三菱机器人程序
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三菱机器人程序 Prepared on 24 November 2020
'//////////////定义输入////////////
Def Io in0=Bit,0
Def Io in1=Bit,1
Def Io in3=Bit,3
Def Io in4=Bit,4
Def Io in5=Bit,5
Def Io in6=Bit,6
Def Io in7=Bit,7
Def Io in8=Bit,8
Def Io in9=Bit,9
Def Io in10=Bit,10
Def Io in11=Bit,11
Def Io in12=Bit,12
Def Io in13=Bit,13
Def Io in14=Bit,14
Def Io in15=Bit,15
'///////////////定义/输出//////////
Def Io out0=Bit,0
Def Io out1=Bit,1
Def Io out3=Bit,3
Def Io out4=Bit,4
Def Io out5=Bit,5
Def Io out6=Bit,6
Def Io out7=Bit,7
Def Io out8=Bit,8
Def Io out9=Bit,9
Def Io out10=Bit,10
Def Io out11=Bit,11
Def Io out12=Bit,12
Def Io out13=Bit,13
Def Io out14=Bit,14
Def Io out15=Bit,15
'//////////////定义变量//////////////
Def Jnt jyd '定义安全点Def Plt1,p11,p17,p71,p77,4,4,1'定义托盘点j1=(+,,+,+,+,+
jyd=(+,,+,+,+,
p0=(+,+,+,+,+,+(0,0)
p200=(+,+,+,+,+,+(0,0)
p201=(+,+,+,+,+,+(0,0)
p202=(+,+ ,+,+,+,+(0,0)
p203=(+,+,+,+,+,+(0,0)
p204=(+,+,+,+,+,+(0,0)
'////////////托盘点//////////////
p12=p11
p21=p11
=+12
=+12
=+12
=+12
p15=(Plt1,3) p16=p15
p25=p15
p26=p15
=+12
=+12
=+12
=+12
p31=(Plt1,8) p32=p31
p41=p31
p42=p31
=+12
=+12
=+12
=+12
p35=(Plt1,6) p36=p35
p45=p35
p46=p35
=+12
=+12
=+12
=+12
p51=(Plt1,9) p52=p51
p61=p51
p62=p51
=+12
=+12
=+12
=+12
p55=(Plt1,11) p56=p55
p65=p55
p66=p55
=+12
=+12
=+12
=+12
p75=(Plt1,14)
p85=p75
p86=p75
=+12
=+12
=+12
=+12
p72=p71
p81=p71
p82=p71
=+12
=+12
=+12
=+12
'///////////////判断/////////////
If M_In(9)=1 And M_In(10)=0Then'判断3个夹具是否在原位If M_In(11)=0 And M_In(13)=0Then
GoSub *fw '程序fw
EndIf
EndIf
If M_In(9)=1 And M_In(10)=1Then'判断1夹具是否在原位If M_In(11)=0 And M_In(13)=0Then
GoSub *fw1 '夹具1复位
EndIf
EndIf
If M_In(9)=1 And M_In(10)=0Then'判断夹具2是否在原位If M_In(11)=1 And M_In(13)=0Then
GoSub *fw2 '夹具2复位
EndIf
EndIf
If M_In(9)=1 And M_In(10)=0Then'判断夹具3是否在原位
If M_In(11)=0 And M_In(13)=1Then
GoSub *fw3 '夹具3复位
EndIf
EndIf
If M_05#>3Then
out14=1
M_05#=0
EndIf
If M_In(6)=1 And M_05#=0Then
GoSub *ks1 '一次装机
EndIf
If M_In(6)=1 And M_05#=1Then
GoSub *ks2 '二次装机
EndIf
If M_In(6)=1 And M_05#=2Then