發(fā)那科機械手程序

1、.1.IF(DO120=OFF,JMPLBL88/機械手有沒有在等候點鄰近/2.DO101=OFFDO102=OFFDO103=OFFDO104=OFFDO105=OFF8.DO107=OFF將所實用到的輸出點所有封閉DO109=OFFDO110=OFFDO111=OFFDO112=OFFDO108=OFF16.IF(DI111=OFFANDDI112=OFFJMPLBL88/假如兩臺磨床門沒有翻開，跳轉(zhuǎn)到標簽8817.WAITDI107=ON/等候有料盤信號翻開/18.DO104=ON/電機正轉(zhuǎn)，送料/19.WAITDI108=ON/等候料盤到位信號翻開/20.DO103=ON/推料盤氣缸推

2、出，將料盤頂住/21.DO104=OFF/電機正轉(zhuǎn)停止/22.23.R1=0/計數(shù)器清零/R2=0/計數(shù)器清零/R3=0/計數(shù)器清零/（此后處開始，機械手去料盤拿料）28.LBL1/標簽1/29.UFRAME_NUM=4/使用4號用戶坐標/30.UTOOL_NUM=4/使用4號工具坐標/JP1100%FINEJP2100%CNT100PR5,1=R1*60PR5,2=R2*60PR5,3=0PR5,4=0PR5,5=0PR5,6=040.PR4,1=R1*60PR4,2=R2*60.PR4,3=0PR4,4=0PR4,5=0PR4,6=0CALLHAND1_OPENLPR21000mm/sec

3、FINEoffset,PR4LPR21000mm/secFINEoffset,PR5CALLHAND1_CLOSE55.WAIT1.00(sec)56.LPR21000mm/secFINEoffset,PR459.JP2100%CNT100OFFSET,PR560.JP1100%FINE（到此處，機械手去料盤拿料結(jié)束）61.62.IFDI101=OFFANDDI102=OFF,JMPLBL66/DI101和DI102同時封閉，說明夾爪1上沒有料，跳轉(zhuǎn)到標簽6663.64.WAIT(DI109=ONORDI110=ON)/等候一個同意上下料信號/65.IF(DI109=ONANDDI102=ON

4、ANDDI101=OFF,CALLPART1/假如一號磨床上下料信號為ON而且一號夾爪上有料，呼喊程序part1/66.67.IF(DI110=ONANDDI102=ONANDDI101=OFF,CALLPART2/假如二號磨床上下料信號為ON而且一號夾爪上有料，呼喊程序part2/68.（此后處開始，機械手把從磨床取下的料放回料盤）UFRAME_NUM=4UTOOL_NUM=472.73.JP1100%FINEJP4100%FINELPR31000mm/secFINEOFFSET,PR4LPR3100mm/secFINEOFFSET,PR579.CALLHAND2_OPEN80.81.WAI

5、T1.00(sec)82.83.LPR31000mm/secFINEOFFSET,PR4.JP4100%FINEJP1100%FINE（到此處，機械手放料結(jié)束）86.87.R2=R2+1（Y方向計數(shù)器加1）R3=R3+1IF(R3=R5),JMPLBL99IF(R3MOD6=0),JMPLBL2JMPLBL1LBL2R1=R1+1（x方向計數(shù)器加1）R2=0（Y方向計數(shù)器清零）96.JMPLBL55LBL77UALM1（用戶報警1）LBL55101.JMPLBL1LBL99DO103=OFF/推料盤氣缸縮回/WAIT2.00secDO105=ON/電機反轉(zhuǎn)，料盤回開端位/108.WAITDI107=ON/料盤回到開端位/DO105=OFF/反轉(zhuǎn)封閉/END111.112.LBL66113.DO8