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1、川崎机器人程序，已经测试在客户运行的.SIG_COMMENTCLEAR_COMMENTX0001 AutomaticX0000 Circle Start ONX0005 RPS-STX0002 Teach ModeX0003 ErrorX0004 HomeX0007 Fixed Air Valve LX0008 Fixed Water Valve LX0009 Fixed Air Valve RX000A Fixed Water Valve RX000B Fixed Air Flow ValveX000C Mobile Air Valve LX000D Mobile Water Valve L
2、X000E Mobile Air Valve RX0010 Mobile Air Flow ValveX000F Mobile Water Valve RX0209 PLC StartX0013 Progress CompleteX0015 Progress RunningX020A PLC Progress AllowX001F Robot Power ONY0000 EXT Motor ONY0001 EXT Circle StartY0002 RPS- ONY0212 Robot Standby StateY0202 Progress Running LightY0216 RPS-ST
3、OutputY0010 Progress BreakY0214 Robot Home OutputY0213 Progress Complete OutputY0207 Fixed Air Valve L OutputY0208 Fixed Water Valve L OutputY0209 Fixed Air Valve R OutputY020A Fixed Water Valve R OutputY020B Fixed Air Flow Valve OutputY020C Mobile Air Valve L OutputY020D Mobile Water Valve L Output
4、Y020E Mobile Air Valve R OutputY020F Mobile Water Valve R OutputY0210 Mobile Air Flow Valve OutputY0011 Robot Progress AllowY0003 EXT Pg ResetY0211 Error OutputY0215 Progress Running OutputM0000 Start SignM0100 First Start SignM0101 Circle Start ConditionM0102 Progress Running SignM0103 Mode Change
5、SignK0000 First Start MemoryT0000 Pg Reset Pulse T0001 Motor ON PulseT0002 Circle Start PulseT0003 RPS-ON PulseT0004 Mode Change PulseT0005 Progress Complete PulseT0050 EXT Motor ON DelayT0051 Circle Start DelayV0000 Always ON.END.PROGRAM autostart.pc() #0;AUTOSTART.PCloop: SOUT 2001 = 4;输出信号4转化为内部信
6、号2001(异常) SOUT 2002 = 7;输出信号7转化为内部信号2002(急停) TWAIT 0.02 IF SIG(2001) OR SIG(2002) THEN BITS 8,10 = 0;关闭所有阀门 END IF SIG(1017) THEN SIGNAL -22;作业信号切断 END GOTO loop.END.PROGRAM lsqpg() #0 LSQ FST LSQ START LSQ STR,&V0000 LSQ MOVE,&X0020L,&Y0000H LSQ STR,&V0000 LSQ AND,&X020A LSQ OUT,&Y0011 LSQ STR,&V00
7、00 LSQ AND,&X0209 LSQ OUT,&M0000 LSQ STR,&V0000 LSQ AND,&M0000 LSQ PTS LSQ STR,&Y0003 LSQ ANDN,&T0000 LSQ ORS LSQ ANDN,&K0000 LSQ OUT,&Y0003 LSQ TMR,&T0000,0.5 LSQ STR,&V0000 LSQ AND,&X0000 LSQ PTS LSQ SET,&K0000 LSQ STR,&V0000 LSQ AND,&X001F LSQ PTS LSQ STR,&V0000 LSQ AND,&X0000 LSQ NTS LSQ ORS LSQ
8、 RST,&K0000 LSQ STR,&V0000 LSQ AND,&Y0003 LSQ TMR,&T0050,0.3 LSQ STR,&V0000 LSQ AND,&T0050 LSQ PTS LSQ STR,&Y0000 LSQ ANDN,&T0001 LSQ ORS LSQ OUT,&Y0000 LSQ TMR,&T0001,0.5 LSQ STR,&V0000 LSQ AND,&X0001 LSQ ANDN,&X0002 LSQ ANDN,&X0003 LSQ AND,&X0004 LSQ OUT,&M0101 LSQ STR,&V0000 LSQ AND,&Y0000 LSQ TM
9、R,&T0051,0.3 LSQ STR,&V0000 LSQ AND,&T0051 LSQ PTS LSQ STR,&Y0001 LSQ ANDN,&T0002 LSQ ORS LSQ AND,&M0101 LSQ OUT,&Y0001 LSQ TMR,&T0002,0.5 LSQ STR,&V0000 LSQ AND,&M0000 LSQ PTS LSQ STR,&Y0002 LSQ ANDN,&T0003 LSQ ORS LSQ AND,&K0000 LSQ AND,&X0000 LSQ AND,&X0005 LSQ OUT,&Y0002 LSQ TMR,&T0003,0.5 LSQ S
10、TR,&V0000 LSQ AND,&X0003 LSQ OUT,&Y0211 LSQ STR,&V0000 LSQ AND,&X0015 LSQ AND,&X0000 LSQ AND,&X0003 LSQ OUT,&M0102 LSQ STR,&V0000 LSQ AND,&M0102 LSQ OUT,&Y0202 LSQ OUT,&Y0215 LSQ STR,&V0000 LSQ AND,&X0002 LSQ PTS LSQ STR,&M0103 LSQ ANDN,&T0004 LSQ ORS LSQ OUT,&M0103 LSQ TMR,&T0004,1 LSQ STR,&V0000 L
11、SQ AND,&M0103 LSQ OUT,&Y0010 LSQ STR,&V0000 LSQ AND,&X0013 LSQ PTS LSQ STR,&Y0213 LSQ ANDN,&T0005 LSQ ORS LSQ AND,&M0101 LSQ OUT,&Y0213 LSQ TMR,&T0005,1 LSQ STR,&V0000 LSQ ANDN,&M0102 LSQ AND,&M0101 LSQ AND,&X0000 LSQ OUT,&Y0212 LSQ STR,&V0000 LSQ AND,&X0004 LSQ OUT,&Y0214 LSQ STR,&V0000 LSQ AND,&X0
12、005 LSQ STR,&V0000 LSQ AND,&X001F LSQ ANDN,&K0000 LSQ ANDN,&X0000 LSQ AND,&M0101 LSQ ORS LSQ OUT,&Y0216 LSQ STR,&V0000 LSQ AND,&X0007 LSQ OUT,&Y0207 LSQ STR,&V0000 LSQ AND,&X0008 LSQ OUT,&Y0208 LSQ STR,&V0000 LSQ AND,&X0009 LSQ OUT,&Y0209 LSQ STR,&V0000 LSQ AND,&X000A LSQ OUT,&Y020A LSQ STR,&V0000 L
13、SQ AND,&X000B LSQ OUT,&Y020B LSQ STR,&V0000 LSQ AND,&X000C LSQ OUT,&Y020C LSQ STR,&V0000 LSQ AND,&X000D LSQ OUT,&Y020D LSQ STR,&V0000 LSQ AND,&X000E LSQ OUT,&Y020E LSQ STR,&V0000 LSQ AND,&X000F LSQ OUT,&Y020F LSQ STR,&V0000 LSQ AND,&X0010 LSQ OUT,&Y0210.END.PROGRAM pg0() #56;原点返回程序 POINT homepos = #HOME(1) IF DZ(homepos)DZ(HERE) THEN HERE tmp POINT/Z tmp = homepos LMOVE tmp END HOME.END.PROGRAM pg1() #3 SPEED 100 ALWAYS ACCURACY 10 ALWAYS; SWAIT 1018 SIGNAL 22;输出机器人运行中信号 SOUT 2003 = 5;原
