菱機器人程序

1、'/定義輸入 /DefIoin0=Bit,0DefIoin1=Bit,1DefIoin3=Bit,3DefIoin4=Bit,4DefIoin5=Bit,5DefIoin6=Bit,6DefIoin7=Bit,7DefIoin8=Bit,8DefIoin9=Bit,9DefIoin10=Bit,10DefIoin11=Bit,11DefIoin12=Bit,12DefIoin13=Bit,13DefIoin14=Bit,14DefIoin15=Bit,15'/定義 /輸出 /DefIoout0=Bit,0DefIoout1=Bit,1DefIoout3=Bit,3DefIoou

2、t4=Bit,4DefIoout5=Bit,5DefIoout6=Bit,6DefIoout7=Bit,7DefIoout8=Bit,8DefIoout9=Bit,9DefIoout10=Bit,10DefIoout11=Bit,11DefIoout12=Bit,12DefIoout13=Bit,13DefIoout14=Bit,14DefIoout15=Bit,15定義變量 /'/Def Jnt jydDef Plt 1,p11,p17,p71,p77, 4, 4, 1 j1=(+,+,+,+,+ jyd=(+,+,+,+, p0=(+,+,+,+,+,+( p200=(+,+,+,

3、+,+,+( p201=(+,+,+,+,+,+( p202=(+,+ ,+,+,+,+( p203=(+,+,+,+,+,+( p204=(+,+,+,+,+,+(' 定義 安全點' 定義托盤點0, 0)0, 0)0, 0)0,0)0, 0)0, 0)'/ 托盤點 /p12=p11p21=p11p22=p11=+12=+12=+12=+12 p15=( Plt p16=p15 p25=p15 p26=p15=+121, 3)=+12=+12=+12 p31=( Plt p32=p31 p41=p31 p42=p31=+121, 8)=+12=+12=+12 p35=(

4、 Plt p36=p35 p45=p35 p46=p35=+12=+121, 6)=+12=+12 p51=( Plt p52=p51 p61=p51 p62=p51=+12=+121, 9)=+12=+12 p55=( Plt p56=p55 p65=p55 p66=p55=+121, 11)=+12=+12=+12 p75=( Plt p76=p751, 14)p85=p75p86=p75=+12=+12=+12=+12p72=p71p81=p71p82=p71=+12=+12=+12=+12'/ 判斷 /If M_In( 9)=1 And M_In( 10)= 0 Then If

5、 M_In( 11)=0 And M_In( 13)= 0 Then GoSub*fwEndIfEndIfIf M_In( 9)=1 And M_In( 10)=1 Then If M_In( 11)=0 And M_In( 13)= 0 Then GoSub*fw1EndIfEndIfIf M_In( 9)=1 And M_In( 10)= 0 Then If M_In( 11)=1 And M_In( 13)= 0 Then GoSub*fw2EndIfEndIfIf M_In( 9)=1 And M_In( 10)= 0 Then If M_In( 11)=0 And M_In( 13)

6、= 1 Then GoSub*fw3EndIfEndIfIf M_05#>3 Thenout14= 1M_05#=0EndIfIf M_In( 6)=1 And M_05#= 0GoSub*ks1EndIfIf M_In( 6)=1 And M_05#= 1GoSub*ks2EndIfIf M_In( 6)=1 And M_05#= 2GoSub*ks3EndIfIf M_In( 6)=1 And M_05#= 3' 判斷 3個夾具是否在原位' 程序 fw' 判斷 1 夾具是否在原位' 夾具 1 復(fù)位' 判斷夾具 2是否在原位' 夾具 2

7、復(fù)位' 判斷夾具 3 是否在原位' 夾具 3 復(fù)位ThenThenThenThen' 一次裝機' 二次裝機' 三次裝機GoSub*ks4' 四次裝機EndIfEnd'/復(fù)位程序 /*fw' 程序復(fù)位Ovrd 80j1= J_CurrMov j1Mov jyd out5= 1*fw2m_outb ( 6 )= 0M_00#=0' 將輸出信號 6-13 的 8個位關(guān)閉M_05#=0M_01#=0Return '/'/復(fù)位 1/*fw1Ovrd 70j1= J_CurrMov j1Mov jyd out12= 0

8、out13= 0Mov p1Mov p23ovrd 50Spd 400Mvs p20-p204Mvs p20Dly out11= 1DlyMvs p20+p203 out11= 0GoSub*fw4Return'/'/復(fù)位 2/Ovrd 70j1= J_CurrMov j1Mov jyd out12= 0 out13= 0 ovrd 50Mov p40+p201Spd 400Mvs p40Dly out11= 1DlyMvs p40+p203 out11= 0GoSub*fw4Return'/'/復(fù)位 3/*fw3Ovrd 70 j1= J_CurrMov j1

9、Mov jyd out12= 1 out13= 0Mov p5 out12= 0 ovrd 51Mov p2Spd 600Mvs p33Mvs p30+p200Mvs p30Dly out11= 1DlyMvs p30+p203 out11= 0M_05#=M_05#+1If M_In( 6)=0 Then GoTo*fw4Return '/'/正常復(fù)位 /*fw4Ovrd 50 j1= J_CurrMov j1Mov jyd out11= out12= out13= out15=out7= 0out6= 0out14= 0 Return '/ *jj1 Wait Wa

10、it Wait OvrdM_In ( 10)= 0M_In ( 11)= 0M_In ( 13)= 050Mov p20+p201 Spd 700 Mov p20+p203 Spd 300 out11= 1 Mvs p20 Dly out11= 0 DlyMvs p20+p200 p23=P_Curr Mvs p23-p204 p23=P_Curr Mvs p23+p201 p23= P_Curr Return '/ *jj2Spd 400Wait M_In ( 10)= 0 Wait M_In ( 11)= 0 Wait M_In ( 13)= 0 Mvs p40+p203 out1

11、1= 1 Mvs p40取夾具 1/取夾具 2/Dly out11= 0DlySpd 600Mvs p40+p201Mvs p210+p203Spd 400Mvs p210 out13= 1Mvs p221Mvr p221,p220,p219Mvs p218Mvr p218,p217,p216Mvs p215Mvr p215,p214,p213Mvs p212Mvr p212,p211,p210 out13= 0 out6= 1Spd 600Mvs p210+p201 out6= 0Mvs p40+p201Spd 400Mvs p40Dly out11= 1DlyMvs p40+p203 ou

12、t6= 1Dly out6= 0Return取夾具 3/'/*jj3M_In ( 10)= 0M_In ( 11)= 0M_In ( 13)= 0WaitWaitWaitSpd 400Mvs p30+p203 out11= 1Spd 300Mvs p30Dly out11= 0DlySpd 400Mvs p30+p200言L HgLlno言L HW1言8ds>l/l 002 Pds 0 He Lino 0d+8d>ol/l 0 He LinoL He Lino lh()u_ii/i 七pm 卜 d>ol/l 9d>ol/l 9d>ol/l 09 p>

13、0 6b* 三三三三三三一一 unleM Loed+eeds>l/l noldHeed §d 農(nóng) ds>l/l nold炸d土 PSOd+Leed s>l/l uILL L UgolIAI PU0 L h(9l )u_ll/l _J-pu 山Lewd s>l/l 002 Pds 52d+Le2d>0l/l 0h(9l)u_ii/i 七pm 土 PS9d>ol/l uILL lh)u_ii/i _ ula 0 H#oo乞一J-pu 山 o=goll/l 0H(0L)lnoll/l 七PM L Hol uILL e QOOIIAI pu< L H

14、(9L )u_ll/l 一 002 pds L02d+Le2d>ol/l 0寸p>0 2*qnsoQ unleM5o*ohoo owo 2>io*oj.oq uill lh(8)u_ii/i 一If M_In( 15)=1 And M_00#= 2 Then Mvs p231+p203EndIfIf M_In( 15)=1 And M_00#= 3 Then Mvs p231+p203+p0EndIf Dly out13= 0 out12= 1Mvs p231+p201 out8= 1 GoSub*fw3 out8= 0 M_00#=M_00#+1 Return *ck1 &

15、#39;/ GoSub*jgOvrd 40 Mov p240+p201 Spd 200If M_In( 14)=1 And M_01#> 3 out9= 1Wait M_Out( 9)= 0 M_01#=0 EndIf If M_01#=0 Then If M_In( 14)=1 ThenMov p6 EndIf Wait M_In ( 14)= 0 Mov p240+p201 Spd 200 Mvs p240 EndIfIf M_In( 14)=1 And M_01#= 1 Mvs p240+p0 EndIfIf M_In( 14)=1 And M_01#= 2 Mvs p240+p2

16、03 EndIfIf M_In( 14)=1 And M_01#= 3 Mvs p240+p203+p0 EndIf Dly out13= 0 out12= 1 Mvs p240+p201 out8= 1' 第三層' 第四層' 入庫完成黑色蓋i_u rm.Then' 第一層ThenThenThen' 第二層' 第三層' 第四層' 入庫完成GoSub*fw3 out8= 0M_01#=M_01#+1Return'/去加蓋 /*jgMvs p8+p203Ovrd 50Mov p7Mov p6Mov p9Mov p10+p0Sp

17、d 200Mvs p10Dly out7= 1Dlyout7= 0Mvs p10+p0Ovrd 50Mov p9Mov p6Return'/一次裝機 /*ks1out5= 0out6= 0out7= 0out8= 0out14= 0out15= 0GoSub*jj1'/裝1和2鍵/Ovrd 50Mov p3Ovrd 70Mov p11+p0Spd 200Mvs p11 out12= 1out13= 1DlyOvrd 70Mvs p11+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly out13= 0Mvs p104+p0Mvs p103+p0Mvs

18、p103Dly out12= 0Ovrd 70Mvs p103+p0裝3和* 鍵/Mov p3 '/Mov p15+p0Spd 200Mvs p15 out12= 1 out13= 1DlyOvrd 70Mvs p15+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0Ovrd 70Mvs p106+p0裝 4和 5鍵 /Mov p3 '/Mov p31+p0Spd 200Mvs p31 out12= 1 out13= 1DlyOvrd 70Mvs p3

19、1+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly out12= 0Ovrd 70Mvs p107+p0裝6和0鍵/Mov p3 '/Mov p35+p0Spd 200Mvs p35 out12= 1 out13= 1DlyOvrd 70Mvs p35+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly out13= 0Ovrd 70Mvs p110+p0裝 7和 8鍵

20、 /Mov p3 '/Mov p51+p0Spd 200Mvs p51out12= 1out13= 1DlyOvrd 70Mvs p51+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly out12= 0Ovrd 70Mvs p111+p0Mov p3 '/Mov p55+p0Spd 200Mvs p55out12= 1DlyOvrd 70Mvs p55+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly out12= 0Ovrd 70Mvs p

21、113+p0Mov p3'/#Mov p71+p0Spd 200Mvs p71out12= 1out13= 1DlyOvrd 70Mvs p71+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly out12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dly out13= 0Ovrd 70Mvs p100+p0Mov p3 '/Mov p75+p0裝9鍵/和接聽鍵 /裝掛機鍵 /Spd 200Mvs p75 out12= 1DlyOvrd 70Mvs p75+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly

22、 out12= 0Ovrd 70Mvs p102+p0裝方向鍵 /Mov p3 '/ Mov p50+p0Spd 200Mvs p50 out12= 1DlyOvrd 70Mvs p50+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly out12= 0Ovrd 70放回夾具 1/Mvs p101+p203 out6= 1 '/Ovrd 50Mov p23Spd 450Mvs p20-p204 out6= 0Spd 400Mvs p20Dly out11= 1DlyMvs p20+p203 out6= 1Dly out6= 0GoSub*jj2GoSu

23、b*jj3GoSub*qgReturn'/二次裝機 /*ks2out5= 0out6= 0out7= 0out8= 0out14= 0out15= 0GoSub*jj1'/裝3和*鍵/裝1和2鍵/Ovrd 50Mov p3Ovrd 70Mov p12+p0Spd 200Mvs p12 out12= 1 out13= 1DlyOvrd 70Mvs p12+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly out13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dly out12= 0Ovrd 70Mvs p103+p0Mov p3 &

24、#39;/Mov p16+p0Spd 200Mvs p16 out12= 1 out13= 1DlyOvrd 70Mvs p16+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0Ovrd 70Mvs p106+p0裝 4和 5鍵 /Mov p3 '/Mov p32+p0Spd 200Mvs p32 out12= 1 out13= 1DlyOvrd 70Mvs p32+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0M

25、vs p108+p0Mvs p107+p0Mvs p107Dly out12= 0Ovrd 70Mvs p107+p0Mov p3裝6和0鍵/'/Mov p36+p0Spd 200Mvs p36 out12= 1 out13= 1DlyOvrd 70Mvs p36+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly out13= 0Ovrd 70Mvs p110+p0裝 7和 8鍵 /Mov p3 '/Mov p52+p0Spd 200Mvs p52out12= 1out

26、13= 1DlyOvrd 70Mvs p52+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly out12= 0Ovrd 70Mvs p111+p0裝9鍵/Mov p3 '/Mov p56+p0Spd 200Mvs p56 out12= 1DlyOvrd 70Mvs p56+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly out12= 0Ovrd 70 Mvs p113+p0 Mov p3 '/# Mov p72+p0 Spd 200 Mvs

27、 p72 out12= 1 out13= 1 Dly Ovrd 70 Mvs p72+p0 Mov p3 Mov p114+p0 Spd 200 Mvs p114 Dly out12= 0 Mvs p114+p0 Mvs p100+p0 Mvs p100 Dly out13= 0 Ovrd 70 Mvs p100+p0 Mov p3 '/ Mov p76+p0 Spd 200 Mvs p76 out12= 1 Dly Ovrd 70 Mvs p76+p0 Mov p3 Mov p102+p0 Spd 200 Mvs p102 Dly out12= 0 Ovrd 70 Mvs p102+

28、p0 Mov p3 '/ Mov p60+p0 Spd 200 Mvs p60 out12= 1和接聽鍵 /裝掛機鍵 /裝方向鍵 /DlyOvrd 70Mvs p60+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly out12= 0Ovrd 70Mvs p101+p203 out6= 1'/放回夾具 1/Ovrd 50Mov p23Spd 450Mvs p20-p204out6= 0Spd 400Mvs p20Dly out11= 1DlyMvs p20+p203 out6= 1Dly out6= 0GoSub*jj2GoSub*jj3 GoSub*

29、qg Return'/三次裝機 /*ks3out5= 0out6= 0out7= 0out8= 0out14= 0out15= 0GoSub*jj1'/Ovrd 50Mov p3Ovrd 70Mov p21+p0Spd 200Mvs p21 out12= 1裝1和2鍵/out13= 1DlyOvrd 70Mvs p21+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly out13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dly out12= 0Ovrd 70Mvs p103+p0裝3和* 鍵/Mov p3 '/Mov p

30、25+p0Spd 200Mvs p25 out12= 1 out13= 1DlyOvrd 70Mvs p25+p0Mov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0Ovrd 70Mvs p106+p0裝 4和 5鍵 /Mov p3 '/Mov p41+p0Spd 200Mvs p41 out12= 1 out13= 1DlyOvrd 70Mvs p41+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0Mvs p108+p0

31、Mvs p107+p0Mvs p107Dly out12= 0Ovrd 70Mvs p107+p0裝6和0鍵/Mov p3 '/Mov p45+p0Spd 200Mvs p45 out12= 1 out13= 1DlyOvrd 70Mvs p45+p0Mov p3Mov p109+p0Spd 200Mvs p109Dly out12= 0Mvs p109+p0Mvs p110+p0Mvs p110Dly out13= 0Ovrd 70Mvs p110+p0Mov p3 '/Mov p61+p0Spd 200Mvs p61 out12= 1 out13= 1DlyOvrd 70M

32、vs p61+p0Mov p3Mov p112+p0Spd 200Mvs p112Dly out13= 0Mvs p112+p0Mvs p111+p0Mvs p111Dly out12= 0Ovrd 70Mvs p111+p0裝9鍵/Mov p3 '/Mov p65+p0Spd 200Mvs p65out12= 1DlyOvrd 70Mvs p65+p0Mov p3Mov p113+p0Spd 200Mvs p113Dly out12= 0Ovrd 70Mvs p113+p0Mov p3和接聽鍵 /'/#Mov p81+p0Spd 200Mvs p81out12= 1out13

33、= 1DlyOvrd 70Mvs p81+p0Mov p3Mov p114+p0Spd 200Mvs p114Dly out12= 0Mvs p114+p0Mvs p100+p0Mvs p100Dly out13= 0Ovrd 70Mvs p100+p0裝掛機鍵 /Mov p3 '/Mov p85+p0Spd 200Mvs p85 out12= 1DlyOvrd 70Mvs p85+p0Mov p3Mov p102+p0Spd 200Mvs p102Dly out12= 0Ovrd 70Mvs p102+p0裝方向鍵 /Mov p3 '/Mov p70+p0Spd 200Mvs

34、 p70 out12= 1DlyOvrd 70Mvs p70+p0Mov p3Mov p101+p0Spd 200Mvs p101Dly out12= 0Ovrd 70Mvs p101+p203 out6= 1 '/Ovrd 50Mov p23Spd 450Mvs p20-p204 out6= 0Spd 400Mvs p20放回夾具 1/Dly out11= 1DlyMvs p20+p203 out6= 1Dly out6= 0GoSub*jj2GoSub*jj3 GoSub*qg Return'/四次裝機 /*ks4out5= 0out6= 0out7= 0out8= 0ou

35、t14= 0out15= 0GoSub*jj1'/裝3和*鍵/裝1和2鍵/Ovrd 50Mov p3Ovrd 70Mov p22+p0Spd 200Mvs p22out12= 1 out13= 1DlyOvrd 70Mvs p22+p0Mov p3Mov p104+p0Spd 200Mvs p104Dly out13= 0Mvs p104+p0Mvs p103+p0Mvs p103Dly out12= 0Ovrd 70Mvs p103+p0Mov p3 '/Mov p26+p0Spd 200Mvs p26out12= 1out13= 1DlyOvrd 70Mvs p26+p0M

36、ov p3Mov p105+p0Spd 200Mvs p105Dly out12= 0Mvs p105+p0Mvs p106+p0Mvs p106Dly out13= 0Ovrd 70Mvs p106+p0裝 4和 5鍵 /Mov p3 '/Mov p42+p0Spd 200Mvs p42 out12= 1 out13= 1DlyOvrd 70Mvs p42+p0Mov p3Mov p108+p0Spd 200Mvs p108Dly out13= 0Mvs p108+p0Mvs p107+p0Mvs p107Dly out12= 0Ovrd 70Mvs p107+p0Mov p3裝6和0鍵/'/Mov p46+p0Spd 200Mvs p46out12= 1out