KUKA程序解讀

1、DEF DNL_5LFD080ROB01( 工位主程序;* Default src Template for Kuka-Krc-Volvo;* Created 01/10/2012 by Siemens PLM;*;* Study : Front Door L;* Program : DNL_5SchFrontDoorLkr240r2700_prime_s ;* Generation Date : 05/01/2013 at 10:01:54;* Robot : LFD080ROB01(kr240r2700_prime_s;* User : Administrator;* Tecnomatix

2、 Software : Process Simulate on eMServer 13;* Olp : Kuka-Krc-Volvo 0.0;* Rcs : krc8.2_r01;* Controller : v8.2 (KRC4CTime(TRUE,1 計(jì)時(shí)(計(jì)時(shí)器1,置位為TRUECollisionDetectBEGIN(TorqSequence1 碰撞檢測開啟MovInitAll( 初始化所有Inittool(GrippGP01a抓手初始化Inittool(StatdoserSG01AInittool(StatDoserSG01BDNL_5SchDefault( 生產(chǎn)程序Collisio

3、nDetectEND(TorqSequence1,25 碰撞檢測關(guān)閉CTime(FALSE,1 計(jì)時(shí)器(結(jié)束計(jì)時(shí)1,置位為falseEND 循環(huán)結(jié)束GLOBALDEF DNL_5SchDefault( 全局程序步序WaitSignal (AllocateStation;1進(jìn)入大區(qū)域,信號(hào):1WaitSignal (AllocateST01a;3等待ST01條件滿足抓件,信號(hào):3WaitSignal (AllocateZone1;21進(jìn)入干涉區(qū)1,信號(hào)21DNL_5Get080ST01( 機(jī)器人去ST01 抓件WaitSignal (ReleaseZone1;22釋放干涉區(qū)1,信號(hào)22WaitS

4、ignal (ReleaseST01a;4釋放ST01,信號(hào)4WaitSignal (RequestSeala;33請(qǐng)求進(jìn)入涂膠,信號(hào)23DNL_5Seal080SG01a( 080涂膠膠槍ADNL_5Seal080SG01b( 080涂膠膠槍BDNL_5SealChk080FGH01( 照相檢測GlueingCheck(#DNL_5 涂膠抽檢WaitSignal (FinishSeala;34釋放涂膠完成,信號(hào)34WaitSignal (AllocateST01b;5進(jìn)入涂膠槍B,信號(hào)5WaitSignal (AllocateZone2;23進(jìn)入干涉區(qū)2,信號(hào)23WaitSignal (Al

5、locateZone9;61進(jìn)入干涉區(qū)9,信號(hào)61DNL_5Put090ST01( 090ST01放件程序WaitSignal (ReleaseZone9;62釋放干涉區(qū)9,信號(hào)62WaitSignal (ReleaseZone2;24釋放干涉區(qū)2,信號(hào)24WaitSignal (ReleaseST01b;6釋放ST01B,信號(hào)24WaitSignal (ReleaseStation;2離開大區(qū)域,信號(hào):2WaitSignal (WoekIsDone;31釋放信號(hào),工作完成,31ENDDEF DNL_5Get080ST01( 抓080ST01MovSetAcc(100 加速時(shí)間100m/sGr

6、ipperCheckNoPart(#PartPresent1抓手沒有檢測到板件GripperCls(#Sequence1, 抓手閥1夾緊GripperCheckClo(#Sequence1 抓手閥1檢測信號(hào)GripperOpn(#Sequence4, 抓手閥4打開GripperCheckOpn(#Sequence4抓手閥4打開檢測信號(hào)VacuumSupervisionOff(#VacPresent1 吸盤1檢測關(guān)閉(刪了也可以VacuumSupervisionOff(#VacPresent2 吸盤2檢測關(guān)閉MovA(HomeGrippGP01a,Exact,100 原點(diǎn)位置MovL(ToInG

7、etFixtST01_20,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovL(ToInGetFixtST01_10,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovLFrame(InGetFixtST01,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadAMovP(ingetfixst01,Exact,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadAMovP運(yùn)動(dòng)

8、類型:運(yùn)動(dòng)類型(軌跡方向和過渡點(diǎn)編號(hào),運(yùn)動(dòng)模式(coares、exact、fine,速度(0%-100%,工具坐標(biāo)系,車型坐標(biāo)系MovL運(yùn)動(dòng)類型:運(yùn)動(dòng)類型(軌跡方向和過渡點(diǎn)編號(hào),運(yùn)動(dòng)模式(coares、exact、fine,速度(0m/s-2m/s,工具坐標(biāo)系,車型坐標(biāo)系GripperCheckPart(#PartPresent1 抓手檢測板件信號(hào)WaitSignal (RequestPickPart;9 等待抓件信號(hào),9Vacuum_On(#Vacuum1, 吸盤1,吸氣打開Vacuum_On(#Vacuum2, 吸盤2,吸氣打開GripperCls(#Sequence4, 抓手閥4夾緊Gr

9、ipperCheckClo(#Sequence4 抓手閥4夾緊檢測VacuumSupervisionOn(#VacPresent1 吸盤1,檢測開啟VacuumSupervisionOn(#VacPresent2 吸盤2,檢測開啟WaitSignal (FinishPickPart;10MovL(FrInGetFixtST01_10,fine,0.15,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovL(FrInGetFixtST01_20,fine,0.3,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoa

10、dAMovP (FrInGetFixtST01_30,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtST01_40,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtST01_50,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA MovA (HomeGrippGP01a,Exact,100END所有的軌跡做了刪減!大致解釋如下Mov

11、P運(yùn)動(dòng)類型:運(yùn)動(dòng)類型(軌跡方向和過渡點(diǎn)編號(hào),運(yùn)動(dòng)模式(coares、exact、fine,速度(0%-100%,工具坐標(biāo)系,車型坐標(biāo)系MovL運(yùn)動(dòng)類型:運(yùn)動(dòng)類型(軌跡方向和過渡點(diǎn)編號(hào),運(yùn)動(dòng)模式(coares、exact、fine,速度(0m/s-2m/s,工具坐標(biāo)系,車型坐標(biāo)系DEF DNL_5Seal080SG01a( 080涂膠槍A涂膠程序MovSetAcc(100 加速度設(shè)為100m/SInittool(StatDoserSG01a 初始化膠槍aPrepareEquipment(StatDoserSG01a,DNL_5BD4132 激活膠槍MovA (HomeGrippGP01a,Exa

12、ct,100MovPMovL(ToDNL_5BD120264136_20,Fine,0.5,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoa dAMovL(ToDNL_5BD120264136_10,Fine,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLo adAGlueL(#On,DNL_5BD120264136_On,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5 GrippGP01aLoadA涂膠打開,開始涂膠軌跡Gl

13、ueL(#Apply,DNL_5BD120264136_10,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DN L_5GrippGP01aLoadA涂膠應(yīng)用類似于過度點(diǎn)GlueL(#Off,DNL_5BD120264136_Off,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL _5GrippGP01aLoadA涂膠關(guān)閉,開始涂膠軌跡MovL(FrDNL_5BD120261226_10,Fine,0.15,StatDoserSG01a,DNL_5CarGP01a,DN

14、L_5GrippGP01aLo adAMovL(FrDNL_5BD120261226_20,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01a LoadAMovP(FrDNL_5BD120261226_30,Coarse,100,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA (FrDNL_5BD120261226_40,Coarse,100,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoad AMovA (HomeGrippGP01a

15、,Exact,100EndEquipment(StatDoserSG01aENDDEF DNL_5Seal080SG01b( 080涂膠槍A涂膠程序MovSetAcc(100 加速度設(shè)為100m/SInittool(StatDoserSG01b 初始化膠槍BPrepareEquipment(StatDoserSG01b,DNL_5BD5562 激活膠槍BMovA (HomeGrippGP01a,Exact,100MovP(ToDNL_5BD120475562_40,Fine,100,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA ; MovP

16、 (ToDNL_5BD120475562_40,Fine,100,StatDoserSG01b,ROB,DNL_5GrippGP01aLoadAMovP(ToDNL_5BD120475562_30,Coarse,100,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA (#Apply,DNL_5BD120475602_960,DNL_5BD5602,Coarse,0.15,StatDoserSG01b,DNL_5CarGP01a,D NL_5GrippGP01aLoadAGlueL(#Apply,DNL_5BD120475602_970,DNL

17、_5BD5602,Coarse,0.15,StatDoserSG01b,DNL_5CarGP 01a,DNL_5GrippGP01aLoadAGlueL(#Off,DNL_5BD120475602_Off,DNL_5BD5602,fine,0.15,StatDoserSG01b,DNL_5CarGP01a, DNL_5GrippGP01aLoadAMovL(FrDNL_5BD120475602_10,Fine,0.15,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLo adAMovP(FrDNL_5BD120475602_20,Coarse,100,

18、StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA MovA (HomeGrippGP01a,Fine,100EndEquipment(StatDoserSG01b 釋放膠槍BENDDEF DNL_5Put090ST01( 去 090ST01放件MovSetAcc(100 加速度100M/sMovA (HomeGrippGP01a,Exact,100MovP (ToInPutDeskST01_20,Coarse,100,GrippGP01a,DNL_5DeskST02,DNL_5GrippGP01aLoadA MovP (ToInPutDeskS

19、T01_10,Coarse,100,GrippGP01a,DNL_5DeskST02,DNL_5GrippGP01aLoadA MovLFrame (InPutDeskST01,0.5,GrippGP01a,DNL_5DeskST02,DNL_5GrippGP01aLoadAWaitSignal (RequestDropPart;13請(qǐng)求放件,信號(hào)13GripperSupervisionOff(#PartPresent1 抓手閥1,檢測關(guān)GripperSupervisionOff(#PartPresent2 抓手閥2,檢測關(guān)VacuumSupervisionOff(#VacPresent1 吸

20、盤1,檢測關(guān)VacuumSupervisionOff(#VacPresent2 吸盤2,檢測關(guān)GripperOpn(#Sequence1, 抓手閥1,打開GripperOpn(#Sequence4, 抓手閥4,打開GripperCheckOpn(#Sequence4 抓手閥4,檢測打開Vacuum_Blow(#Vacuum1,10 吹氣1,10sVacuum_Blow(#Vacuum2,10 吹氣2,10sWaitSignal (FinishDropPart;14等待放件完成,信號(hào)14MovL (FrInPutDeskST01_10,Coarse,1,GrippGP01a,DNL_5DeskS

21、T02Vacuum_Off(#Vacuum1,#NoCheck 真空閥1檢測關(guān)Vacuum_Off(#Vacuum2,#NoCheck 真空閥2檢測關(guān)GripperCheckNoPart(#PartPresent1 抓手沒有檢測到板件MovP (FrInPutDeskST01_20,Coarse,100,GrippGP01a,DNL_5DeskST02MovP (FrInPutDeskST01_30,Coarse,100,GrippGP01a,DNL_5DeskST02MovP (FrInPutDeskST01_40,Coarse,100,GrippGP01a,DNL_5DeskST02Mov

22、P (FrInPutDeskST01_50,Coarse,100,GrippGP01a,DNL_5DeskST02MovP (FrInPutDeskST01_60,Fine,100,GrippGP01a,ROBMovA (HomeGrippGP01a,Exact,100 回原點(diǎn)的軌跡ENDDEF DNL_5Put080PC01( 放件到080檢測臺(tái)MovSetAcc(25 加速度25M/sGripperCheckPart(#PartPresent1 抓手檢測到工件MovA (HomeGrippGP01a,Exact,100MovP (ToInPutDeskPC01_30,Coarse,100,

23、GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA MovP (ToInPutDeskPC01_20,Coarse,100,GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA MovP (ToInPutDeskPC01_10,Coarse,100,GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA GripperSupervisionOff(#PartPresent1抓手檢測關(guān)MovLFrame (InPutDeskPC01,0.5,GrippGP01a,DNL_5DeskS

24、T01,DNL_5GrippGP01aLoadA VacuumSupervisionOff(#VacPresent1 吸盤1,檢測關(guān)VacuumSupervisionOff(#VacPresent2 吸盤2,檢測關(guān)Vacuum_Blow(#Vacuum1,10 吸盤1,吹氣,10SVacuum_Blow(#Vacuum2,10 吸盤2,吹氣,10SGripperOpn(#Sequence1, 抓手閥1打開GripperCheckOpn(#Sequence1 抓手閥1檢測打開GripperOpn(#Sequence4, 抓手閥4打開GripperCheckOpn(#Sequence4 抓手閥4檢

25、測打開WaitSignal(AllocateGlueingCheck_Put;39等待涂膠檢測結(jié)束,信號(hào)39MovL (FrInPutDeskPC01_10,Coarse,1,GrippGP01a,DNL_5DeskPC01GripperCheckNoPart(#PartPresent1 抓手檢測信號(hào)1沒有檢測到板件Vacuum_Off(#Vacuum1,#NoCheck 吸盤1,關(guān)Vacuum_Off(#Vacuum2,#NoCheck 吸盤2,關(guān)MovP (FrInPutDeskPC01_20,Coarse,100,GrippGP01a,DNL_5DeskPC01MovP (FrInPut

26、DeskPC01_30,Coarse,100,GrippGP01a,DNL_5DeskPC01MovP (FrInPutDeskPC01_40,Coarse,100,GrippGP01a,DNL_5DeskPC01MovA (HomeGrippGP01a,Exact,100ENDDEF DNL_5Get080PC01_OK( 080抓檢測臺(tái)上合格的板件MovSetAcc(25 加速度25M/sMovA (HomeGrippGP01a,Exact,100GripperCheckNoPart(#PartPresent1抓手板件傳感器1,沒有檢測到板件GripperOpn(#Sequence1, 抓

27、手閥1,打開GripperCheckOpn(#Sequence1 抓手閥1,檢測打開GripperOpn(#Sequence4, 抓手閥4,打開GripperCheckOpn(#Sequence4 抓手閥4,檢測打開MovP (ToInGetFixtPC01_110,Coarse,100,GrippGP01a,ROBMovP (ToInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01

28、_10,Coarse,100,GrippGP01a,DNL_5FixtPC01GripperCls(#Sequence1, 抓手閥1,關(guān)閉GripperCheckClo(#Sequence1 抓手閥1,檢測關(guān)閉MovLFrame (InGetFixtPC01,0.5,GrippGP01a,DNL_5FixtPC01GripperSupervisionOff(#PartPresent1抓手板件傳感器,檢測關(guān)GripperCheckPart(#PartPresent1抓手板件傳感器1,檢測到板件Vacuum_On(#Vacuum1, 吸盤1,吸氣VacuumSupervisionOn(#VacPr

29、esent1吸盤1,檢測開啟Vacuum_On(#Vacuum2, 吸盤2,吸氣VacuumSupervisionOn(#VacPresent2吸盤2,檢測開啟GripperCls(#Sequence4,抓手閥4,關(guān)閉GripperCheckClo(#Sequence4抓手閥4,檢測關(guān)閉WaitSignal(AllocateGlueingCheck_Get;79MovL (FrInGetFixtPC01_10,Coarse,1,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_20,Coarse,100,Gr

30、ippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadAMovP (FrInGetFixtPC01_80,Coarse,100,GrippGP01a,ROB,DNL_5GrippGP01aLoadAMovA (HomeGrippGP01a,Exact,100ENDDEF DNL_5Get080PC01_NOK( 080抓檢測臺(tái)上不合格的板件MovSetAcc(25 加速度25M/sMovA (HomeG

31、rippGP01a,Exact,100GripperCheckNoPart(#PartPresent1抓手板件傳感器1,沒有檢測到板件GripperOpn(#Sequence1, 抓手閥1,打開GripperCheckOpn(#Sequence1 抓手閥1,檢測打開GripperOpn(#Sequence4, 抓手閥4,打開GripperCheckOpn(#Sequence4 抓手閥4,檢測打開MovP (ToInGetFixtPC01_110,Coarse,100,GrippGP01a,ROBMovP (ToInGetFixtPC01_100,Coarse,100,GrippGP01a,DN

32、L_5FixtPC01MovP (ToInGetFixtPC01_90,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_80,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_70,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_60,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_50,Coarse,100,GrippGP01a,DN

33、L_5FixtPC01MovP (ToInGetFixtPC01_40,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01MovP (ToInGetFixtPC01_10,Coarse,100,GrippGP01a,DNL_5FixtPC01GripperCls(#Sequence1, 抓手閥1,關(guān)閉GripperCheckClo(#Se

34、quence1 抓手閥1,檢測關(guān)閉MovLFrame (InGetFixtPC01,0.5,GrippGP01a,DNL_5FixtPC01GripperSupervisionOn(#PartPresent1抓手板件傳感器1,檢測開GripperCheckPart(#PartPresent1抓手板件傳感器1,檢測到板件Vacuum_On(#Vacuum1, 吸盤1,吸氣VacuumSupervisionOn(#VacPresent1 吸盤1,檢測開啟Vacuum_On(#Vacuum2, 吸盤2,吸氣VacuumSupervisionOn(#VacPresent2 吸盤2,檢測開啟Grippe

35、rCls(#Sequence4,GripperCheckClo(#Sequence4 抓手閥4,關(guān)閉WaitSignal(AllocateGlueingCheck_Get;79等待涂膠檢查MovL (FrInGetFixtPC01_10,Coarse,1,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_30,Coarse,100,GrippGP0

36、1a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_40,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_50,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_60,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFix

37、tPC01_70,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA MovP (FrInGetFixtPC01_80,Coarse,100,GrippGP01a,ROB,DNL_5GrippGP01aLoadAMovA (HomeGrippGP01a,Exact,100ENDDEF DNL_5SealChk080FGH01( 080涂膠檢測判斷MovSetAcc(25MovA (HomeGrippGP01a,Coarse,100MovP(ToSealChkPos01_20,Fine,100,SealChkFGH01a,DNL_5C

38、arGP01a,DNL_5GrippGP01aLoadAMovP(ToSealChkPos01_10,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAMovP (SealChkPos01,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAWaitSignal(AllocateSealCheck_Pos01;15WaitSignal(ReleaseSealCheck_Pos01;16MovP(ToSealChkPos02_20,Coarse,100,SealChk

39、FGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAMovP(ToSealChkPos02_10,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAMovP (SealChkPos02,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAWaitSignal(AllocateSealCheck_Pos02;17WaitSignal(ReleaseSealCheck_Pos02;18MovP(FrSealChkPos02_10,Coars

40、e,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAMovP(FrSealChkPos02_20,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA MovP(FrSealChkPos02_30,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadAMovA (HomeGrippGP01a,Coarse,100ENDDEF GlueingCheck(GlueingCheckTypeIn:INDECL Gluein

41、gCheckType GlueingCheckTypeInDECL BOOL GlueCheckGluecheck=TRUEREPEAT 跳出SWITCH GlueingCheckTypeIn 選擇涂膠檢測類型CASE #DNL_5SWITCH DirectionFromPlc(PLCGlueingCheck;5選擇要不要檢查(抽檢按鈕 CASE RequestGlueingCheck ;1 抽檢請(qǐng)求1O_GlueMeasureNOK=FALSEWaitSignal(AllocateGlueingCheckPut;37檢查完成后放件DNL_5Put080PC01(WaitSignal(Rele

42、aseGlueingCheck_Put;40WaitSignal(ReleaseGlueingCheckPut;38SWITCH DirectionFromPlc(PLCGlueingCheck;5選擇涂膠合格與否的方向CASE OK_Validation ;3涂膠合格WaitSignal(AllocateGlueingCheckGet;69進(jìn)入抓件區(qū)域,信號(hào)69 DNL_5Get080PC01_OK( 調(diào)用080檢測臺(tái),涂膠OK的程序WaitSignal(ReleaseGlueingCheck_Get;80WaitSignal(ReleaseGlueingCheckGet;70離開抓件區(qū)域,

43、信號(hào)70 RETURN跳出CASE NOK_Rework ;4涂膠不合格WaitSignal(AllocateGlueingCheckGet;69進(jìn)入抓件區(qū)域,信號(hào)69 DNL_5Get080PC01_NOK( 調(diào)用080檢測臺(tái),涂膠不合格的程序WaitSignal(ReleaseGlueingCheck_Get;80WaitSignal(ReleaseGlueingCheckGet;70離開抓件區(qū)域,信號(hào)70DNL_5Seal080SG01a( 重新調(diào)用涂膠槍A、B、拍照DNL_5Seal080SG01b(DNL_5SealChk080FGH01(DEFAULT 否則iResult=MsgS

44、end(mNoPrg,#NoAlarm輸出顯示沒有程序,沒有報(bào)警LOOPSetErrorToPlc(TrueiResult=MsgSend(mNoContinue,#NoAlarmHALTENDLOOPENDSWITCHCASE NotGlueingCheck ;2Gluecheck=FALSE 不激活涂膠抽檢RETURN 跳出DEFAULT 否則iResult=MsgSend(mNoPrg,#NoAlarmLOOPSetErrorToPlc(TrueiResult=MsgSend(mNoContinue,#NoAlarmHALTENDLOOPENDSWITCHDEFAULTiResult=M

45、sgSend(mNoPrg,#NoAlarmLOOPSetErrorToPlc(TrueiResult=MsgSend(mNoContinue,#NoAlarmHALTENDLOOPENDSWITCHUNTIL GlueCheck=FALSE 直到,涂膠檢查OKENDDEF SealCheck(WAITSEC 1.5;O_GlueMeasureNOK=TRUEENDDEF DNL_5RRD050ROB01( 工位名稱;* Default src Template for Kuka-Krc-Volvo;* Created 01/10/2012 by Siemens PLM;* Study : R

46、ear Door R;* Program : DNL_5SchRearDoorRkr210r2700_extra_s;* Generation Date : 07/01/2013 at 16:54:57;* Robot : RRD050ROB01.(kr210r2700_extra_s;* User : AdministratorCTime(TRUE,1 計(jì)時(shí)(開始,計(jì)時(shí)器1CollisionDetectBEGIN(TorqSequence1 碰撞檢測啟動(dòng)MovInitAll( 全部初始化INIT Equalizing Medium 初始化焊槍平衡Inittool(GunWS01a 初始化工具

47、DNL_5SchDefault( 生產(chǎn)程序調(diào)用CollisionDetectEND(TorqSequence1,25 碰撞檢測關(guān)閉CTime(FALSE,1計(jì)時(shí)(結(jié)束,計(jì)時(shí)器1END 結(jié)束GLOBALDEF DNL_5SchDefault( 全局生產(chǎn)程序調(diào)用WaitSignal (AllocateStation;1 等待進(jìn)入生產(chǎn)(大區(qū)域信號(hào):1 SWITCH DirectionFromPLC(RRD;1 選擇等待PLC發(fā)ABCASE A_Side ;1A面生產(chǎn)程序1WaitSignal (RequestWelda;3 等待進(jìn)入A面焊接區(qū)域,信號(hào):3 WaitSignal (AllocateZone5;41 等待進(jìn)入干涉區(qū)5,信號(hào):41WaitSignal (AllocateZone8;4