机械手自动化程序20170915

.. . .. . ..1、主程序 main&ACCESSRVP1&REL1&PARAMDISKPATH=KRC:\R1\ProgramDEFPro_main()INTl;FOLDINI;%{PE};FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM()INTERRUPTON3BAS(#INITMOV,0);ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI)GLOBALINTERRUPTDECL4WHEN$IN[10]==FALSEDOItrpt1()GLOBALINTERRUPTDECL5WHEN$IN[11]==FALSEDOItrpt1()INTERRUPTDECL6WHEN$IN[9]==TRUEDOItrpt1() ；地轨异常进入中断INTERRUPTON6；开地轨监视中断 6IFNOTGripper_ChkStatus(1,"C")THENGripper_SetStatus(1,"O")Part0InLeft=FALSE. 专业学习资料 ... . .. . ..Part2InLeft=FALSEENDIFIFNOTGripper_ChkStatus(2,"C")THENGripper_SetStatus(2,"O")Part1InRight=FALSEENDIFFORl=1TO14$OUT[l]=FALSEENDFOR；此循环语句在初始化时把所有端口清零复位 。IF$IN[5]THENMachine1_OnlyDrop=TRUEMachine2_OnlyDrop=TRUE ；机台1有首件信号时，机台1与机台2第一次响应只放标志位置 1ELSEMachine1_OnlyDrop=FALSEMachine2_OnlyDrop=FALSEENDIF$FLAG[8]=FALSE；FLAG[8]是干什么用的 ？;ENDFOLD(INI)；初始化完成$OV_PRO=70；限定系统运行速度 ,%P1:PTP,2:HOME,3:,5:100,7:DEFAULT. 专业学习资料 ... . .. . ..$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTPXHOME;ENDFOLDIF$IN_HOMETHEN$OUT[5]=FALSE$OUT[8]=FALSE$OUT[11]=FALSEENDIFLOOPWAITSEC0.05IF$IN[1]ANDNOTPart0InLeftANDGripper_ChkStatus(3,"O") THEN ToPick_Search()ENDIFIF Part0InLeft AND ($IN[3] OR Machine1_OnlyDrop) AND Gripper_ChkStatus(1,"C") ANDGripper_ChkStatus(2,"O")THENMachine1()ENDIFIF Part1InRight AND ($IN[6] OR Machine2_OnlyDrop) AND Gripper_ChkStatus(2,"C") AND. 专业学习资料 ... . .. . ..Gripper_ChkStatus(1,"O")THENMachine2()ENDIFIFPart2InLeftAND($IN[8]ORMachine3_OnlyDrop)ANDGripper_ChkStatus(1,"C")THENMachine3()ENDIFENDLOOPENDDEFItrpt1()HALTBRAKEEND2、取料程序（采用中断的方法自动探料 ，完成取料作业 ）&ACCESSRVO2&REL1&PARAMDISKPATH=KRC:\R1\ProgramDEFToPick_Search();FOLDINI;%{PE};FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM() ；单独用了一个系统中断？. 专业学习资料 ... . .. . ..INTERRUPTON3BAS(#INITMOV,0);ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI);ENDFOLD(INI)INTERRUPTDECL1WHEN$IN[10]==TRUEDOFOUND()SevenAxis_Run(1)GOTOMARK;FOLD PTP P1 CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT2FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTPXP1C_DIS;ENDFOLD;FOLD PTP P3 CONT Vel=100 % PDAT8 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT8FDAT_ACT=FP3BAS(#PTP_PARAMS,100). 专业学习资料 ... . .. . ..PTPXP3C_DIS;ENDFOLD;FOLD LIN P2 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT2FDAT_ACT=FP2BAS(#CP_PARAMS,2)LINXP2C_DISC_DIS;ENDFOLD;FOLD LIN P1 Vel=0.05 m/s CPDAT1 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT1FDAT_ACT=FP1BAS(#CP_PARAMS,0.05)LINXP1;ENDFOLD ,%P1:PTP,2:HOME,3:,5:100,7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100). 专业学习资料 ... . .. . ..$H_POS=XHOMEPTPXHOME;ENDFOLDmark:Search()INTERRUPTOFF1WAITSEC0XP4=$POS_ACT;FOLD LIN P4 CONT Vel=2 m/s CPDAT10 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT10FDAT_ACT=FP4BAS(#CP_PARAMS,2)LINXP4C_DISC_DIS;ENDFOLDGripper_SetStatus(1,"O")LIN_REL{Z15}LIN_REL{Z-17}Gripper_SetStatus(1,"C")Part0InLeft=TRUEWAITSEC0XP0=$POS_ACTXP0.Z=XP0.Z+25 ；看一下寻料程序到底是怎么运转的 ！. 专业学习资料 ... . .. . ..;FOLD LIN P0 CONT Vel=0.025 m/s CPDAT8 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT8FDAT_ACT=FP0BAS(#CP_PARAMS,0.025)LINXP0C_DISC_DIS;ENDFOLDWAITSEC0IFNOT$IN[10]THENGOTOmarkENDIF;FOLD LIN P1 CONT Vel=2 m/s CPDAT7 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP1BAS(#CP_PARAMS,2)LINXP1C_DISC_DIS;ENDFOLDENDDEFSearch();FOLDINI;%{PE}. 专业学习资料 ... . .. . ..;FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM()INTERRUPTON3BAS(#INITMOV,0);ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI);ENDFOLD(INI)INTERRUPTON1;FOLD PTP P1 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT6FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTPXP1C_DIS;ENDFOLD$OUT[16]=TRUE;FOLD LIN P3 CONT Vel=2 m/s CPDAT11 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT11. 专业学习资料 ... . .. . ..FDAT_ACT=FP3BAS(#CP_PARAMS,2)LINXP3C_DISC_DIS;ENDFOLD;FOLD LIN P2 CONT Vel=0.05 m/s CPDAT5 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT5FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LINXP2C_DISC_DIS;ENDFOLD;FOLD LIN P1 Vel=0.02 m/s CPDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT6FDAT_ACT=FP1BAS(#CP_PARAMS,0.02)LINXP1;ENDFOLDWAITSEC0ENDDEFFOUND(). 专业学习资料 ... . .. . ..BRAKELIN$POS_INT ;risealittleRESUMEEND3、机台1取放料程序（完成机台 1取放料动作与信号交互 ）&ACCESSRVO2&REL1&PARAMDISKPATH=KRC:\R1\ProgramDEFMachine1();FOLDINI;%{PE};FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM()INTERRUPTON3BAS(#INITMOV,0);ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI);ENDFOLD(INI)SevenAxis_Run(1)$OUT[5]=TRUE;ENDFOLDIFNOTMachine1_OnlyDropTHEN. 专业学习资料 ... . .. . ..;FOLD PTP P1 CONT Vel=100 % PDAT4 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT4FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTPXP1C_DIS;ENDFOLDmark:;FOLD LIN P2 CONT Vel=2 m/s CPDAT4 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT4FDAT_ACT=FP2BAS(#CP_PARAMS,2)LINXP2C_DISC_DIS;ENDFOLD;FOLD LIN P3 CONT Vel=2 m/s CPDAT5 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT5FDAT_ACT=FP3BAS(#CP_PARAMS,2)LINXP3C_DISC_DIS. 专业学习资料 ... . .. . ..;ENDFOLDGripper_SetStatus(2,"C")LIN_REL{Z7.5}Gripper_SetStatus(2,"O");FOLD LIN P3 Vel=2 m/s CPDAT1 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT1FDAT_ACT=FP3BAS(#CP_PARAMS,2)LINXP3;ENDFOLDGripper_SetStatus(2,"C")Part1InRight=TRUE;FOLD LIN P2 Vel=0.05 m/s CPDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT6FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LINXP2;ENDFOLDIFNOT$IN[11]THENGOTOmark. 专业学习资料 ... . .. . ..ENDIF;FOLD PTP P4 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT6FDAT_ACT=FP4BAS(#PTP_PARAMS,100)PTPXP4C_DIS;ENDFOLD;FOLD PTP P5 CONT Vel=100 % PDAT10 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT10FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTPXP5C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT8 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT8FDAT_ACT=FP6BAS(#PTP_PARAMS,100). 专业学习资料 ... . .. . ..PTPXP6C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT7 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LINXP7;ENDFOLDGripper_SetStatus(1,"O");FOLD PTP P6 CONT Vel=100 % PDAT14 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT14FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6C_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT9 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT9FDAT_ACT=FP8. 专业学习资料 ... . .. . ..BAS(#PTP_PARAMS,100)PTPXP8C_DIS;ENDFOLDELSE;FOLD PTP P5 CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT2FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTPXP5C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT13 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT13FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT9 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT9. 专业学习资料 ... . .. . ..FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LINXP7;ENDFOLDGripper_SetStatus(1,"O");FOLD PTP P6 Vel=100 % PDAT12 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT12FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT7 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT7FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTPXP8C_DIS;ENDFOLDMachine_Start(1) ,%P1:PTP,2:HOME,3:,5:100,7:DEFAULT. 专业学习资料 ... . .. . ..$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTPXHOME;ENDFOLDENDIFIFMachine1_OnlyDropTHENMachine1_OnlyDrop=FALSEENDIFMachine_Start(1)END4、机台2取放料程序（完成机台 2取放料动作与信号交互 ）&ACCESSRV2&REL6&PARAMDISKPATH=KRC:\R1\ProgramDEFMachine2();FOLDINI;%{PE};FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM()INTERRUPTON3BAS(#INITMOV,0). 专业学习资料 ... . .. . ..;ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI);ENDFOLD(INI)PTP$POS_ACTSevenAxis_Run(2)$OUT[8]=TRUE;ENDFOLDIFNOTMachine2_OnlyDropTHEN;FOLD PTP P1 CONT Vel=100 % PDAT3 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT3FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTPXP1C_DIS;ENDFOLDmark:;FOLD PTP P2 CONT Vel=100 % PDAT4 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT4. 专业学习资料 ... . .. . ..FDAT_ACT=FP2BAS(#PTP_PARAMS,100)PTPXP2C_DIS;ENDFOLD;FOLD LIN P3 Vel=2 m/s CPDAT4 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT4FDAT_ACT=FP3BAS(#CP_PARAMS,2)LINXP3;ENDFOLDGripper_SetStatus(1,"C")LIN_REL{Z7.5}Gripper_SetStatus(1,"O");FOLD LIN P3 Vel=2 m/s CPDAT0 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT0FDAT_ACT=FP3BAS(#CP_PARAMS,2)LINXP3;ENDFOLDGripper_SetStatus(1,"C"). 专业学习资料 ... . .. . ..Part2InLeft=TRUE;FOLD LIN P2 CONT Vel=0.05 m/s CPDAT3 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT3FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LINXP2C_DISC_DIS;ENDFOLDIFNOT$IN[10]THENGOTOmarkENDIF;FOLD PTP P4 CONT Vel=100 % PDAT7 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT7FDAT_ACT=FP4BAS(#PTP_PARAMS,100)PTPXP4C_DIS;ENDFOLD;FOLD PTP P5 CONT Vel=100 % PDAT14 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSE. 专业学习资料 ... . .. . ..PDAT_ACT=PPDAT14FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTPXP5C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT9 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT9FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT7 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LINXP7;ENDFOLDGripper_SetStatus(2,"O");FOLD PTP P6 CONT Vel=100 % PDAT11 Tool[1] Base[0];%{PE}%R. 专业学习资料 ... . .. . ..$BWDSTART=FALSEPDAT_ACT=PPDAT11FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6C_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT12 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT12FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTPXP8C_DIS;ENDFOLDELSE;FOLD PTP P5 CONT Vel=100 % PDAT13 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT13FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTPXP5C_DIS. 专业学习资料 ... . .. . ..;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT1 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT1FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTPXP6C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT1 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT1FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LINXP7;ENDFOLDGripper_SetStatus(2,"O");FOLD LIN P6 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT2FDAT_ACT=FP6BAS(#CP_PARAMS,2). 专业学习资料 ... . .. . ..LINXP6C_DISC_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT6FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTPXP8C_DIS;ENDFOLDMachine_Start(2) ,%P1:PTP,2:HOME,3:,5:100,7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTPXHOME;ENDFOLDENDIFIFMachine2_OnlyDropTHENMachine2_OnlyDrop=FALSE. 专业学习资料 ... . .. . ..ENDIFMachine_Start(2)END5、机台3取放料程序（完成机台 3取放料动作与信号交互 ）&ACCESSRVP1&REL6DEFMachine3();FOLDINI;%{PE};FOLDBASISTECHINIGLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDOIR_STOPM()INTERRUPTON3BAS(#INITMOV,0);ENDFOLD(BASISTECHINI);FOLDUSERINI;Makeyourmodificationshere;ENDFOLD(USERINI)WAITFOR$FLAG[1]$FLAG[8]=TRUE;ENDFOLD(INI)PTP$POS_ACTSevenAxis_Run(3). 专业学习资料 ... . .. . ..6:$OUT[11]=TRUE;ENDFOLD;FOLD PTP P1 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT6FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTPXP1C_DIS;ENDFOLD;FOLD PTP P2 CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT2FDAT_ACT=FP2BAS(#PTP_PARAMS,100)PTPXP2C_DIS;ENDFOLD;FOLD LIN P3 Vel=0.25 m/s CPDAT1 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT1. 专业学习资料 ... . .. . ..FDAT_ACT=FP3BAS(#CP_PARAMS,0.25)LINXP3;ENDFOLDGripper_SetStatus(1,"O");FOLD LIN P2 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSELDAT_ACT=LCPDAT2FDAT_ACT=FP2BAS(#CP_PARAMS,2)LINXP2C_DISC_DIS;ENDFOLD;FOLD PTP P4 CONT Vel=100 % PDAT3 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSEPDAT_ACT=PPDAT3FDAT_ACT=FP4BAS(#PTP_PARAMS,100)PTPXP4C_DIS;ENDFOLD;FOLD PTP P5 CONT Vel=100 % PDAT5 Tool[1] Base[0];%{PE}%R$BWDSTART=FALSE. 专业学习资料 ... . .. . ..PDAT_ACT=PPDAT5FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTPXP5C_DIS;ENDFOLDMachine_Start(3) ,%P1:PTP,2:HOME,3:,5:100,7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTPXHOME;ENDFOLD$TIMER_STOP[1]=FALSEIF$TIMER[1]>0THEN$TIMER_STOP[1]=TRUEENDIFIFMachine3_OnlyDropTHENMachine3_OnlyDrop=FALSEENDIFCount_Part=Count_Part+1IFCount_Part>=40THEN. 专业学习资料 ... . .. . ..Count_Part=0SevenAxis_Run(4)WAITSEC0.1ENDIFEND6、地轨运动程序 （完成与地轨信号交互及运动交互 ）&ACCESSRV2&REL8&PARAMEDITMASK=*&PARAMTEMPLATE=C:\KRC\Roboter\Template\vorgabeDEFSevenAxis_Run(Num:IN)INTNumSWITCHNumCASE13:,5:TRUE,6:,8:1PULSE($OUT[1],TRUE,1);ENDFOLD;FOLDPULSE14''State=TRUE Time=1 2:14,3:,5:TRUE,6:,8:1PULSE($OUT[14],TRUE,1);ENDFOLDWAITFOR$IN[2]. 专业学习资料 ... . .. . ..$OUT[1]=FALSE$OUT[14]=FALSECASE23:,5:TRUE,6:,8:1PULSE($OUT[2],TRUE,1);ENDFOLD;FOLDPULSE14''State=TRUE Time=1 2:14,3:,5:TRUE,6:,8:1PULSE($OUT[14],TRUE,1);ENDFOLDWAITSEC0.5WAITFOR$IN[2]$OUT[2]=FALSE$OUT[14]=FALSECASE33:,5:TRUE,6:,8:1PULSE($OUT[3],TRUE,1);ENDFOLD;FOLDPULSE14''State=TRUE Time=1 2:14,3:,5:TRUE,6:,8:1PULSE($OUT[14],TRUE,1);ENDFOLD. 专业学习资料 ... . .. . ..WAITSEC0.5WAITFOR$IN[2]$OUT[3]=FALSE$OUT[14]=FALSECASE43:,5:TRUE,6:,8:1PULSE($OUT[4],TRUE,1);ENDFOLD;FOLDPULSE14''State=TRUE Time=1 2:14,3:,5:TRUE,6:,8:1PULSE($OUT[14],TRUE,1);ENDFOLDWAITSEC0.5WAITFOR$IN[2]$OUT[4]=FALSE$OUT[14]=FALSEDEFAULTMsgQuit("Error")ENDSWITCHEND7、机台启动控制程序 （完成机台启动 ，取消工作中信号给开始加工信号 ）&ACCESSRV2. 专业学习资料 ... . .. . ..&REL3&PARAMEDITMASK=*&PARAMTEMPLATE=C:\KRC\Roboter\Template\ExpertVorgabeDEFMachine_Start(Num:IN)INTNumSWITCHNumCASE1$OUT[5]=FALSE;ENDFOLD2:6,3:,5:TRUE,6:,8:0.5PULSE($OUT[6],TRUE,0.5);ENDFOLDCASE2$OUT[8]=FALSE;ENDFOLD2:9,3:,5:TRUE,6:,8:0.5PULSE($OUT[9],TRUE,0.5);ENDFOLDCASE3. 专业学习资料 ... . .. . ..6:$OUT[11]=FALSE;ENDFOLD2:12,3:,5:TRUE,6:,8:0.5PULSE($OUT[12],TRUE,0.5);ENDFOLDDEFAULTMsgQuit("Error")ENDSWITCHEND8、手爪控制程序 （完成对手爪的控制 ）手爪1控制点位为 OUT[16]，对应检测为 IN[10]，对应中断 4手爪2控制点位为 OUT[15]，对应检测为 IN[11]，对应中断 5&ACCESSRV2&REL50&PARAMEDITMASK=*&PARAMTEMPLATE=C:\KRC\Roboter\Template\vorgabeDEFGripper_SetStatus(Num:IN,Status:IN)INTNumCHARStatusSWITCHNumCASE1. 专业学习资料 ... . .. . ..SWITCHStatusCASE"O"IFNOT$T1THENINTERRUPTOFF4ENDIF$OUT[16]=FALSEWAITSEC0.3WAITFORNOT$IN[10]Part0InLeft=FALSEPart2InLeft=FALSECASE"C"IFNOT$T1THENINTERRUPTON4ENDIF$OUT[16]=TRUEWAITSEC0.5WAITFOR$IN[10]DEFAULTMsgQuit("ElementError")ENDSWITCHCASE2SWITCHStatusCASE"O"IFNOT$T1THEN. 专业学习资料 ... . .. . ..INTERRUPTOFF5ENDIFINTERRUPTOFF89$OUT[15]=FALSEWAITSEC0.3WAITFORNOT$IN[11]Part1InRight=FALSECASE"C"IFNOT$T1THENINTERRUPTON5ENDIF$OUT[15]=TRUEWAITSEC0.5WAITFOR$IN[11]Part1InRight=TRUEDEFAULTMsgQuit("ElementError")ENDSWITCHDEFAULTMsgQuit("ElementError")ENDSWITCHEND9、手爪真空检测 （完成对掉料状况的检测 ）. 专业学习资料 ... . .. . ..&ACCESSRV2&REL10&PARAMEDITMASK=*&PARAMTEMPLATE=C:\KRC\Roboter\Template\FunctionVorgabeDEFFCTBOOLGripper_ChkStatus(Num:IN,Status:IN)INTNumCHARStatusSWITCHNumCASE1SWITCHStatusCASE"O"IFNOT$OUT[16]ANDNOT$IN[10]THENRETURNTRUEELSERETURNFALSEENDIFCASE"C"IF$OUT[16]AND$IN[10]THENRETURNTRUEELSERETURNFALSEENDIFDEFAULTMsgQuit("ElementError"). 专业学习资料 ... . .. . ..RETURNFALSEENDSWITCHCASE2SWITCHStatusCASE"O"IFNOT$OUT[15]ANDNOT$IN[11]THENRETURNTRUEELSERETURNFALSEENDIFCASE"C"IF$OUT[15]AND$IN[11]THENRETURNTRUEELSERETURNFALSEENDIFDEFAULTMsgQuit("ElementError")RETURNFALSEENDSWITCHCASE3SWITCHStatusCASE"O"IFNOT$OUT[15]ANDNOT$OUT[16]ANDNOT$IN[10