三菱机器人程序

1、'/ 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 '

2、/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=B

3、it, 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 ,

4、+ 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=p11p22=p1

5、1p12.Y=p11.Y+12p21.X=p11.X+12p22.X=p11.X+12p22.Y=p11.Y+12p15=( Plt 1,3)p16=p15p25=p15p26=p15p16.Y=p15.Y+12p25.X=p15.X+12p26.X=p15.X+12p26.Y=p15.Y+12p31=( Plt 1,8)p32=p31p41=p31p42=p31p32.Y=p31.Y+12p41.X=p31.X+12p42.X=p31.X+12p42.Y=p31.Y+12p35=( Plt 1,6)p36=p35p45=p35p46=p35p36.Y=p35.Y+12p45.X=p35.X+

6、12p46.X=p35.X+12p46.Y=p35.Y+12p51=( Plt 1,9)p52=p51p61=p51p62=p51p52.Y=p51.Y+12p61.X=p51.X+12p62.X=p51.X+12p62.Y=p51.Y+12p55=( Plt 1,11)p56=p55p65=p55p66=p55p56.Y=p55.Y+12p65.X=p55.X+12p66.X=p55.X+12p66.Y=p55.Y+12p75=( Plt 1,14)'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

7、'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=p75p76.Y=p75.Y+ 12p85.X=p75.X+ 12p86.X=p75.X+ 12p86.Y=p75.Y+ 12 p72=p71 p81=p71 p82=p71p72.Y=p71.Y+ 12p81.X=p71.X+ 12p82.X=p71.X+ 12p81.Y=p71.Y+ 12 '/判断 /If M_In (9)= 1 And M_In (10)= 0 Then If M_In (11)= 0 And M_In (13)=

8、 0 Then GoSub *fwEndIfEndIfIf M_In (9)= 1 And M_In (10)= 1 ThenIf M_In (11)= 0 And M_In (13)= 0 Then GoSub *fw1EndIfEndIfIf M_In (9)= 1 And M_In (10)= 0 ThenIf M_In (11)= 1 And M_In (13)= 0 Then GoSub *fw2EndIfEndIfIf M_In (9)= 1 And M_In (10)= 0 ThenIf M_In (11)= 0 And M_In (13)= 1 Then GoSub *fw3E

9、ndIfEndIfIf M_05#> 3 Thenout14= 1M_05#= 0EndIfIf M_In (6)= 1 And M_05#= 0 Then GoSub *ks1EndIfIf M_In (6)= 1 And M_05#= 1 Then GoSub *ks2EndIfIf M_In (6)= 1 And M_05#= 2 Then'三次装机'四次装机'程序复位'将输出信号 6-13的8个GoSub *ks3EndIfIf M_In (6)= 1 And M_05#= 3 Then GoSub *ks4EndIf End '/ 复位程

10、序 / *fwOvrd 80 j1= J_Curr j1.J2=jyd.J2 j1.J3=jyd.J3 j1.J4=jyd.J4 j1.J5=jyd.J5Mov j1 Mov jyd out5= 1 m_outb (6)= 0 位关闭 M_00#= 0 M_05#= 0 M_01#= 0 Return '/ '/复位 1/*fw1Ovrd 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

11、 Spd 400 Mvs p20-p204 Mvs p20 Dly 0.2 out11= 1 Dly 0.2 Mvs p20+p203 out11= 0GoSub *fw4Return '/'/ 复位 2/ *fw2Ovrd 70 j1= J_Curr j1.J2=jyd.J2 j1.J3=jyd.J3 j1.J4=jyd.J4 j1.J5=jyd.J5Mov j1Mov jyd out12= 0 out13= 0 ovrd 50Mov p40+p201Spd 400Mvs p40Dly 0.2 out11= 1Dly 0.2Mvs p40+p203 out11= 0GoSub

12、 *fw4Return '/ '/复位 3/*fw3Ovrd 70 j1= J_Curr j1.J2=jyd.J2 j1.J3=jyd.J3 j1.J4=jyd.J4 j1.J5=jyd.J5Mov j1Mov jyd out12= 1 out13= 0Mov p5 out12= 0 ovrd 51Mov p2Spd 600Mvs p33Mvs p30+p200Mvs p30Dly 0.2out11= 1 Dly 0.2Mvs p30+p203 out11= 0M_05#=M_05#+ 1If M_In (6)= 0 Then GoTo *fw4 Return '/ &

13、#39;/ 正常复位 / *fw4Ovrd 50 j1= J_Curr j1.J2=jyd.J2 j1.J3=jyd.J3 j1.J4=jyd.J4 j1.J5=jyd.J5Mov j1 Mov jyd out11= 0 out12= 0 out13= 0 out15= 0 out7= 0 out6= 0 out14= 0 Return '/ 取夹具 1/ *jj1Wait M_In (10)= 0 Wait M_In (11)= 0 Wait M_In (13)= 0Ovrd 50Mov p20+p201Spd 700Mov p20+p203Spd 300 out11= 1Mvs p

14、20 Dly 0.2 out11= 0 Dly 0.2Mvs 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+p203 out11= 1Mvs p40Dly 0.2 out11= 0Dly 0.2Spd 600Mvs p40+p201Mvs p210+p203Spd 400Mvs p210 out13= 1Mvs p221Mvr

15、 p221,p220,p219Mvs p218Mvr p218,p217,p216Mvs p215Mvr p215,p214,p213Mvs p212Mvr p212,p211,p210 out13= 0 out6= 1Spd 600 Mvs p210+p201 out6= 0Mvs p40+p201Spd 400Mvs p40Dly 0.2 out11= 1Dly 0.2Mvs p40+p203 out6= 1Dly 0.2 out6= 0Return'/ 取夹具 3/ *jj3Wait M_In (10)= 0Wait M_In (11)= 0Wait M_In (13)= 0Sp

16、d 400Mvs p30+p203 out11= 1Spd 300Mvs p30Dly 0.2 out11= 0Dly 0.2Spd 400Mvs p30+p200 p33= P_CurrMvs p33-p202 p33= P_CurrMvs p33+p201Return'/ 去取盖 /*qgOvrd 50Mov p5Mov p5Mov p7Wait M_In (7)= 1 out12= 1 out13= 0Mov p8+p0 out12= 0Spd 200Mvs p8Dly 0.2 out13= 1Dly 0.2 out15= 1Dly 0.5'判断颜色白色盖'/ 入

17、仓库 /If M_In (8)= 1 Then GoTo *ck2 Else GoTo *ck1 Return*ck2 '/GoSub *jgOvrd 40Mov p231+p201Spd 200If M_In (15)= 1 And M_00#> 3 Then out10= 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 A

18、nd M_00#= 1 ThenMvs p231+p0EndIfIf M_In (15)= 1 And M_00#= 2 ThenMvs p231+p203EndIfIf M_In (15)= 1 And M_00#= 3 ThenMvs p231+p203+p0EndIfDly 0.2 out13= 0 out12= 1Mvs p231+p201 out8= 1GoSub *fw3 out8= 0M_00#=M_00#+ 1Return*ck1 '/ GoSub *jgOvrd 40Mov p240+p201Spd 200If M_In (14)= 1 And M_01#> 3

19、 Then out9= 1Wait M_Out (9)= 0M_01#= 0EndIfIf M_01#= 0 Then'第一层If M_In (14)= 1 ThenMov p6EndIfWait M_In (14)= 0Mov p240+p201'第二层'第三层'第四层'入库完成黑色盖Spd 200Mvs p240 EndIf If M_In (14)= 1 And M_01#= Mvs p240+p0 EndIfIf M_In (14)= 1 And M_01#= Mvs p240+p203EndIfIf M_In (14)= 1 And M_01#

20、= Mvs p240+p203+p0 EndIf Dly 0.2 out13= 0 out12= 1Mvs p240+p201 out8= 1 GoSub *fw3 out8= 0M_01#=M_01#+ Return '/ *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= 0Mvs p10+p0 Ovrd 50 Mov p9 Mov p6 Return '/ *ks1 out5= 0 out6= 0 out7= 0 out8

21、= 0 out14= 01 Then'第二层2 Then'第三层3 Then' 第四层1去加盖 /一次装机 /'入库完成装1和2键/装3和* 键/out15= 0 GoSub *jj1 '/ 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

22、 0.2 out12= 0 Ovrd 70 Mvs p103+p0 Mov p3 '/ 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装4和5键/装6和0键/Dly 0.2 out13= 0 Ovrd 70 Mvs p106+p0 Mov p3 '/ Mov p31+p0 Spd 200 Mvs p31 out12

23、= 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 '/ 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=

24、0 Mvs p109+p0 Mvs p110+p0 Mvs p110Dly 0.2 out13= 0 Ovrd 70Mvs p110+p0Mov p3'/装7和8键 /Mov p51+p0Spd 200Mvs p51 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p51+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2 out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2 out12= 0Ovrd 70Mvs p111+p0Mov p3'/装 9键 /Mov p55+p0Spd 20

25、0Mvs p55 out12= 1Dly 0.2Ovrd 70Mvs p55+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2 out12= 0Ovrd 70Mvs p113+p0Mov p3'/# 和接听键 /Mov p71+p0 Spd 200 Mvs p71 out12= 1 out13= 1 Dly 0.2 Ovrd 70Mvs p71+p0 Mov p3Mov p114+p0 Spd 200Mvs p114 Dly 0.2 out12= 0Mvs p114+p0 Mvs p100+p0 Mvs p100 Dly 0.2 out13= 0 Ov

26、rd 70Mvs p100+p0 Mov p3 '/ Mov p75+p0 Spd 200Mvs p75 out12= 1Dly 0.2 Ovrd 70Mvs p75+p0 Mov p3Mov p102+p0 Spd 200Mvs p102 Dly 0.2 out12= 0 Ovrd 70Mvs p102+p0 Mov p3 '/ Mov p50+p0 Spd 200 Mvs p50 out12= 1 Dly 0.2装挂机键 /装方向键 /Ovrd 70Mvs p50+p0 Mov p3 Mov p101+p0 Spd 200 Mvs p101 Dly 0.2 out12= 0

27、 Ovrd 70Mvs p101+p203 out6= 1 '/ Ovrd 50 Mov p23 Spd 450Mvs p20-p204 out6= 0 Spd 400 Mvs p20Dly 0.2 out11= 1Dly 0.2 Mvs p20+p203 out6= 1Dly 0.2 out6= 0 GoSub *jj2 GoSub *jj3 GoSub *qg Return '/ *ks2 out5= 0 out6= 0 out7= 0 out8= 0 out14= 0 out15= 0 GoSub *jj1 '/ Ovrd 50 Mov p3 Ovrd 70 Mo

28、v p12+p0 Spd 200 Mvs p12 out12= 1放回夹具 1/二次装机 /装1和2键/out13= 1Dly 0.2Ovrd 70Mvs p12+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly 0.2 out13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2 out12= 0Ovrd 70Mvs p103+p0Mov p3'/装3和* 键/Mov p16+p0Spd 200Mvs p16 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p16+p0Mov p3Mov p105+p0Sp

29、d 200Mvs p105Dly 0.2 out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2 out13= 0Ovrd 70Mvs p106+p0Mov p3'/装4和5键 /Mov p32+p0Spd 200Mvs p32 out12= 1out13= 1Dly 0.2Ovrd 70Mvs p32+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2 out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2 out12= 0Ovrd 70Mvs p107+p0Mov p3'

30、/装 6和 0键 /Mov p36+p0Spd 200Mvs p36 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p36+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2 out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2 out13= 0Ovrd 70Mvs p110+p0Mov p3'/装7和8键 /Mov p52+p0Spd 200Mvs p52 out12= 1out13= 1Dly 0.2Ovrd 70Mvs p52+p0Mov p3Mov p112+p0Spd 200Mvs

31、p112Dly 0.2 out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2 out12= 0Ovrd 70Mvs p111+p0Mov p3'/装 9键 /Mov p56+p0Spd 200Mvs p56 out12= 1Dly 0.2Ovrd 70Mvs p56+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2 out12= 0 Ovrd 70Mvs p113+p0Mov p3'/# 和接听键 /Mov p72+p0Spd 200Mvs p72 out12= 1 out13= 1Dly 0.2Ovrd

32、70Mvs p72+p0Mov p3Mov p114+p0Spd 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 '/ 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 '/ Mov

33、 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装挂机键 /装方向键 /Mvs p101+p203 out6= 1'/ Ovrd 50 Mov p23 Spd 450 Mvs p20-p204 out6= 0 Spd 400 Mvs p20Dly 0.2 out11= 1Dly 0.2 Mvs p20+p203 out6= 1Dly 0.2 out6= 0 GoSub *jj2 GoSub *jj

34、3 GoSub *qg Return '/ *ks3 out5= 0 out6= 0 out7= 0 out8= 0 out14= 0 out15= 0 GoSub *jj1 '/ Ovrd 50 Mov p3 Ovrd 70 Mov p21+p0 Spd 200 Mvs p21 out12= 1 out13= 1Dly 0.2 Ovrd 70 Mvs p21+p0 Mov p3 Mov p104+p0 Spd 200 Mvs p104Dly 0.2 out13= 0放回夹具 1/三次装机 /装1和2键/Mvs p104+p0Mvs p103+p0Mvs p103Dly 0.2

35、 out12= 0Ovrd 70Mvs p103+p0Mov p3'/装3和* 键/Mov p25+p0Spd 200Mvs p25 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p25+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2 out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2 out13= 0Ovrd 70Mvs p106+p0Mov p3'/装4和5键 /Mov p41+p0Spd 200Mvs p41 out12= 1 out13= 1Dly 0.2Ovrd 70M

36、vs p41+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2 out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2 out12= 0Ovrd 70Mvs p107+p0Mov p3'/装 6和 0键 /Mov p45+p0Spd 200Mvs p45 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p45+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2 out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2 out13=

37、 0Ovrd 70Mvs p110+p0Mov p3'/装7和8键 /Mov p61+p0Spd 200Mvs p61 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p61+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2 out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2 out12= 0Ovrd 70Mvs p111+p0Mov p3'/装 9键 /Mov p65+p0Spd 200Mvs p65 out12= 1Dly 0.2Ovrd 70Mvs p65+p0Mov p3Mo

38、v p113+p0Spd 200Mvs p113Dly 0.2 out12= 0Ovrd 70Mvs p113+p0Mov p3'/# 和接听键 /Mov p81+p0Spd 200Mvs p81 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p81+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2 out12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dly 0.2 out13= 0Ovrd 70Mvs p100+p0Mov p3 '/Mov p85+p0Spd 200Mvs p85 out12=

39、 1Dly 0.2Ovrd 70Mvs p85+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2 out12= 0Ovrd 70Mvs p102+p0Mov p3 '/Mov p70+p0Spd 200Mvs p70 out12= 1Dly 0.2Ovrd 70Mvs p70+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly 0.2 out12= 0Ovrd 70Mvs p101+p203 out6= 1 '/Ovrd 50Mov p23Spd 450Mvs p20-p204 out6= 0Spd 400Mvs p20

40、Dly 0.2 out11= 1装挂机键 /装方向键 /放回夹具 1/Dly 0.2 Mvs p20+p203 out6= 1Dly 0.2 out6= 0 GoSub *jj2 GoSub *jj3 GoSub *qg Return '/ *ks4 out5= 0 out6= 0 out7= 0 out8= 0 out14= 0 out15= 0 GoSub *jj1 '/ 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

41、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 '/ Mov p26+p0四次装机 /装1和2键/装3和* 键/Spd 200Mvs p26 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p26+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly 0.2 out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly 0.2

42、 out13= 0Ovrd 70Mvs p106+p0Mov p3'/装4和5键 /Mov p42+p0Spd 200Mvs p42 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p42+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly 0.2 out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly 0.2 out12= 0Ovrd 70Mvs p107+p0Mov p3'/装 6和 0键 /Mov p46+p0Spd 200Mvs p46 out12= 1 out13= 1Dly 0.2Ovrd 7

43、0Mvs p46+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly 0.2 out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly 0.2 out13= 0Ovrd 70Mvs p110+p0Mov p3'/装7和8键 /Mov p62+p0Spd 200Mvs p62 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p62+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly 0.2 out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly 0.2 out12=

44、 0Ovrd 70Mvs p111+p0Mov p3'/装 9键 /Mov p66+p0Spd 200Mvs p66 out12= 1Dly 0.2Ovrd 70Mvs p66+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly 0.2 out12= 0Ovrd 70Mvs p113+p0Mov p3 '/#Mov p82+p0Spd 200Mvs p82 out12= 1 out13= 1Dly 0.2Ovrd 70Mvs p82+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly 0.2 out12= 0Mvs p114+p0

45、Mvs p100+p0Mvs p100Dly 0.2 out13= 0Ovrd 70Mvs p100+p0Mov p3 '/Mov p86+p0Spd 200Mvs p86 out12= 1Dly 0.2Ovrd 70和接听键 /装挂机键 /Mvs p86+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly 0.2 out12= 0 Ovrd 70Mvs p102+p0Mov p3'/ 装方向键 /Mov p80+p0Spd 200Mvs p80 out12= 1 Dly 0.2 Ovrd 70Mvs p80+p0Mov p3Mov p101+p0Spd

46、 200Mvs p101Dly 0.2 out12= 0 Ovrd 70Mvs p101+p203 out14= 1 out6= 1'/ 放回夹具 1/Ovrd 50Mov p23Spd 450Mvs p20-p204 out14= 0 out6= 0Spd 400Mvs p20Dly 0.2 out11= 1Dly 0.2Mvs p20+p203 out6= 1 Dly 0.2 out6= 0GoSub *jj2GoSub *jj3GoSub *qgReturn 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,) 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,) p5=(113.400,122.320,483.400,179.140,-0.790,-30.240)(7,0) p6=(91.280,-217.830,43