FANUC刀庫(kù)換刀——詳解.

1、加工中心機(jī)床圓盤式刀庫(kù)發(fā)那科系統(tǒng)PMC勺編程技術(shù)安慶長(zhǎng)谷川數(shù)控機(jī)床有限公司雷曉鵬北京發(fā)那科機(jī)電有限公司胡年自動(dòng)換刀機(jī)構(gòu)（ATC是數(shù)控機(jī)床易發(fā)生故障的地方。本文介紹PMC的編程思路和方法，供大家討論。此程序自2004年始已在數(shù)百臺(tái)加工中心運(yùn)用。一、基本規(guī)則1刀具在D0000到D0032登錄。D0000登錄主軸刀具號(hào)，D0001至UD0032登錄刀套內(nèi)刀具號(hào)，在此假定刀庫(kù)容量為32把刀。2、執(zhí)行T碼時(shí),刀庫(kù)中T碼刀具旋轉(zhuǎn)到換刀口位置，在刀庫(kù)旋轉(zhuǎn)過(guò)程中，程序自動(dòng)加工運(yùn)行不中斷，稱之為預(yù)選刀。3、M6執(zhí)行換刀過(guò)程，執(zhí)行前，Z軸必須回第一參考點(diǎn)，即G91G28Z0或M19G91G28Z0。4、允許的大徑

2、刀（如面銑刀）直徑不容許超過(guò)普通刀具（以下簡(jiǎn)稱：小徑刀）最大直徑的二倍，否則大徑刀之間隨機(jī)交換會(huì)撞刀。刀具重量不能超過(guò)刀庫(kù)容許重量。大徑刀刀具號(hào)設(shè)定規(guī)則：大徑刀的相臨兩側(cè)刀套內(nèi)必須為空，空刀套的刀具號(hào)自動(dòng)設(shè)定為99（也可設(shè)定其他數(shù)字，PMC識(shí)別為空刀）。D100內(nèi)設(shè)定大徑刀個(gè)數(shù)，小徑刀刀具號(hào)必須大于大徑刀個(gè)數(shù)乘2加1。初始設(shè)定主軸刀具號(hào)D0000必須是小徑刀刀具號(hào)。5、大徑刀具交換規(guī)則：小徑刀可放進(jìn)大徑刀刀套內(nèi)，大徑刀不可放進(jìn)小徑刀刀套內(nèi)。主軸小徑刀與刀庫(kù)小徑刀交換，一次性換刀；主軸大徑刀與刀庫(kù)大徑刀交換，一次性換刀；主軸小徑刀與刀庫(kù)大徑刀交換，一次性換刀，小徑刀放進(jìn)大徑刀刀杯套內(nèi)；主軸大徑刀

3、與刀庫(kù)小徑刀交換，第一次將原大徑刀刀套內(nèi)的小徑刀換到主軸上，第二次再進(jìn)行小徑刀之間的交換。以上交換規(guī)則PMC自動(dòng)識(shí)別換刀。6、在刀庫(kù)運(yùn)行中發(fā)生停電等故障，具備中斷點(diǎn)記憶和用按鍵操作恢復(fù)功能。有完善的電機(jī)保護(hù)和報(bào)警操作提示。7、以上自動(dòng)刀具交換（ATC動(dòng)作本文介紹的都用PMC完成，讀者也可用宏程序和PMC結(jié)合編程實(shí)現(xiàn)。-1-PMC程序框圖三、詳細(xì)介紹刀庫(kù)盤旋轉(zhuǎn)部分PMC程序和說(shuō)明-2-1準(zhǔn)備工作自動(dòng)換刀部分反饋信號(hào)：R30.0=1主軸抓刀反饋；R30.仁1主軸松刀反饋，延遲0.2秒是消除信號(hào)反饋傳感器安裝誤差,其它信號(hào)反饋延遲道理相同；R30.2=1刀杯上（水平位置）信號(hào)反饋；R30.3=1刀杯

4、下（刀具垂直向下位置）信號(hào)反饋。R30.4=1抓刀機(jī)械手在原點(diǎn)位置；R30.5=1抓刀機(jī)械手在抓刀位置；K2.6=0德士換刀結(jié)構(gòu)1型、K2.6=1德士換刀結(jié)構(gòu)2型；N00393C2780N0Q394D2733F2789N00396H2795-3-MOOOO-iD7R0030.40-抓刀機(jī)械手在原點(diǎn)位置ARM-HMF'BXOQ09.1XQ0Q3r5XO0Q?.6MAG_TYPEN00004F17X0009.4X0009.EKO009.6K0002.6000DW4FUPSEMID£ELOW£EMAGTYPEROO30.5-CHARM-hlIDFB抓刀機(jī)械手在抓刀位置K2

5、.6:德士換刀結(jié)構(gòu)XOQ09.4X0009,5$K0002.6WWIIII1UP£EMIDSELOW£EMAGTYPEK0.5和K2.5設(shè)定常用刀庫(kù)容量，刀杯計(jì)數(shù)器用CdN0025M1618KOOOO.SKOO02.SIS-TOOLS20-TOOLSN002B7M1621KOOOO.5KOO02.B-HF15-TOOLS20-TOOLSN00258O1524KOOOO.5KOO02.5111E-TOOLS20-TOOLSR003T.4Ch32_TOOLR0037.7_Ch24_TOOLR0037.6fl-20TOOLX0005.4X0005.5XO009.6Kft0O2LS

6、10WIIfUPSEMIDLOWMAGTYPEKOQO：”£N002S1D1635N002S3H丄£45NOO259A1627N00260B1630NOO262F1S40X9.7是刀杯計(jì)數(shù)傳感器，R32.1為整形計(jì)數(shù)脈沖。R0.4開機(jī)延遲0.5秒后等于1,如沒(méi)有,在X9.7=1的故障情況下開機(jī)，有一個(gè)R32.1脈沖，C0(CTR)會(huì)自動(dòng)加1或減1計(jì)數(shù),而產(chǎn)生刀杯位置錯(cuò)誤。K11.4和K11.5為刀庫(kù)正反轉(zhuǎn)保持信號(hào)。-5-N002S4J16S0ACTRO032aOX00097SUB24TMHB0005COUN-DLyTOOLCOUNTDELAY0000000064N00265

7、L165SN00266ROO320R00322R0032DROQQO,4IIINIDLYROO32,1-HD-COUN-PL£TOOLCOUNTPULSERO032.2-0-322COUN-DLY16G1NOO267A-6-#-在D100中設(shè)定要使用的大徑刀具個(gè)數(shù)，D104二D100*2+1是最后一個(gè)空刀杯,大于D104的刀具號(hào)為小徑刀具號(hào)，小于等于D104的刀具號(hào)為大徑刀具號(hào)。如不用大徑刀，設(shè)定D0100=0-#-N00272ALG90NO0272E1G99R9091.1BYTAWSJONF0001.1R£TIIR£TROO52.7ACT-dFD100=0R50

8、91.1BYTFOOO1.1RSTRSTR0052.7ACTD1OO=Gnnnn3L!J1£-丄MULD0100BIG-T_NUM0002DQ102D100-2R004B.4QMULERRERRC5EUB19ADD000D0102DIOOS001D0104B*CUPMUNROOdfi丐ADDERRERR0以下是根據(jù)D100所設(shè)定的大徑刀數(shù)量，自動(dòng)將99送到大徑刀杯相鄰的空刀杯中去。刀具號(hào)99表示空刀杯，空刀杯號(hào)1、3、5。NQ0274I170BR9Q91,1SIUAW£_ONR9091,1CNVIIAW£_ONF0001,1RSTRSTR0CS2h7ACT-tFD

9、10Q=0SUB31DCNVB0001D0100BIQ-T_NUMROOS0BIG-T(BIN)BCD-BINERR-8-N00275A1717ROW7ACTjrSUB25DECB0021DI00=0BR0D5BBIQ-T(BIN)COOQOOOOOOlDRD05DBT=1-16-9-U00278A1733CEN00279E1738FinnoET=13BT_13-16R0051.5ET=：14R0051,6BT=15R0051.7BT=16M002SOI1743NODSaiK1748R9091.IBYTIEGT1R21009gAWS_ONNUMER00527ACTD0001D10D=0R909

10、1.1BYTLTQ11R920099AW£_ONNUMEROOS2.7ACTD00D3D100=0-11-oi-ZSL1pIHa日N002B4A1771R9051.1BYT-xAW£_OUR0050.3ACTBT=4ROOSJ.1IHBT_5-8R005i.2IHBT9-12R005J3EIIBT11-160099OUJ_>JrNUMED0009-14-N0D294J1840N0D292E1329N00293H00295L1S4G-15-#-2、T碼到達(dá)準(zhǔn)備A0.7和A1.2為換刀機(jī)械手和計(jì)數(shù)器報(bào)警；R55.4為T碼等于0或99報(bào)警;R32.5是刀具表中沒(méi)有此T碼報(bào)警

11、;R32.6是T碼刀具在主軸上.延遲0.2秒給PMC判斷時(shí)間，條件滿足后T碼完畢。-#-#-N00296F0007.3AOOOO.7K0011.4akll井4T-TFA7_ATCNOTLCW-WDK0011.5AOOO.L.2R0055.4ROO32.5R0032.4TLCCW-JJDAl0_COUNT=0t99TIlO-TCODER00J2,IITCD=£P0T-CD_ARRIVE'TCODEARRIVE-16-N002975RO0324ACTSUB24TMRB0006T-CDARRIVE-uT-FINIGHD0000000200-17-#-的情況下,T碼放到在不是主軸大徑

12、刀同D82(BCD)并做一些判斷，TT碼小徑刀交換(K10.6工1)碼等于0或99時(shí)報(bào)警。-#-#-E1867H00299I187£N00300K1882H00301M1087BIN-BCD82-18-R54.2=1，主軸小徑刀同刀庫(kù)大徑刀交換的判斷，此時(shí)將主軸小徑刀號(hào)存到D106中，為以后主軸大徑刀同T碼小徑刀交換做準(zhǔn)備。N00302A1890R9091.1BYT4FAWS_ONR0032.4ACTIIT-CD_ARRIVEqilRI50001COMPD00B2T_(BCD)D0104B-CVP_MUNROOS400TCX3DE-EIG-TLN00303D1097R9091.1BY

13、TAWS_OMR5091.1ACTAws_orrCTfR.1Cnnniou口*丄COMPDOOOOSP-TOOLD01-04B-CUP_MUNROOS4B1_o-_LN00304G1904R0054.1R00S4,0RQ0324R00S2.'7IIIISP-BIG*TTCODE-BIT-CD_ARRD100=0LG-TLIVER00S4.20-£P1EMALL-BIGN00305H1909R0054l2ACTII£P'SMALL-BIGSUB81111MOVE1111DOODOSP-TOOLD0106STORES-TOOLK10.6=1是主軸大徑刀同刀庫(kù)小徑

14、刀交換，T碼放到D108把原來(lái)放到大徑刀杯的小徑刀D106送到D82,進(jìn)行第一次交換，換刀后，主軸刀具是小徑刀（D0=D106。-19-W003a6L1915MMQ0307A1323BCD110308E1933MOO309I1941R0054.0ROO54.1R0032.4ROO52.7-Hf-D100=0G-TLIVEK0010.E-iySP'B-SMALLKQ010.CRtJOSS.6II*£P'B-£MAE-£_STP2RA032,4R0055.4R0049.0a-ERR09TlT-CDAERT=QS99IVEKO010.6ACTTlSP&#

15、39;E-SMALLSUB8MOVE11111111DCHOe£TORE_£-TOOLDD062T_(BCD)R9Q91.1BYTIESUB16COIN0001AWS_ONR0052.7ACTDOOODDioo=agp-rooLD0106STORES-TOOLRQ0S4.50DO=D106BIN-BCI-21-LLN00310L148N0D311A1957SUB81111MOVE1111D010BT_£TP2DOO02T(BCD)N00312E19S3R9091.1BYTAWSONR00S2.7ACTD1OO=Q£廿Blfifl00iCOINDOOOOS

16、P-TOOLD010BT_£TP2ROOS44o-D0=D108第一次交換完畢后（R55.6=1），再開始主軸小徑刀同T碼D108小徑刀進(jìn)行第二次交換，此時(shí)把D108放到D82中，進(jìn)行二次換刀。二次換刀結(jié)束后D0=D108T碼在主軸上。KO010£R0054,5R0029.5R00304ARMWMFB-HIIISP1B-SMAD0=D106KKEEPR0055.6R0054.4F0001s1B-SSTP2D0=D108RST3、刀庫(kù)盤旋轉(zhuǎn)刀杯號(hào)尋找：經(jīng)過(guò)以上T碼到達(dá)后的準(zhǔn)備工作，在各種情況下尋找的刀具號(hào)都放在D82中，刀具D82的刀杯號(hào)在D86中。當(dāng)D86的刀杯號(hào)等于換刀口

17、位置計(jì)數(shù)器CO時(shí)（R32.7=1）,刀庫(kù)盤旋轉(zhuǎn)位置到達(dá)。R32.5是T碼在刀具表中未找到報(bào)警。R32.6是刀具以在主軸上。-22-R90?J.1U£BYTAW£_ONR0037.5|FOOOl1J|LRST16_TOOLIIRSTR00J7.5IIR0032.4IIACT16TOOLWOO313H1970E-S£TP：r-CD_AKRIVE'SUB17D£CH0016DOOOlDOOS2T_(BCDJD0084GTEP-lR00&6r015-TNON003L4L19B3R909111"BYTAWS_ONR0037.C|lFOO0

18、11RST20_TOOLIIRSTR0017.6IIR0032.4JIACT20TOOLT-CD_A1?RIVER0055.SB-S£TP2SDB170020DSCHDOOOlD0082T_(BCD)DOOS4STEP-1R0056.120-TNON00315A1996RSTR0037.7IIF0001.1HII24_TDOLIIRSTROOi7.7IIR0Q32.4IIACTR9051.1BYT24TOOLT-CD_ARRIVE'B-SSTP2R0055.6cfTRI7nn94DSCHDOOOlDOO02T_(BCD)DOOS4STEP-1ROOSfi.20-24-TNO-

19、24-N003ISE2009R90911BYTIKSUB170032AW£_ONDSCHR0037.4IIFOO01.111RSTD0001II-32_TOOLIIR£TR0037.4JLR0032.4IIACTDQ082II32TOOLT-CDARRT_(BCD)IVER0055.SD0094STEP-1IIB-S_STP2R0056.3N(J0317I2022LN00318A2027R&0E6.0IH16-T_NOR00E6120-TNOR0056.224-t'NORO056.SRQDgi-1RYTJKSUB19nnoojlfAWS_ONADDF0001

20、.1RET1|DOOB4RSTSTEP-lR0032.4ACTH0001T-CDARRIVEIIJDooesBSSTP2T-STEP32-T_NORO032_-NO-TCODETNOFOUNDR004S.1QADDERRERR10-26-E2037N00320H2044RS0S1L1BYTAWS_OBR9091.1ACTAWSOMR5051.1BYT-Xf-AW£_ONR9091.1ACTAWSONCTTR1£001COIND0082Tfc(BCD)DOOOOSP-TOOLR0032飛TCODESPTLCODECTTRlGfl仃和TCOINDO086T-STEPC0002R

21、0032JQTCODEONPOSITIONT-ON-POS-27-#-N00321K2D51A0003-5AOOOOb7A7N00322L2059R00B3B3R0036.0GOOGS.4FO001.1HMAGREST*EMGNCMIDORER0*033-2MAGENABLEMAGROTATEENABLENOO323M2064R0032.4ROO55勺R(shí)0032,5R0032.6RD032JROO33,2-<*IIT=0&99NO-TCODET_CD=£PT-ON-POSMAG-EHABLER00330IIT-CD_ARRIVECUP-ROTACUPROTATIONR3

22、3.0是刀庫(kù)旋轉(zhuǎn)的條件，當(dāng)尋找的刀具在主軸上（R32.6=1）或到達(dá)換刀位置（R32.7=1），刀庫(kù)旋轉(zhuǎn)停止（R33.0=0）。A0001.3AOOQ1.5AO001.7AO0O3.4A0003.5AOO04.0RO'033.3:*0-L亡A13_ARM-Al5ROT-A20OFFKA29_CARRA32_lMIDMC"MC"SR0055石T1B-S_STP2R0033B0IICUP-ROTA刀庫(kù)旋轉(zhuǎn)分兩種情況：a）K10.6=0和R55.6=0;不是主軸大徑刀換小徑刀。b）K10.6=1和R55.3=1;主軸大徑刀換小徑刀，第一次旋轉(zhuǎn)到大徑刀杯內(nèi)的小徑刀的位置換刀

23、。R55.6=1和R55.2=1;第一次換刀后結(jié)束主軸已是小徑刀，再旋轉(zhuǎn)到-28-T碼小徑刀具的位置。E213ftNOO33OH2L4SN00331K2152刀庫(kù)就近旋轉(zhuǎn)方向判斷-30-N00324A2073N00325G2086R00374RNO32_TOOLR0911BYTAWSONR00374DIR-HI32TOOLR9091.1PCSAW£_OWR0037.4INC32_TOOLR00330R0037.4ACTCUP-ROTA32_TOOLR00377RNOII24TOOLR9091.1BYT*AW£ONR00377DIRTl24_TOOLR3091.1PO

24、3;-dFAW£_ONR0037.7INC24_TOOLR0033.0R0031,7ACTTlIICUP-ROTA24TOOLSUB60032ROTSUBgROTC0002D0O86T-STEPD0O880024C0002D0O86T-STEPD0O88RO038.3o32_CWRO0362'-O24CW&fZC：M_-32-R0037.6RNOA2099NOO327G2112SUB電002020_TOOLR9091.1B¥TAWSONR0037.6DIR20TOOLR9091.1PO£AWSONR0037.6INC20TOOLR0033.QR00

25、37百ACTTlIICUP-ROTA2QTOOLR0037.&16TOOLRNOR9091.1BYTJFAWSONR0Q37.SDIR16TOOLR9091.1PO£ROTC0002DOO06T-STEPD0088AWSONR9091.1R003",5TWCAWSON16TOOLR0033PQRO037.5ACTCUP-ROTA16TOOLCF1&百5015C0002nooseT-STEP0068AkJDvROTROOfl.1Q20CW4CCroo8.o-0-16CW&CC-34-N0032aA2126R0038.0R0037=5R0033.1Q-0

26、CW；=1CUP-CiCCCCW(CUP-35-#-R0038,1R0037.6IIII20_CWiCC20TOOLWR0&3E.2R0037.7IIII24_CWiCC24_TOOLViR0037.4TlII22_CW32_TO0LW自動(dòng)模式下，R32.7=1時(shí)，尋找的刀具到位，旋轉(zhuǎn)停止。手動(dòng)模式下，按一次鍵（X29.0或X29.1），刀庫(kù)旋轉(zhuǎn)一個(gè)刀杯位置停止。K11.4和K11.5是在旋轉(zhuǎn)未到位的情況下信號(hào)保持。如果旋轉(zhuǎn)未到位時(shí)發(fā)生停電等故障再重開機(jī)后，此信號(hào)保持并給予報(bào)警，同時(shí)指示燈（Y25.0或Y25.1）閃爍。按相應(yīng)鍵（X29.0或X29.1）使刀庫(kù)旋轉(zhuǎn)到位（X9.7=1）,

27、故障恢復(fù)。N00332A2163R0000.2R0055.0R0013.1R0032.7|_|-|K_AUTO_MODROT_RUNCTFCtCCT-ON-PO£ER0030.2K0011.5YOOOO.3MAGCWRELAY-#-#-R0D00.3R0033.2G0046.3J£0029.0X002.1TlII1H£JMODEMAG-ENABKEY1Y00CMAG-CW0.3LER0033.5jr12OM.5-DLY00003X00097TlMAG-CWTLCOUNOOB33E2133R0000.2R0055.0ROOJ3.1R0032.7TlIIIIAUTO_

28、MODROT_RUNCUP-CiCCT-ON-POSER0030.2KOO11,4YOOOOr4Tl0-CUP-UPFBTLCW-HDMG-CCWMAGCCWRELAY11IIJIum"modeMAG-ENABKEY11HDCWHDIllr:cH4.JR0000.3R0033.2G0046,3JI0029.0X0D29r1YOOOOr4R0D33.5TIHfMG-CCW120MS-DLY0000.4X000&.7TlJHF-MG-CCWTLCOUN00324I2203N00335K2210N00336M2216N00337A2222Y0000.3MAG-CW¥000

29、04MG-CCWYOOOO3MAG-CWKQ0114TLCW-HD¥00004MGCCWX0009.7ACTStTL_COUK0011.5TLCCW-HDXO0Q97HFTLCOUK0011»4TLCW-HDKOOil5X00097-HIiHHTLCCW-HDTL_COU¥0000.3口TTH=Annn7TMRBUUUJ0000000130R0033”QCW&CCW120MSDE120MS-DLKOO1140TLCWKEEPTLCW-HDKOO115QTLCCWKEEPTLCCW-HDY0025,0MAGCWLEDMAG-CHYOOOO.3KOO11.4R

30、091.£-HFIIIIMAG-CWTLCW-HD0,5HZPLN00338C2228YOOOO4Tl-MG-CCWY002510MAGCCWLEDT_CC-L-36-#-Y0000a4IkK0011兮ii-R9091.6ISTMG-CCWTLCCW-HD05SIZPL刀杯上動(dòng)作:手動(dòng)模式下，自動(dòng)模式下，刀杯下動(dòng)作：按次鍵（X29.0或X29.1），刀杯上后刀庫(kù)再旋轉(zhuǎn)。有刀庫(kù)旋轉(zhuǎn)信號(hào)R33.0-1時(shí)刀杯上。自動(dòng)模式下，M6換刀指令到達(dá)和換刀過(guò)程中（R29.5=1）刀杯下并保持。機(jī)床停電不用時(shí)，刀杯有可能停在中間位置，此時(shí)給一個(gè)開機(jī)脈沖（R0.1）使刀杯向上（R29.6）。如果已在上下

31、位置，也順便給一個(gè)脈沖（R29.6或R27.7）保持原來(lái)狀態(tài)。NOQ339E2234X0D09.7AaOOCI.7R003D.0GQQOB.4YOCOO.3YDOOQ.4A0Q00d5ROQ33+7iiA7ATCNDTL-CLMFB*EMGNCMAG-CWENMAGCUPUPtDOWNENABLEABLER00141IFMS-READYN00341I2251¥000106-CUP-UPR0000B3X0029a0GO046-3RO033.7GOOOB4R0029-5T1HtJMODEABLEX0029.1TinHDCCROOM.2RQ033.0AUTOMODCUP-ROTA-38-#

32、-R0029百KPCUPUPY0D01.0R0030.2R0045.01|CUP-UPCUP-UPFEUE'iDWER1?MOO343A2272M1III”|AUTCFEHLUPEN-EMCT-Ol!II-PO£EABLERO0002R00341Y0022.0R0D33.7GD003.4R0032r7Y0001.10-CUP-DWR0029.5RO0297IIKPCUPDWN00340G2244Y0001.1R003G.SR0045.0CUP-DWFBUP&DWERRX0008.6X0008JROOOO.1TDHFCUP叮PCUPDWCUP-DWROQ29r6KEEP

33、CUPUPPLSKPCUPUP-#-#-N00342Nxoooe.eXOOOB=7RO000.1MF30IICUPUPCUPDWINI-PLSR0029.7KPCUPDWKEEPCUPDOWNPLSX0008.6X0008.7CUP(HFCUPUP-#-#-四、簡(jiǎn)要介紹M6指令到達(dá)機(jī)械手換刀部分和故障恢復(fù)的PMC程序1換刀前準(zhǔn)備Z軸已回?fù)Q刀點(diǎn)，如未完成，產(chǎn)生操作異警ZAXISNOHOME程序中斷。需更正程序，在M6前加G91G28Z0。刀具在換刀位置，如未完成M06等待刀庫(kù)盤旋轉(zhuǎn)到位。在執(zhí)行M06換刀步驟過(guò)程中，Z軸自動(dòng)鎖定。M06執(zhí)行結(jié)束，Z軸鎖定自動(dòng)取消。M06到達(dá)R15.3=1，用R34

34、.1=1去執(zhí)行刀杯向下和主軸定位。IR0015.3IIR0032,IXR0032,7IR0Q3O,4IIA0003.1IFA0003POITY0022.0IFR0034.1nIIM6T_CD=SP-POSIIARM-HMFBA2S_NO-TREADY4iA24_HO_TFDHL-LVM6-READYN00344E22BS-M6CUPDOWN£PQRINT當(dāng)R34.2=1時(shí)，自動(dòng)換刀前準(zhǔn)備完畢N00346J230411IIKIIIIM6-READYR00i4.21匚ZP3（，ORA!【CUP-1DWFBARM14iIIFINA13_ARM-*EMGHCMC'R00S4.1FOO

35、94.2F0045.7R0030.3R0055.1A0001.5G0006.4ARM-STARTROO34.20ARMRUNSTARTARM-START-39-#-2、換刀步驟采用步進(jìn)式編程，分為六步：1）刀臂旋轉(zhuǎn),抓將要交換的兩把刀具；K10.0=12）主軸松刀和吹氣；K10.仁1，K10.0=03）刀臂旋轉(zhuǎn)180度,兩把刀具交換；K10.2=1，K10.仁04）主軸停止抓刀和吹氣；K10.3=1，K10.2=05）數(shù)據(jù)交換；K10.4=1，K10.3=06）刀臂旋轉(zhuǎn)，回初始位置.K10.5=1,K10.4=0;當(dāng)K10.5=0時(shí)，換刀結(jié)束。-#-#-RUN-#-N00352G2352RO0

36、34STPlr601N00351E2347KOOIO.OKSTEP!KEEPSTEP1eo-KSTEP1K5TEP2KO010.0KOOIO1R0034.2KOOIO,OR0D30.0R003Q-5TlARM-IXIDFBARM-STARTTlIIKSTEP!TL-CLMFBR0034,3YCOOO.5R0034,d*0STPl,SO1ARM-MTSTP2JUNCLAMPSTEP2HUNCLAMPTOOL-40-RO034-4RO03O11ti£TP2.UNiCTL-UNCFBLAMPR0036.0ROO36.2RO03O.1K0010-1MAG_RESTORE_KSTEP2Tl4M

37、AGPLSTL-UNCF&K0010OR00300TL-CLMFB-#-#-RGQ34.4RO03Ob1Tl<STP2.UNCTL-UNCFBLAMPN00353L2376R00B4.4STP2JWCLAMPKO010.10KSTEP2KEEPSTEP2.UNCLAMPUKOOIO.1KOO1D.2KSTEPSKSTEP3-#-#-機(jī)械手驅(qū)動(dòng)-#-#-NOD361A2&49RQ034,2ROO34.3R0010.0R0030.5K0010.1R0035.Tl£TP1#60FTL-CLMFBARM-MIDFK_GTEP2EARH-STARTYOOOO.SARMMT

38、MOTORRUMR001.0TlMAG_RESTOREROO34.R0030.1K0010.1KOOIOB3IISTP3.lfiOTL-UNCFBK_STEP2K_GTEP4ROO3S.5R0030.0K0010.4ROO3O.4Tl1STP6.HOMTL-CLMFBKSTEP5ARM-HMFB松刀驅(qū)動(dòng)-41-N00379H2614R0000.3R0030-4XOOOO.lA0001G0008.4Y0000.6TOOLUNCLAMPRO034.2KOO100KOOlO.lIIKSTEP1KSTEP2IIARM-START¥0000J-fl-SP-AIRUNCLAMPTOOLAIR-4

39、2-KOO1D1KOOIO.2T11KSTEP2KSTEP3R0D36.0MAG_RE£TOREYOOOD.6KOOIO.,3R00362TlMAG_PL£KOD10r0K0010,1IHK_£TEP1K_£TEP2KOO10丄K0010.2K_STEP2K_STEP3-#-#-YOOOO-6KOOIO.3IITL-UMCKSTEP4R29.5=1是換刀過(guò)程中，用此信號(hào)進(jìn)行Z軸自動(dòng)鎖定。-#-#-N00377A2E00-#-#-R41.3=1,M6換刀結(jié)束信號(hào)-43-N00378G2607RCOLS.3IIK0010,&IFR0C5£.

40、EIkRDD33”£IIR0030.4IIR0029.£irR0035.7IIM6£P'B-SMA4rB-£STP2IITCD=SPIIARMHMFB4rKKEEPuMAG-FI1JLLN003&&r*m1a匚R0035.7IIR0052.IIR0014.2IKR0041.3nIIMAG-FINIITCD=SP/rARM-STARuFIN4-MTDR0033.0IKROOJ2,7IK<rCUP-ROTAxFT-ON-POSEA0003.2IIIIA2SZNOHMF00011FII11RST換刀過(guò)程中斷的處理。RESTOREMAGSTEP3、換刀過(guò)程中，如果出現(xiàn)緊急停止，總