南京弧焊機(jī)器人作業(yè)程序

1、G2111NOP2WAIT SOUT#(120)=ON作業(yè)原點(diǎn)3MOVJ C00000 VJ=60.004PULSE OT#(11) T=1.00-455WAIT IN#(10)=ON6MOVJ C00001 VJ=60.007MOVJ C00002 VJ=60.00點(diǎn)焊8ARCON ASF#(11)9ARCOF AEF#(11)10MOVJ C00003 VJ=60.0011MOVJ C00004 VJ=60.00點(diǎn)焊12ARCON ASF#(11)13ARCOF AEF#(11)14MOVJ C00005 VJ=60.0015MOVJ C00006 VJ=60.0016MOVJ C0000

2、7 VJ=60.0017ARCON ASF#(1)一次打底18WVON WEV#(1)19MOVL C00008 V=13.320ARCON ASF#(4)21WVOF22MOVL C00009 V=13.323ARCOF AEF#(1)24MOVJ C00010 VJ=60.0025MOVJ C00011 VJ=60.0026MOVJ C00012 VJ=60.0027MOVJ C00013 VJ=60.00點(diǎn)焊28ARCON ASF#(11)29ARCOF AEF#(11)30MOVJ C00014 VJ=60.0031MOVJ C00015 VJ=60.00點(diǎn)焊32ARCON ASF#(

3、11)33ARCOF AEF#(11)34MOVJ C00016 VJ=60.0035MOVJ C00017 VJ=60.0036MOVJ C00018 VJ=60.00一次打底37ARCON ASF#(1)38WVON WEV#(1)39MOVL C00019 V=11.040WVOF41ARCON ASF#(4)42MOVL C00020 V=13.343ARCOF AEF#(1)44MOVJ C00021 VJ=60.0045MOVJ C00022 VJ=60.0046MOVJ C00023 VJ=60.00二次填滿47ARCON ASF#(1)48WVON WEV#(1)49MOVL

4、C00024 V=11.050WVOF51MOVL C00025 V=13.352ARCOF AEF#(4)53MOVJ C00026 VJ=60.0054MOVJ C00027 VJ=60.0055MOVJ C00028 VJ=60.00二次填滿56ARCON ASF#(1)57WVON WEV#(1)58MOVL C00029 V=11.059WVOF60MOVL C00030 V=13.361ARCOF AEF#(4)62MOVJ C00031 VJ=60.0063MOVJ C00032 VJ=60.0064MOVJ C00033 VJ=60.00小片焊接65ARCON ASF#(2)6

5、6WVON WEV#(2)67MOVL C00034 V=13.368WVOF69MOVL C00035 V=13.370ARCOF AEF#(2)71MOVJ C00036 VJ=60.0072MOVJ C00037 VJ=60.00小片焊接73ARCON ASF#(2)74WVON WEV#(2)75MOVL C00038 V=13.376WVOF77MOVL C00039 V=13.378ARCOF AEF#(2)79MOVJ C00040 VJ=60.0080PULSE OT#(11) T=1.004581WAIT IN#(10)=ON82MOVJ C00041 VJ=60.0083M

6、OVJ C00042 VJ=60.00一次打底84ARCON ASF#(1)85WVON WEV#(1)86MOVL C00043 V=13.387ARCON ASF#(4)88WVOF89MOVL C00044 V=13.390ARCOF AEF#(1)91MOVJ C00045 VJ=60.0092MOVJ C00046 VJ=60.0093MOVJ C00047 VJ=60.00一次打底94ARCON ASF#(1)95WVON WEV#(1)96MOVL C00048 V=11.097ARCON ASF#(4)98WVOF二次填滿99MOVL C00049 V=13.3100ARCOF

7、 AEF#(1)101MOVJ C00050 VJ=60.00102MOVJ C00051 VJ=60.00103MOVJ C00052 VJ=60.00二次填滿104ARCON ASF#(1)105WVON WEV#(1)106MOVL C00053 V=11.0107WVOF108MOVL C00054 V=13.3109ARCOF AEF#(4)110MOVJ C00055 VJ=60.00111MOVJ C00056 VJ=60.00112MOVJ C00057 VJ=60.00二次填滿113ARCON ASF#(1)114WVON WEV#(1)115MOVL C00058 V=11

8、.0116WVOF117MOVL C00059 V=13.3118ARCOF AEF#(4)119MOVJ C00060 VJ=60.00120MOVJ C00061 VJ=60.00小片焊接121ARCON ASF#(2)122WVON WEV#(2)123MOVL C00062 V=13.3124WVOF125MOVL C00063 V=13.3126ARCOF AEF#(2)127MOVJ C00064 VJ=60.00128MOVJ C00065 VJ=60.00小片焊接129ARCON ASF#(2)130WVON WEV#(2)131MOVL C00066 V=13.3132WVO

9、F133MOVL C00067 V=13.3134ARCOF AEF#(2)135MOVJ C00068 VJ=60.00136PULSE OT#(11) T=1.00135137WAIT IN#(10)=ON138MOVJ C00069 VJ=60.00139MOVJ C00070 VJ=60.00一次打底140ARCON ASF#(1)141WVON WEV#(1)142MOVL C00071 V=13.3143ARCON ASF#(4)144WVOF145MOVL C00072 V=13.3146MOVL C00073 V=13.3147ARCOF AEF#(1)148MOVJ C000

10、74 VJ=60.00一次打底149MOVJ C00075 VJ=60.00150MOVJ C00076 VJ=60.00一次打底151ARCON ASF#(1)152WVON WEV#(1)153MOVL C00077 V=11.0154WVOF155ARCON ASF#(4)156MOVL C00078 V=13.3157ARCOF AEF#(1)158MOVJ C00079 VJ=60.00159MOVJ C00080 VJ=60.00160MOVJ C00081 VJ=60.00二次填滿161ARCON ASF#(1)162WVON WEV#(1)163MOVL C00082 V=11

11、.0164WVOF165MOVL C00083 V=13.3166ARCOF AEF#(4)167MOVJ C00084 VJ=60.00168MOVJ C00085 VJ=60.00169MOVJ C00086 VJ=60.00二次填滿170ARCON ASF#(1)171WVON WEV#(1)172MOVL C00087 V=11.0173ARCON ASF#(4)174WVOF175MOVL C00088 V=13.3176ARCOF AEF#(4)177MOVJ C00089 VJ=60.00178MOVJ C00090 VJ=60.00179MOVJ C00091 VJ=60.00

12、小片焊接180ARCON ASF#(2)181WVON WEV#(2)182MOVL C00092 V=13.3183WVOF184MOVL C00093 V=13.3185ARCOF AEF#(2)186MOVJ C00094 VJ=60.00187MOVJ C00095 VJ=60.00188MOVJ C00096 VJ=60.00小片焊接189ARCON ASF#(2)190WVON WEV#(2)191MOVL C00097 V=11.0192WVOF193MOVL C00098 V=11.0194ARCOF AEF#(2)195MOVJ C00099 VJ=60.00196MOVJ

13、C00100 VJ=60.00197PULSE OT#(11) T=1.00225198WAIT IN#(10)=ON199MOVJ C00101 VJ=60.00200MOVJ C00102 VJ=60.00一次打底201ARCON ASF#(1)202WVON WEV#(1)203MOVL C00103 V=13.3204WVOF205ARCON ASF#(4)206MOVL C00104 V=13.3207MOVL C00105 V=13.3208ARCOF AEF#(1)209MOVJ C00106 VJ=60.00210MOVJ C00107 VJ=60.00211MOVJ C001

14、08 VJ=60.00一次打底212ARCON ASF#(1)213WVON WEV#(1)214MOVL C00109 V=11.0215ARCON ASF#(4)216WVOF217MOVL C00110 V=13.3218ARCOF AEF#(1)219MOVJ C00111 VJ=60.00220MOVJ C00112 VJ=60.00221MOVJ C00113 VJ=60.00二次填滿222ARCON ASF#(1)223WVON WEV#(1)224MOVL C00114 V=11.0225WVOF226MOVL C00115 V=13.3227ARCOF AEF#(4)228M

15、OVJ C00116 VJ=60.00229MOVJ C00117 VJ=60.00230MOVJ C00118 VJ=60.00二次填滿231ARCON ASF#(1)232WVON WEV#(1)233MOVL C00119 V=11.0234ARCON ASF#(4)235WVOF236MOVL C00120 V=13.3237ARCOF AEF#(4)238MOVJ C00121 VJ=60.00239MOVJ C00122 VJ=60.00240MOVJ C00123 VJ=60.00小片焊接241ARCON ASF#(2)242WVON WEV#(2)243MOVL C00124

16、V=13.3244WVOF245MOVL C00125 V=13.3246ARCOF AEF#(2)247MOVJ C00126 VJ=60.00248MOVJ C00127 VJ=60.00249MOVJ C00128 VJ=60.00小片焊接250ARCON ASF#(2)251WVON WEV#(2)252MOVL C00129 V=13.3253WVOF254MOVL C00130 V=13.3255ARCOF AEF#(2)256MOVJ C00131 VJ=60.00257MOVJ C00132 VJ=60.00258MOVJ C00133 VJ=60.00259PULSE OT#

17、(11) T=1.00-50260ENDG2211NOP2WAIT SOUT#(120)=ON機(jī)器人作業(yè)原點(diǎn)3MOVJ C00000 VJ=60.004MOVJ C00001 VJ=60.005MOVJ C00002 VJ=60.006MOVJ C00003 VJ=60.00兩側(cè)7ARCON ASF#(3)8MOVL C00004 V=11.09MOVL C00005 V=11.010ARCOF AEF#(3)11MOVJ C00006 VJ=60.0012MOVJ C00007 VJ=60.0013MOVJ C00008 VJ=60.00點(diǎn)焊14ARCON ASF#(5)15ARCOF AE

18、F#(5)16MOVJ C00009 VJ=60.0017MOVJ C00010 VJ=60.0018MOVJ C00011 VJ=60.00點(diǎn)焊19ARCON ASF#(5)20ARCOF AEF#(5)21MOVJ C00012 VJ=60.0022MOVJ C00013 VJ=60.0023MOVJ C00014 VJ=60.00點(diǎn)焊24ARCON ASF#(5)25ARCOF AEF#(5)26MOVJ C00015 VJ=60.0027MOVJ C00016 VJ=60.0028MOVJ C00017 VJ=60.00點(diǎn)焊29ARCON ASF#(5)30ARCOF AEF#(5)3

19、1MOVJ C00018 VJ=60.0032MOVJ C00019 VJ=60.0033MOVJ C00020 VJ=60.00兩側(cè)34ARCON ASF#(3)35MOVL C00021 V=11.036MOVL C00022 V=11.037ARCOF AEF#(3)38MOVJ C00023 VJ=60.0039MOVJ C00024 VJ=60.0040MOVJ C00025 VJ=60.0041PULSE OT#(11) T=1.005042WAIT IN#(10)=ON43MOVJ C00026 VJ=60.0044MOVJ C00027 VJ=60.00兩側(cè)45ARCON AS

20、F#(3)46MOVL C00028 V=11.047MOVL C00029 V=11.048ARCOF AEF#(3)49MOVJ C00030 VJ=60.0050MOVJ C00031 VJ=60.0051MOVJ C00032 VJ=60.00兩側(cè)52ARCON ASF#(3)53MOVL C00033 V=13.354MOVL C00034 V=11.055ARCOF AEF#(3)56MOVJ C00035 VJ=60.0057MOVJ C00036 VJ=60.00兩側(cè)58ARCON ASF#(3)59MOVL C00037 V=11.060ARCOF AEF#(3)61MOVJ

21、 C00038 VJ=60.0062MOVJ C00039 VJ=60.0063MOVJ C00040 VJ=60.0064MOVJ C00041 VJ=60.00點(diǎn)焊65ARCON ASF#(5)66ARCOF AEF#(5)67MOVJ C00042 VJ=60.0068MOVJ C00043 VJ=60.0069MOVJ C00044 VJ=60.00點(diǎn)焊70ARCON ASF#(5)71ARCOF AEF#(5)72MOVJ C00045 VJ=60.0073MOVJ C00046 VJ=60.0074MOVJ C00047 VJ=60.0075MOVJ C00048 VJ=60.00

22、兩側(cè)76ARCON ASF#(3)77MOVL C00049 V=11.078MOVL C00050 V=11.079ARCOF AEF#(3)80MOVJ C00051 VJ=60.0081MOVJ C00052 VJ=60.0082MOVJ C00053 VJ=60.0083MOVJ C00054 VJ=60.00點(diǎn)焊84ARCON ASF#(5)85ARCOF AEF#(5)86MOVJ C00055 VJ=60.0087MOVJ C00056 VJ=60.0088MOVJ C00057 VJ=60.00點(diǎn)焊89ARCON ASF#(5)90ARCOF AEF#(5)91MOVJ C00

23、058 VJ=60.0092MOVJ C00059 VJ=60.0093MOVJ C00060 VJ=60.0094MOVJ C00061 VJ=60.00兩側(cè)95ARCON ASF#(3)96MOVL C00062 V=11.097ARCOF AEF#(3)98MOVJ C00063 VJ=60.0099MOVJ C00064 VJ=60.00兩側(cè)100ARCON ASF#(3)101MOVL C00065 V=11.0102ARCOF AEF#(3)103MOVJ C00066 VJ=60.00104MOVJ C00067 VJ=60.00105PULSE OT#(12) T=1.00轉(zhuǎn)臺(tái)

24、回原點(diǎn)106INC B000107END兩側(cè)G3111NOP2WAIT SOUT#(120)=ON3MOVJ C00000 VJ=60.004PULSE OT#(9) T=1.005WAIT IN#(9)=ON6MOVJ C00001 VJ=60.007MOVJ C00002 VJ=60.008MOVJ C00003 VJ=60.009ARCON ASF#(11)10ARCOF AEF#(11)11MOVJ C00004 VJ=60.0012MOVJ C00005 VJ=60.0013MOVJ C00006 VJ=60.0014ARCON ASF#(11)15ARCOF AEF#(11)16M

25、OVJ C00007 VJ=60.0017MOVJ C00008 VJ=60.0018MOVJ C00009 VJ=60.0019MOVJ C00010 VJ=60.0020ARCON ASF#(1)21WVON WEV#(1)22MOVL C00011 V=13.323ARCON ASF#(4)24WVOF25MOVL C00012 V=13.326ARCOF AEF#(1)27MOVJ C00013 VJ=60.0028MOVJ C00014 VJ=60.0029MOVJ C00015 VJ=60.0030MOVJ C00016 VJ=60.0031ARCON ASF#(11)32ARCO

26、F AEF#(11)33MOVJ C00017 VJ=60.0034MOVJ C00018 VJ=60.0035ARCON ASF#(11)36ARCOF AEF#(11)37MOVJ C00019 VJ=60.0038MOVJ C00020 VJ=60.0039MOVJ C00021 VJ=60.0040ARCON ASF#(1)41WVON WEV#(1)42MOVL C00022 V=11.043ARCON ASF#(4)44WVOF45MOVL C00023 V=13.346ARCOF AEF#(1)47MOVJ C00024 VJ=60.0048MOVJ C00025 VJ=60.0

27、049MOVJ C00026 VJ=60.0050ARCON ASF#(1)51WVON WEV#(1)52MOVL C00027 V=11.053WVOF54MOVL C00028 V=13.355ARCOF AEF#(4)56MOVJ C00029 VJ=60.0057MOVJ C00030 VJ=60.0058MOVJ C00031 VJ=60.0059ARCON ASF#(1)60WVON WEV#(1)61MOVL C00032 V=11.062WVOF63MOVL C00033 V=13.364ARCOF AEF#(4)65MOVJ C00034 VJ=60.0066MOVJ C0

28、0035 VJ=60.0067MOVJ C00036 VJ=60.0068ARCON ASF#(2)69WVON WEV#(2)70MOVL C00037 V=13.371WVOF72MOVL C00038 V=13.373ARCOF AEF#(2)74MOVJ C00039 VJ=60.0075MOVJ C00040 VJ=60.0076ARCON ASF#(2)77WVON WEV#(2)78MOVL C00041 V=13.379WVOF80MOVL C00042 V=13.381ARCOF AEF#(2)82MOVJ C00043 VJ=60.0083PULSE OT#(9) T=1.

29、0084WAIT IN#(9)=ON85MOVJ C00044 VJ=60.0086MOVJ C00045 VJ=60.0087ARCON ASF#(1)88WVON WEV#(1)89MOVL C00046 V=13.390ARCON ASF#(4)91WVOF92MOVL C00047 V=13.393ARCOF AEF#(1)94MOVJ C00048 VJ=60.0095MOVJ C00049 VJ=60.0096MOVJ C00050 VJ=60.0097ARCON ASF#(1)98WVON WEV#(1)99MOVL C00051 V=11.0100ARCON ASF#(4)10

30、1WVOF102MOVL C00052 V=13.3103ARCOF AEF#(1)104MOVJ C00053 VJ=60.00105MOVJ C00054 VJ=60.00106ARCON ASF#(1)107WVON WEV#(1)108MOVL C00055 V=11.0109ARCON ASF#(4)110WVOF111MOVL C00056 V=13.3112ARCOF AEF#(4)113MOVJ C00057 VJ=60.00114MOVJ C00058 VJ=60.00115MOVJ C00059 VJ=60.00116ARCON ASF#(1)117WVON WEV#(1)

31、118MOVL C00060 V=11.0119ARCON ASF#(4)120WVOF121MOVL C00061 V=13.3122ARCOF AEF#(4)123MOVJ C00062 VJ=60.00124MOVJ C00063 VJ=60.00125ARCON ASF#(2)126WVON WEV#(2)127MOVL C00064 V=13.3128WVOF129MOVL C00065 V=13.3130ARCOF AEF#(2)131MOVJ C00066 VJ=60.00132MOVJ C00067 VJ=60.00133ARCON ASF#(2)134WVON WEV#(2)

32、135MOVL C00068 V=13.3136WVOF137MOVL C00069 V=13.3138ARCOF AEF#(2)139MOVJ C00070 VJ=60.00140PULSE OT#(9) T=1.00141WAIT IN#(9)=ON142MOVJ C00071 VJ=60.00143MOVJ C00072 VJ=60.00144ARCON ASF#(1)145WVON WEV#(1)146MOVL C00073 V=13.3147ARCON ASF#(4)148WVOF149MOVL C00074 V=13.3150ARCOF AEF#(1)151MOVJ C00075

33、VJ=60.00152MOVJ C00076 VJ=60.00153MOVJ C00077 VJ=60.00154ARCON ASF#(1)155WVON WEV#(1)156MOVL C00078 V=11.0157ARCON ASF#(4)158WVOF159MOVL C00079 V=13.3160MOVL C00080 V=13.3161ARCOF AEF#(1)162MOVJ C00081 VJ=60.00163MOVJ C00082 VJ=60.00164MOVJ C00083 VJ=60.00165ARCON ASF#(1)166WVON WEV#(1)167MOVL C0008

34、4 V=11.0168ARCON ASF#(4)169WVOF170MOVL C00085 V=13.3171ARCOF AEF#(4)172MOVJ C00086 VJ=60.00173MOVJ C00087 VJ=60.00174MOVJ C00088 VJ=60.00175ARCON ASF#(1)176WVON WEV#(1)177MOVL C00089 V=11.0178ARCON ASF#(4)179WVOF180MOVL C00090 V=13.3181ARCOF AEF#(4)182MOVJ C00091 VJ=60.00183MOVJ C00092 VJ=60.00184MO

35、VJ C00093 VJ=60.00185ARCON ASF#(2)186WVON WEV#(2)187MOVL C00094 V=13.3188WVOF189MOVL C00095 V=13.3190ARCOF AEF#(2)191MOVJ C00096 VJ=60.00192MOVJ C00097 VJ=60.00193MOVJ C00098 VJ=60.00194ARCON ASF#(2)195WVON WEV#(2)196MOVL C00099 V=11.0197WVOF198MOVL C00100 V=11.0199ARCOF AEF#(2)200MOVJ C00101 VJ=60.

36、00201MOVJ C00102 VJ=60.00202PULSE OT#(9) T=1.00203WAIT IN#(9)=ON204MOVJ C00103 VJ=60.00205MOVJ C00104 VJ=60.00206ARCON ASF#(1)207WVON WEV#(1)208MOVL C00105 V=13.3209MOVL C00106 V=13.3210ARCON ASF#(4)211WVOF212MOVL C00107 V=13.3213ARCOF AEF#(1)214MOVJ C00108 VJ=60.00215MOVJ C00109 VJ=60.00216MOVJ C00

37、110 VJ=60.00217ARCON ASF#(1)218WVON WEV#(1)219MOVL C00111 V=11.0220ARCON ASF#(4)221WVOF222MOVL C00112 V=13.3223ARCOF AEF#(1)224MOVJ C00113 VJ=60.00225MOVJ C00114 VJ=60.00226MOVJ C00115 VJ=60.00227ARCON ASF#(1)228WVON WEV#(1)229MOVL C00116 V=11.0230ARCON ASF#(4)231WVOF232MOVL C00117 V=13.3233ARCOF AE

38、F#(4)234MOVJ C00118 VJ=60.00235MOVJ C00119 VJ=60.00236MOVJ C00120 VJ=60.00237ARCON ASF#(1)238WVON WEV#(1)239MOVL C00121 V=11.0240ARCON ASF#(4)241WVOF242MOVL C00122 V=13.3243ARCOF AEF#(4)244MOVJ C00123 VJ=60.00245MOVJ C00124 VJ=60.00246MOVJ C00125 VJ=60.00247MOVJ C00126 VJ=60.00248ARCON ASF#(2)249WVO

39、N WEV#(2)250MOVL C00127 V=13.3251WVOF252MOVL C00128 V=13.3253ARCOF AEF#(2)254MOVJ C00129 VJ=60.00255MOVJ C00130 VJ=60.00256MOVJ C00131 VJ=60.00257ARCON ASF#(2)258WVON WEV#(2)259MOVL C00132 V=13.3260WVOF261MOVL C00133 V=13.3262ARCOF AEF#(2)263MOVJ C00134 VJ=60.00264MOVJ C00135 VJ=60.00265MOVJ C00136

40、VJ=60.00266PULSE OT#(9) T=1.00267ENDG3221NOP2WAIT SOUT#(120)=ON3MOVJ C00000 VJ=60.004MOVJ C00001 VJ=60.005MOVJ C00002 VJ=60.006MOVJ C00003 VJ=60.007MOVJ C00004 VJ=60.008ARCON ASF#(3)9MOVL C00005 V=11.010MOVL C00006 V=11.011ARCOF AEF#(3)12MOVJ C00007 VJ=60.0013MOVJ C00008 VJ=60.0014MOVJ C00009 VJ=60.

41、0015ARCON ASF#(5)16MOVL C00010 V=13.317ARCOF AEF#(5)18MOVJ C00011 VJ=60.0019MOVJ C00012 VJ=60.0020MOVJ C00013 VJ=60.0021ARCON ASF#(5)22MOVJ C00014 VJ=60.0023ARCOF AEF#(5)24MOVJ C00015 VJ=60.0025MOVJ C00016 VJ=60.0026MOVJ C00017 VJ=60.0027MOVJ C00018 VJ=60.0028ARCON ASF#(3)29MOVL C00019 V=11.030MOVL

42、C00020 V=11.031ARCOF AEF#(3)32MOVJ C00021 VJ=60.0033MOVJ C00022 VJ=60.0034MOVJ C00023 VJ=60.0035ARCON ASF#(5)36MOVJ C00024 VJ=60.0037ARCOF AEF#(5)38MOVJ C00025 VJ=60.0039MOVJ C00026 VJ=60.0040MOVJ C00027 VJ=60.0041MOVJ C00028 VJ=60.0042ARCON ASF#(5)43MOVJ C00029 VJ=60.0044ARCOF AEF#(5)45MOVJ C00030

43、VJ=60.0046MOVJ C00031 VJ=60.0047PULSE OT#(9) T=1.0048WAIT IN#(9)=ON49MOVJ C00032 VJ=60.0050MOVJ C00033 VJ=60.0051MOVJ C00034 VJ=60.0052ARCON ASF#(3)53MOVL C00035 V=13.354MOVL C00036 V=11.055ARCOF AEF#(3)56MOVJ C00037 VJ=60.0057MOVJ C00038 VJ=60.0058ARCON ASF#(3)59MOVL C00039 V=13.360MOVL C00040 V=11

44、.061ARCOF AEF#(3)62MOVJ C00041 VJ=60.0063MOVJ C00042 VJ=60.0064MOVJ C00043 VJ=60.0065ARCON ASF#(5)66MOVJ C00044 VJ=60.0067ARCOF AEF#(5)68MOVJ C00045 VJ=60.0069MOVJ C00046 VJ=60.0070MOVJ C00047 VJ=60.0071MOVJ C00048 VJ=60.0072ARCON ASF#(5)73MOVJ C00049 VJ=60.0074ARCOF AEF#(5)75MOVJ C00050 VJ=60.0076M

45、OVJ C00051 VJ=60.0077MOVJ C00052 VJ=60.0078MOVJ C00053 VJ=60.0079ARCON ASF#(3)80MOVL C00054 V=11.081MOVL C00055 V=11.082ARCOF AEF#(3)83MOVJ C00056 VJ=60.0084MOVJ C00057 VJ=60.0085MOVJ C00058 VJ=60.0086ARCON ASF#(5)87MOVJ C00059 VJ=60.0088ARCOF AEF#(5)89MOVJ C00060 VJ=60.0090MOVJ C00061 VJ=60.0091MOV

46、J C00062 VJ=60.0092ARCON ASF#(5)93MOVJ C00063 VJ=60.0094ARCOF AEF#(5)95MOVJ C00064 VJ=60.0096MOVJ C00065 VJ=60.0097MOVJ C00066 VJ=60.0098ARCON ASF#(3)99MOVL C00067 V=13.3100MOVL C00068 V=11.0101ARCOF AEF#(3)102MOVJ C00069 VJ=60.00103MOVJ C00070 VJ=60.00104ARCON ASF#(3)105MOVL C00071 V=13.3106MOVL C0

47、0072 V=11.0107ARCOF AEF#(3)108MOVJ C00073 VJ=60.00109MOVJ C00074 VJ=60.00110MOVJ C00075 VJ=60.00111ARCON ASF#(3)112MOVL C00076 V=11.0113ARCOF AEF#(3)114MOVJ C00077 VJ=60.00115MOVJ C00078 VJ=60.00116MOVJ C00079 VJ=60.00117PULSE OT#(10) T=1.00118INC B000119ENDG21NOP機(jī)器人作業(yè)原點(diǎn)2WAIT SOUT#(120)=ON3CALL JOB:

48、G211 IF IN#(12)=ON454CALL JOB:G221 IF IN#(14)=ON5CALL JOB:QQ IF B000=36END點(diǎn)焊G31NOP2WAIT SOUT#(120)=ON3CALL JOB:G311 IF IN#(11)=ON點(diǎn)焊4CALL JOB:G322 IF IN#(13)=ON5CALL JOB:QQ IF B000=36END一次打底點(diǎn)焊點(diǎn)焊一次打底G311二次填滿二次填滿小片焊接小片焊接-45一次打底一次打底二次填滿二次填滿小片焊接小片焊接-135一次打底一次打底一次打底二次填滿二次填滿小片焊接小片焊接一次打底-225一次打底一次打底二次填滿二次填滿

49、小片焊接小片焊接小片焊接50鏟焊渣位置機(jī)器人作業(yè)原點(diǎn)兩側(cè)點(diǎn)焊點(diǎn)焊兩側(cè)G322小片焊接點(diǎn)焊點(diǎn)焊-50二次焊接二號(hào)位置兩側(cè)兩側(cè)點(diǎn)焊點(diǎn)焊兩側(cè)兩側(cè)點(diǎn)焊點(diǎn)焊兩側(cè)兩側(cè)兩側(cè)轉(zhuǎn)臺(tái)回原點(diǎn)機(jī)器人作業(yè)原點(diǎn)一次焊接，轉(zhuǎn)臺(tái)水平二次焊接，轉(zhuǎn)臺(tái)50度清槍?zhuān)附佑?jì)數(shù)3機(jī)器人作業(yè)原點(diǎn)一次焊接，轉(zhuǎn)臺(tái)水平二次焊接，轉(zhuǎn)臺(tái)-50度清槍?zhuān)附佑?jì)數(shù)3G2G3G2111NOP2WAIT SOUT#(120)=ON機(jī)器人作業(yè)原點(diǎn)3MOVJ C00000 VJ=60.004PULSE OT#(11) T=1.00-455WAIT IN#(10)=ON6MOVJ C00001 VJ=60.007MOVJ C00002 VJ=60.00點(diǎn)焊8ARC

50、ON ASF#(11)9ARCOF AEF#(11)10MOVJ C00003 VJ=60.0011MOVJ C00004 VJ=60.00點(diǎn)焊12ARCON ASF#(11)13ARCOF AEF#(11)14MOVJ C00005 VJ=60.0015MOVJ C00006 VJ=60.0016MOVJ C00007 VJ=60.0017ARCON ASF#(1)一次打底18WVON WEV#(1)19MOVL C00008 V=13.320ARCON ASF#(4)21WVOF22MOVL C00009 V=13.323ARCOF AEF#(1)24MOVJ C00010 VJ=60.0

51、025MOVJ C00011 VJ=60.0026MOVJ C00012 VJ=60.0027MOVJ C00013 VJ=60.00點(diǎn)焊28ARCON ASF#(11)29ARCOF AEF#(11)30MOVJ C00014 VJ=60.0031MOVJ C00015 VJ=60.00點(diǎn)焊32ARCON ASF#(11)33ARCOF AEF#(11)34MOVJ C00016 VJ=60.0035MOVJ C00017 VJ=60.0036MOVJ C00018 VJ=60.00一次打底37ARCON ASF#(1)38WVON WEV#(1)39MOVL C00019 V=11.040

52、WVOF41ARCON ASF#(4)42MOVL C00020 V=13.343ARCOF AEF#(1)44MOVJ C00021 VJ=60.0045MOVJ C00022 VJ=60.0046MOVJ C00023 VJ=60.00二次填滿47ARCON ASF#(1)48WVON WEV#(1)49MOVL C00024 V=11.050WVOF51MOVL C00025 V=13.352ARCOF AEF#(4)53MOVJ C00026 VJ=60.0054MOVJ C00027 VJ=60.0055MOVJ C00028 VJ=60.00二次填滿56ARCON ASF#(1)5

53、7WVON WEV#(1)58MOVL C00029 V=11.059WVOF60MOVL C00030 V=13.361ARCOF AEF#(4)62MOVJ C00031 VJ=60.0063MOVJ C00032 VJ=60.0064MOVJ C00033 VJ=60.00小片焊接65ARCON ASF#(2)66WVON WEV#(2)67MOVL C00034 V=13.368WVOF69MOVL C00035 V=13.370ARCOF AEF#(2)71MOVJ C00036 VJ=60.0072MOVJ C00037 VJ=60.00小片焊接73ARCON ASF#(2)74W

54、VON WEV#(2)75MOVL C00038 V=13.376WVOF77MOVL C00039 V=13.378ARCOF AEF#(2)79MOVJ C00040 VJ=60.0080PULSE OT#(11) T=1.004581WAIT IN#(10)=ON82MOVJ C00041 VJ=60.0083MOVJ C00042 VJ=60.00一次打底84ARCON ASF#(1)85WVON WEV#(1)86MOVL C00043 V=13.387ARCON ASF#(4)88WVOF89MOVL C00044 V=13.390ARCOF AEF#(1)91MOVJ C0004

55、5 VJ=60.0092MOVJ C00046 VJ=60.0093MOVJ C00047 VJ=60.00一次打底94ARCON ASF#(1)95WVON WEV#(1)96MOVL C00048 V=11.097ARCON ASF#(4)98WVOF二次填滿99MOVL C00049 V=13.3100ARCOF AEF#(1)101MOVJ C00050 VJ=60.00102MOVJ C00051 VJ=60.00103MOVJ C00052 VJ=60.00二次填滿104ARCON ASF#(1)105WVON WEV#(1)106MOVL C00053 V=11.0107WVOF

56、108MOVL C00054 V=13.3109ARCOF AEF#(4)110MOVJ C00055 VJ=60.00111MOVJ C00056 VJ=60.00112MOVJ C00057 VJ=60.00二次填滿113ARCON ASF#(1)114WVON WEV#(1)115MOVL C00058 V=11.0116WVOF117MOVL C00059 V=13.3118ARCOF AEF#(4)119MOVJ C00060 VJ=60.00120MOVJ C00061 VJ=60.00小片焊接121ARCON ASF#(2)122WVON WEV#(2)123MOVL C0006

57、2 V=13.3124WVOF125MOVL C00063 V=13.3126ARCOF AEF#(2)127MOVJ C00064 VJ=60.00128MOVJ C00065 VJ=60.00小片焊接129ARCON ASF#(2)130WVON WEV#(2)131MOVL C00066 V=13.3132WVOF133MOVL C00067 V=13.3134ARCOF AEF#(2)135MOVJ C00068 VJ=60.00136PULSE OT#(11) T=1.00135137WAIT IN#(10)=ON138MOVJ C00069 VJ=60.00139MOVJ C000

58、70 VJ=60.00一次打底140ARCON ASF#(1)141WVON WEV#(1)142MOVL C00071 V=13.3143ARCON ASF#(4)144WVOF145MOVL C00072 V=13.3146MOVL C00073 V=13.3147ARCOF AEF#(1)148MOVJ C00074 VJ=60.00一次打底149MOVJ C00075 VJ=60.00150MOVJ C00076 VJ=60.00一次打底151ARCON ASF#(1)152WVON WEV#(1)153MOVL C00077 V=11.0154WVOF155ARCON ASF#(4)

59、156MOVL C00078 V=13.3157ARCOF AEF#(1)158MOVJ C00079 VJ=60.00159MOVJ C00080 VJ=60.00160MOVJ C00081 VJ=60.00二次填滿161ARCON ASF#(1)162WVON WEV#(1)163MOVL C00082 V=11.0164WVOF165MOVL C00083 V=13.3166ARCOF AEF#(4)167MOVJ C00084 VJ=60.00168MOVJ C00085 VJ=60.00169MOVJ C00086 VJ=60.00二次填滿170ARCON ASF#(1)171WV

60、ON WEV#(1)172MOVL C00087 V=11.0173ARCON ASF#(4)174WVOF175MOVL C00088 V=13.3176ARCOF AEF#(4)177MOVJ C00089 VJ=60.00178MOVJ C00090 VJ=60.00179MOVJ C00091 VJ=60.00小片焊接180ARCON ASF#(2)181WVON WEV#(2)182MOVL C00092 V=13.3183WVOF184MOVL C00093 V=13.3185ARCOF AEF#(2)186MOVJ C00094 VJ=60.00187MOVJ C00095 VJ