MAG焊程序解读

1、主程序FOLGE11DEF FOLGE11() ; FOLD ;%H %MKUKATPVW SPS_N=-1 VW (#VW_AUE_INIT,TRUE) PENTER: INTERRUPT DECL 10 WHEN $CYCFLAG254=FALSE DO VW(#FB_STOP,TRUE) INTERRUPT ON 10 INT10=TRUE ; ENDFOLD PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s P 1: A15 = EIN 发出原点信号 2: SPSMAKRO0 = EIN 初始化宏程序 H SPS_FE

2、RTIG=FALSE INTERRUPT DECL 10 WHEN $CYCFLAG254=FALSE DO VW(#FB_STOP,TRUE) INTERRUPT ON 10 INT10=TRUE VW(#VW_INIT,TRUE) VW_USR_R (#USR_INIT) TRIGGER WHEN DISTANCE=1 DELAY=-0.1 DO P0_MERKER=TRUE VW_MPARA_ACT=P0_D Act_P1 = P0 Act_P2 = P0 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 D

3、O SPS_TRIG(1) PRIO=-1 PTP P0 $ADVANCE=1 WAIT FOR SPS_FERTIG Warte auf Folgenstart VW (#VW_AUE_WAIT,TRUE ) IF N_VW=TRUE THEN GOTO PEXIT ENDIF PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s P 1: FB PSPS = EIN 无条件运行开行条件 2: A23 = AUS 防护安全信号关闭 3: t1 ( EIN ) = 01/10Sek T1计时器开始计时 4: SPSMAKRO50

4、= EIN 自定义寄存器宏程序运行 5: A80 = EIN 发出与夹具1130无干涉信号 6: A78 = EIN 发出与破检台无干涉信号 7: A76 = EIN 发出与传输链无干涉信号 8: - 1120r02 - 9: A41 = EIN 发出与机器人1120r02无干涉信号 10: A42 = EIN 发出与机器人1120r02无干涉信号 11: - 1120r01 - 12: A43 = EIN 发出与机器人1120r01无干涉信号 13: A44 = EIN 发出与机器人1120r01无干涉信号 14: A15 = AUS 原点在位信号被关闭 15: WARTE BIS E23

5、等待防护安全反馈信号 16: A23 = EIN 发出防护安全信号 17: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪无碰撞正常则执行开行条件 H VW_MPARA_ACT=P1_D Act_P1 = P1 Act_P2 = P1 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(2) PRIO=-1 PTP P1 $ADVANCE=1 WAIT FOR SPS_FERTIG - mag - H M_COMMENT(mag) PTP VB=100% VE=

6、0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s PU 1: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪无碰撞正常则执行开行条件 UP125 = EIN 执行MAG焊接宏程序 H VW_MPARA_ACT=P2_D Act_P1 = P2 Act_P2 = P2 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(3) PRIO=-1 PTP P2 $ADVANCE=1 WAIT FOR SPS_FERTIG SEL_R

7、ES=SELECT(#UP,125,TRUE) - pick up - H M_COMMENT(pick up) PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s PU 1: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪无碰撞正常则执行开行条件 UP11 = EIN 执行抓件宏程序 H VW_MPARA_ACT=P3_D Act_P1 = P3 Act_P2 = P3 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=

8、0 DO SPS_TRIG(4) PRIO=-1 PTP P3 $ADVANCE=1 WAIT FOR SPS_FERTIG SEL_RES=SELECT(#UP,11,TRUE) - pojiantai - H M_COMMENT(pojiantai) PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s PU 1: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪无碰撞正常则执行开行条件 UP13 = EIN 执行放置破剑台宏程序 H VW_MPARA_ACT=P4_D Act_P1 = P4 A

9、ct_P2 = P4 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(5) PRIO=-1 PTP P4 $ADVANCE=1 WAIT FOR SPS_FERTIG SEL_RES=SELECT(#UP,13,TRUE) - buffer - H M_COMMENT(buffer) PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s PU 1: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪

10、无碰撞正常则执行开行条件 UP14 = AUS 执行放置传输链宏程序 H VW_MPARA_ACT=P5_D Act_P1 = P5 Act_P2 = P5 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(6) PRIO=-1 PTP P5 $ADVANCE=1 WAIT FOR SPS_FERTIG SEL_RES=SELECT(#UP,14,FALSE) - Brenner Reinigung - H M_COMMENT(Brenner Reinigung) PTP VB=100% V

11、E=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s PU 1: FB PSPS = EIN 无条件执行开行条件 2: A23 = AUS 防护安全信号被关闭 3: A215 = F572 如果MAG焊枪必须清洗则发出警告信号 4: WARTE BIS !F572 + E215 + E216 等待必须清枪信号的非或者 5: A215 = AUS 警告信号被关闭 6: F573 = E216 收集故障 7: F572 = F572 & !E216 必须清洗与成立则必须清洗执行 8: i21 ( A12 ) = i21 + 1 当自动执行时i21加1 9: F

12、603 = i21 1 如果i21大于1时测执行辅助清洗 10: WARTE BIS E23 等待安全防护信号 11: A23 = EIN 发出安全防护信号 12: FB PSPS = E14 & E24 & M100 机械安全与介质安全和焊枪无碰撞正常则执行开行条件 UP91 = (F572 + F573 + F603) & !E15 & AUS 如果必须清洗与或者故障收集和辅助清洗其中任意一个成立则执行清洗的宏程序 H VW_MPARA_ACT=P6_D Act_P1 = P6 Act_P2 = P6 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHE

13、N DISTANCE=1 DELAY=0 DO SPS_TRIG(7) PRIO=-1 PTP P6 $ADVANCE=1 WAIT FOR SPS_FERTIG SEL_RES=SELECT(#UP,91,($FLAG572 OR $FLAG573 OR $FLAG603) AND NOT $IN15 AND FALSE) PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=01/100s P 1: FB PSPS = EIN 无条件运行开行条件 2: SPSMAKRO15 = EIN 循环完成信号 3: t1 ( EIN ) = STOP

14、T1计时器关闭 4: t2 ( EIN ) = t11/10Sek 将T1计时器赋予T2计时器 5: t2 ( EIN ) = STOP T2计时器关闭 H子程序UP12DEF UP12() ; FOLD UP Anfang;%SE %MKUKATPVW SPS_N=-1 SPS_FERTIG=FALSE IF NOT CALLBYSELECT THEN INTERRUPT DECL 10 WHEN $CYCFLAG254=FALSE DO VW(#FB_STOP,TRUE) INTERRUPT ON 10 INT10=TRUE VW_USR_R (#USR_INIT) ENDIF VW(#V

15、W_INIT_UP,TRUE) ; ENDFOLD - zone1 afo1130 close - H M_COMMENT(zone1 afo1130 close) - 1120r02 zone1 close - H M_COMMENT(1120r02 zone1 close) - 1120r02 zone2 close - H M_COMMENT(1120r02 zone2 close) - 1120r01 zone1 close - H M_COMMENT(1120r01 zone1 close) - 1120r01 zone2 close - H M_COMMENT(1120r01 zo

16、ne2 close) PTP VB=100% VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: -$ lo103 - 2: FB PSPS = EIN 无条件运行开行条件 3: A23 = AUS 安全防护关闭 4: t4 ( EIN ) = 01/10Sek T4计时器开始计时 5: SPSMAKRO50 = EIN 自定义寄存器宏程序开始运行 6: A1878 = AUS 运行模式1被关闭 7: A1879 = EIN 运行模式2被打开 8: A1880 = AUS 运行模式4被关闭 9: WARTE BIS !E1878 & E1879

17、 & !E1880 等待运行模式1的非与运行模式2和运行模式4的非成立 10: F572 = AUS 必须清洗被关闭 11: WARTE BIS E80 等待与1130夹具的无干涉信号 12: A80 = AUS 进入干涉区后关闭该干涉区 16: WARTE BIS E42 等待与机器人1120R02的无干涉信号 17: A82 = EIN 进入干涉区 18: SPSMAKRO20 = EIN 关闭干涉去区 22: WARTE BIS E44 等待与机器人1120R01无干涉信号 23: A84 = EIN 进入干社区 24: SPSMAKRO20 = EIN 关闭干社区 25: WARTE

18、BIS E23 等待防护安全反馈 26: A23 = EIN 发出防护安全信号 27: FB PSPS = E14 & E24 & E42 & E43 & E80& M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P1_D Act_P1 = P1 Act_P2 = P1 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(1) PRIO=-1 PTP P1 $ADVANCE=1 W

19、AIT FOR SPS_FERTIG PTP VB=100% VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: -$ lo101 - 2: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P2_D Act_P1 = P2 Act_P2 = P2 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE

20、=1 DELAY=0 DO SPS_TRIG(2) PRIO=-1 PTP P2 $ADVANCE=1 WAIT FOR SPS_FERTIG LIN VB=100mm/s VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P3_D Act_P1 = P3 Act_P2 = P3 VW(#MPARA,TR

21、UE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(3) PRIO=-1 LIN P3 $ADVANCE=1 WAIT FOR SPS_FERTIG - 5QO_803_091_703_AN_MA_0003 - H M_COMMENT(5QO_803_091_703_AN_MA_0003) - JOB1 ready - H M_COMMENT(JOB1 ready) LIN VB=8mm/s VE=0% ACC=100% RobWzg=2 Base=2 SPSTrig=01/100s P 1: FB PSPS = E

22、IN 无条件运行开行条件 2: Tech_ MS Steuerung = Nr1 Einschalten mit_N_WIED BrennerNr = 1 ProgNr = 1 NahtNr = 1 EIN 调用MAG焊程序 3: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P4_D Act_P1 = P4 Act_P2 = P4 VW(#MPARA,TRUE) SPS_FERTIG=FALSE T

23、RIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(4) PRIO=-1 VW_USER (#USR_ADV,104,8,1,1,1,1,1,TRUE) VW_USR_R (#USR_ADV,104,8,1,1,1,1,1,TRUE) LIN P4 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_USER (#USR_MAIN,104,8,1,1,1,1,1,TRUE) VW_USR_R (#USR_MAIN,104,8,1,1,1,1,1,TRUE) - 5QO_803_091_703_AN_MA_0003 - H M_COMMENT(5

24、QO_803_091_703_AN_MA_0003) - JOB1 start - H M_COMMENT(JOB1 start) LIN VB=8mm/s VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: - -$ lvw701_al_ma_006 - 2: FB PSPS = EIN 无条件运行 3: A23 = AUS 防护安全关闭 4: Tech_ MS Steuerung = Nr1 Einschalten mit_N_WIED BrennerNr = 1 ProgNr = 1 NahtNr = 1 EIN 调用MAG焊程序，焊钳枪

25、1、焊接程序1、完成反馈1 (反馈信号1881） 5: WARTE BIS !E16 & E23 等待修改的非与无进入请求 6: SPSMAKRO211 = (A12 + A10) & !E15 + A11 & E211 如果自动或者给予使能任意一个与无件运行的非成立或者手动与成立则起弧 7: WARTE BIS E23 等待无进入请求信号 8: A23 = EIN 发出防护安全信号 9: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件

26、运行 H VW_MPARA_ACT=P5_D Act_P1 = P5 Act_P2 = P5 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(5) PRIO=-1 VW_USER (#USR_ADV,104,8,1,1,1,1,1,TRUE) VW_USR_R (#USR_ADV,104,8,1,1,1,1,1,TRUE) LIN P5 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_USER (#USR_MAIN,104,8,1,1,1,1,1,TRUE) VW_US

27、R_R (#USR_MAIN,104,8,1,1,1,1,1,TRUE) - 5QO_803_091_703_AN_MA_0003 - H M_COMMENT(5QO_803_091_703_AN_MA_0003) - JOB1 end - H M_COMMENT(JOB1 end) KLIN VB=8mm/s Genau=0mm ACC=1% RobWzg=2 Base=2 SPSTrig=01/100s P 线性移动工艺直线速度8mm逼近0mm加速度1工具坐标2基础坐标2 （最大加速度2.3m/s，只能用于弧焊与涂胶） 1: - -$ lvw701_al_ma_005 - 2: FB PS

28、PS = EIN 无条件开行条件 3: A23 = AUS 防护安全信号关闭 4: Tech_ MS Steuerung = Nr1 Ausschalten mit_N_WIED BrennerNr = 1 ProgNr = 1 NahtNr = 1 EIN 调用MAG程序焊钳1、程序1、反馈完成1 5: SPSMAKRO210 = !E15 如果无件运行的非成立则收弧 6: WARTE BIS E23 等待无进入请求的信号 7: A23 = EIN 防护安全信号打开 8: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R

29、01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P6_D Act_P1 = P6 Act_P2 = P6 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(6) PRIO=-1 VW_USER (#USR_ADV,104,8,2,1,1,1,1,TRUE) VW_USR_R (#USR_ADV,104,8,2,1,1,1,1,TRUE) LIN P6 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_

30、USER (#USR_MAIN,104,8,2,1,1,1,1,TRUE) VW_USR_R (#USR_MAIN,104,8,2,1,1,1,1,TRUE) - JOB1 leave - H M_COMMENT(JOB1 leave) LIN VB=8mm/s VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_

31、ACT=P7_D Act_P1 = P7 Act_P2 = P7 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(7) PRIO=-1 LIN P7 $ADVANCE=1 WAIT FOR SPS_FERTIG - 5QO_803_091_703_AN_MA_0004 - H M_COMMENT(5QO_803_091_703_AN_MA_0004) - JOB2 ready - H M_COMMENT(JOB2 ready) LIN VB=8mm/s VE=0% ACC=50% RobW

32、zg=2 Base=2 SPSTrig=01/100s P 1: -$ lo115 - 2: FB PSPS = EIN 3: Tech_ MS Steuerung = Nr1 Einschalten mit_N_WIED BrennerNr = 1 ProgNr = 2 NahtNr = 2 EIN 4: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P8_D Act_P1 = P8 Act_P2

33、= P8 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(8) PRIO=-1 VW_USER (#USR_ADV,104,8,1,1,1,2,2,TRUE) VW_USR_R (#USR_ADV,104,8,1,1,1,2,2,TRUE) LIN P8 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_USER (#USR_MAIN,104,8,1,1,1,2,2,TRUE) VW_USR_R (#USR_MAIN,104,8,1,1,1,2,2,TRUE) - 5QO

34、_803_091_703_AN_MA_0004 - H M_COMMENT(5QO_803_091_703_AN_MA_0004) - JOB2 start - H M_COMMENT(JOB2 start) LIN VB=8mm/s VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: - -$ lvw701_al_ma_008 - 2: FB PSPS = EIN 3: A23 = AUS 4: Tech_ MS Steuerung = Nr1 Einschalten mit_N_WIED BrennerNr = 1 ProgNr = 2 N

35、ahtNr = 2 EIN 5: WARTE BIS !E16 & E23 6: SPSMAKRO211 = (A12 + A10) & !E15 + A11 & E211 7: WARTE BIS E23 8: A23 = EIN 9: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P9_D Act_P1 = P9 Act_P2 = P9 VW(#MPARA,TRUE) SPS_FERTIG=FAL

36、SE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(9) PRIO=-1 VW_USER (#USR_ADV,104,8,1,1,1,2,2,TRUE) VW_USR_R (#USR_ADV,104,8,1,1,1,2,2,TRUE) LIN P9 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_USER (#USR_MAIN,104,8,1,1,1,2,2,TRUE) VW_USR_R (#USR_MAIN,104,8,1,1,1,2,2,TRUE) - 5QO_803_091_703_AN_MA_0004 - H M_COMME

37、NT(5QO_803_091_703_AN_MA_0004) - JOB2 end - H M_COMMENT(JOB2 end) LIN VB=8mm/s VE=0% ACC=1% RobWzg=2 Base=2 SPSTrig=01/100s P 1: - -$ lvw701_al_ma_007 - 2: FB PSPS = EIN 3: A23 = AUS 4: Tech_ MS Steuerung = Nr1 Ausschalten mit_N_WIED BrennerNr = 1 ProgNr = 2 NahtNr = 2 EIN 5: SPSMAKRO210 = !E15 6: W

38、ARTE BIS E23 7: A23 = EIN 8: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P10_D Act_P1 = P10 Act_P2 = P10 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(10) PRIO=-1 VW_USER (#USR_ADV,104,8,2,1,1

39、,2,2,TRUE) VW_USR_R (#USR_ADV,104,8,2,1,1,2,2,TRUE) LIN P10 $ADVANCE=1 WAIT FOR SPS_FERTIG VW_USER (#USR_MAIN,104,8,2,1,1,2,2,TRUE) VW_USR_R (#USR_MAIN,104,8,2,1,1,2,2,TRUE) - JOB2 leave - H M_COMMENT(JOB2 leave) LIN VB=8mm/s VE=0% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: -$ lo119 - 2: FB PSPS =

40、 E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P11_D Act_P1 = P11 Act_P2 = P11 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(11) PRIO=-1 LIN P11 $ADVANCE=1 WAIT FOR SPS_FERTIG PTP VB=100% VE=2% ACC=50% Ro

41、bWzg=2 Base=2 SPSTrig=01/100s P 1: FB PSPS = E14 & E24 & E42 & E43 & E80 & M100 机械安全与介质安全与1120R01机器人无干涉与1120R02机器人无干涉与夹具11300与无碰撞信号成立则开行条件运行 H VW_MPARA_ACT=P12_D Act_P1 = P12 Act_P2 = P12 VW(#MPARA,TRUE) SPS_FERTIG=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0 DO SPS_TRIG(10012) PRIO=-1 PTP P12 C_PTP C_VEL $ADVANCE=1 PTP VB=100% VE=2% ACC=50% RobWzg=2 Base=2 SPSTrig=01/100s P 1: -$ lo120 - 2: FB PSPS = E14 & E24 & E42 & E43 & E80 & M