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1、三菱机器人程序Jenny was compiled in January 2021/定义输入/ Def Io in0=Bit,0Def Io in1=Bit,1Def Io in3=Bit,3Def Io in4=Bit,4Def Io in5=Bit,5Def Io in6=Bit,6Def Io in7=Bit,7Def Io in8=Bit,8Def Io in9=Bit,9Def Io in10=Bit,10Def Io in11=Bit,11Def Io in12=Bit,12Def Io in13=Bit,13Def Io in14=Bit,14Def Io in15=Bit,15
2、 /定义/输出/Def Io out0=Bit,0Def Io out1=Bit,1Def Io out3=Bit,3Def Io out4=Bit,4Def Io out5=Bit,5Def Io out6=Bit,6Def Io out7=Bit,7Def Io out8=Bit,8Def Io out9=Bit,9Def Io out10=Bit,10Def Io out11=Bit,11Def Io out12=Bit,12Def Io out13=Bit,13Def Io out14=Bit,14Def Io out15=Bit,15 /定义变量/Def Jnt jyd 定义安 全点
3、I A 八、Def Plt 1,p11,p17,p71,p77,4,4,1 定义托盘点 j1=(+,+,+,+,+ jyd=(+,+,+,+,p0=(+,+,+,+,+,+(0,0) p200=(+,+,+,+,+,+(0,0) p201=(+,+,+,+,+,+(0,0) p202=(+,+ ,+,+,+,+(0,0) p203=(+,+,+,+,+,+(0,0) p204=(+,+,+,+,+,+(0,0) /托盘点/p12=p11p21=p11p22=p11=+12=+12=+12=+12p15=(Plt 1,3)p16=p15p25=p15p26=p15=+12=+12=+12=+12
4、p31=(Plt 1,8)p32=p31p41=p31p42=p31=+12=+12=+12=+12p35=(Plt 1,6)p36=p35p45=p35p46=p35=+12=+12=+12=+12 p51=(Plt 1,9) p52=p51 p61=p51 p62=p51=+12=+12=+12=+12p55=(Plt 1,11)p56=p55p65=p55p66=p55=+12=+12=+12=+12p75=(Plt 1,14)p76=p75p85=p75p86=p75=+12=+12=+12=+12p72=p71p81=p71p82=p71=+12=+12=+12=+12/判断/If
5、M_In(9)=1 And M_In(10)=0 Then 判断3 个夹具是否在原位If M_In(11)=0 And M_In(13)=0 ThenGoSub *fw程序fwEndIfEndIfIf M_In(9)=1 And M_In(10)=1 Then判断1夹具是否在原位If M_In(11)=0 And M_In(13)=0 ThenGoSub *fw1夹具1复位EndIfEndIfIf M_In(9)=1 And M_In(10)=0 Then判断夹具2是否在原位If M_In(11)=1 And M_In(13)=0 ThenGoSub *fw2夹具2复位EndIfEndIfIf
6、 M_In(9)=1 And M_In(10)=0 Then判断夹具3是否在原位If M_In(11)=0 And M_In(13)=1 ThenGoSub *fw3夹具3复位EndIfEndIfIf M_05#3 Thenout14=1M_05#=0EndIfIf M_In(6)=1 And M_05#=0 ThenGoSub *ks1一次装机EndIfIf M_In(6)=1 And M_05#=1 ThenGoSub *ks2二次装机EndIfIf M_In(6)=1 And M_05#=2 ThenGoSub *ks3三次装机EndIfIf M_In(6)=1 And M_05#=3
7、ThenGoSub *ks4四次装机EndIfEnd/复位程序/*fw程序复位Ovrd 80j1=J_CurrMov j1Mov jydout5=1m_outb(6)=0将输出信号6-13的8个位关闭M_00#=0M_05#=0M_01#=0Return / /复位1/ *fw1Ovrd 70j1=J_CurrMov j1Mov jyd out12=0 out13=0Mov p1Mov p23 ovrd 50Spd 400Mvs p20-p204Mvs p20Dly out11=1DlyMvs p20+p203 out11=0 GoSub *fw4Return / / 复位2/ *fw2Ovr
8、d 70j1=J_CurrMov j1Mov jyd out12=0 out13=0 ovrd 50Mov p40+p201Spd 400Mvs p40Dly out11=1DlyMvs p40+p203 out11=0 GoSub *fw4Return / /复位3/ *fw3Ovrd 70 j1=J_CurrgP1A0 MgDUrlw EM MIDUrlw EM M0DUIW EM =?Ulnq-OH OH寸Ipno 0H94no OEno OHgEO 0H2no ohzeo ohieoAow L;owgov= og P1A0 寸专 二二二二二氢老二二二二二二二二二. 二二二二二二二二二二
9、二二二三r念 寸启 * OJP0U9LU OH(ISUI 三七 I+#glWH#glw0丄20 goza+ogasAW As ihieoocod002+0铉APSsPAA。 ohzeo ga Aow 0H2no EEOAow L;owMov p20+p201Spd 700Mov p20+p203Spd 300out11=1Mvs p20Dlyout11=0DlyMvs p20+p200 p23=P_CurrMvs p23-p204 p23=P_CurrMvs p23+p201 p23=P_CurrReturn/取夹具2/ *jj2Spd 400Wait M_In(10)=0Wait M_In(
10、11)=0Wait M_In(13)=0Mvs p40+p203out11=1Mvs p40Dlyout11=0DlySpd 600Mvs p40+p201Mvs p210+p203Spd 400Mvs 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 p
11、40+p203out6=1Dlyout6=0Return/取夹具3/ *jj3Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Spd 400Mvs p30+p203out11=1Spd 300Mvs p30Dlyout11=0DlySpd 400Mvs p30+p200 p33=P_CurrMvs p33-p202 p33=P_CurrMvs p33+p201Return/去取盖/ *qgOvrd 50Mov p5Mov p5Mov p7Wait M_In(7)=1out12=1out13=0Mov p8+p0out12=0Spd 200Mvs p8D
12、lyRO*I+#00 肝#00 WWH.1=1、-W IEi -w iMJ* qngog I=8no 10R+1 陆d saw l二Zl=no 0 二护no HQ JIPUQ _0d+0R+圧空 sawuqmi e=#oo_w pw i=(si)uo ji JIPUQ _0R+圧空 SAWUQM1 乙二#0(TW PW I=(SI)uO JI JIPUQ _0+圧空 sawUQM1 I=#00_W PW I=(SI)uO JI JIPUQ l陆d saw 002 PdS 10R+与d aon 0=(si)uo h现 JIPUQ 9d aon usqi I=(SI)uO JI 旨一蚩，uoqj 0二#007 JIJI pug 9 二 #007 0=(01)H现_I=0Inouqmi e#oo_w pw i=(si)uo ji 002 PdS 10R+1陆d aon0万PW 製* qngog 晏另日 / ,閱*ujnq.9 另邂壕111采，IW 19 9SI3 閱o* 19 usqi I=(8)uO JIHQI=SInoHQ l 二护noOvrd 40M
