mov p3/# 和接听键 /Mov p81+p0Spd 200Mvs p81out12= 1out13= 1DlyOvrd 70Mvs p81+p0Mov p3Mov p114+p0Spd 200Mvs p114Dlyout12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dlyout13= 0Ovrd 70Mvs p100+p0 Mov p3 /Mov p85+p0Spd 200Mvs p85 out12= 1DlyOvrd 70Mvs p85+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly out12= 0 Ovrd 7

33、0Mvs p102+p0Mov p3 /Mov p70+p0Spd 200Mvs p70 out12= 1DlyOvrd 70Mvs p70+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly out12= 0 Ovrd 70Mvs p101+p203 out6= 1/ Ovrd 50Mov p23Spd 450Mvs p20-p204 out6= 0Spd 400Mvs p20Dly out11= 1装挂机键 /装方向键 /放回夹具 1/DlyMvs p20+p203 out6= 1Dly out6= 0 GoSub *jj2 GoSub *jj3 GoSub *qg

34、 Return/ 四次装机 / *ks4 out5= 0 out6= 0 out7= 0 out8= 0 out14= 0 out15= 0GoSub *jj1/ 装1和2键 / Ovrd 50Mov p3Ovrd 70Mov p22+p0Spd 200 Mvs p22 out12= 1 out13= 1 Dly Ovrd 70Mvs p22+p0Mov p3Mov p104+p0Spd 200Mvs p104Dlyout13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dlyout12= 0Ovrd 70Mvs p103+p0Mov p3/装3和*键 /Mov p26+p

35、0Spd 200Mvs p26 out12= 1 out13= 1DlyOvrd 70Mvs p26+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0 Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0Ovrd 70Mvs p106+p0Mov p3 / Mov p42+p0 Spd 200 Mvs p42 out12= 1 out13= 1Dly Ovrd 70Mvs p42+p0Mov p3Mov p108+p0Spd 200Mvs p108 Dly out13= 0Mvs p108+p0Mvs p107+p0M

36、vs p107Dly out12= 0 Ovrd 70Mvs p107+p0装 4 和 5 键 /装 6和 0 键/Mov p3 / Mov p46+p0Spd 200Mvs p46out12= 1out13= 1DlyOvrd 70Mvs p46+p0Mov p3Mov p109+p0Spd 200Mvs p109Dlyout12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dlyout13= 0Ovrd 70Mvs p110+p0Mov p3/装 7和 8键 /Mov p62+p0Spd 200Mvs p62out12= 1out13= 1DlyOvrd 70Mvs p

37、62+p0Mov p3Mov p112+p0Spd 200Mvs p112Dlyout13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12= 0Ovrd 70Mvs p111+p0Mov p3/装 9键 /Mov p66+p0Spd 200Mvs p66out12= 1DlyOvrd 70Mvs p66+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly out12= 0Ovrd 70Mvs p113+p0Mov p3/# 和接听键 /Mov p82+p0Spd 200Mvs p82 out12= 1 out13= 1DlyOvrd 70Mvs p82+p0Mov p3Mov p114+p0Spd 200Mvs p114Dlyout12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dly out13= 0Ovrd 70Mvs p100+p0Mov p3/ 装挂机键 /Mov p86+p0Spd 200Mvs p86out12= 1DlyOvrd 70Mvs p86+p0Mov p3Mov p102+p0Spd 200