三菱机器人程序 (2)

'//////////////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=(+1.11,-60.00,+145.00,+0.00,+0.00,+86.61)
jyd=(+0.00,-60.00,+145.00,+0.00,+0.00,-90.00)
p0=(+0.00,+0.00,+20.00,+0.00,+0.00,+0.00)(0,0)
p200=(+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
p201=(+0.00,+0.00,+150.00,+0.00,+0.00,+0.00)(0,0)
p202=(+0.00,+135.00 ,+0.00,+0.00,+0.00,+0.00)(0,0)
p203=(+0.00,+0.00,+60.00,+0.00,+0.00,+0.00)(0,0)
p204=(+0.00,+20.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'////////////托盘点//////////////
p12=p11
p21=p11
p12.Y=p11.Y+12 p21.X=p11.X+12 p22.X=p11.X+12 p22.Y=p11.Y+12 p15=(Plt1,3)
p16=p15
p25=p15
p26=p15
p16.Y=p15.Y+12 p25.X=p15.X+12 p26.X=p15.X+12 p26.Y=p15.Y+12 p31=(Plt1,8)
p32=p31
p41=p31
p42=p31
p32.Y=p31.Y+12 p41.X=p31.X+12 p42.X=p31.X+12 p42.Y=p31.Y+12 p35=(Plt1,6)
p36=p35
p45=p35
p46=p35
p36.Y=p35.Y+12 p45.X=p35.X+12 p46.X=p35.X+12 p46.Y=p35.Y+12 p51=(Plt1,9)
p52=p51
p61=p51
p62=p51
p52.Y=p51.Y+12 p61.X=p51.X+12 p62.X=p51.X+12 p62.Y=p51.Y+12 p55=(Plt1,11) p56=p55
p65=p55
p66=p55
p56.Y=p55.Y+12 p65.X=p55.X+12 p66.X=p55.X+12 p66.Y=p55.Y+12 p75=(Plt1,14)
p85=p75
p86=p75
p76.Y=p75.Y+12
p85.X=p75.X+12
p86.X=p75.X+12
p86.Y=p75.Y+12
p72=p71
p81=p71
p82=p71
p72.Y=p71.Y+12
p81.X=p71.X+12
p82.X=p71.X+12
p81.Y=p71.Y+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
GoSub *ks3 '三次装机
EndIf
If M_In(6)=1 And M_05#=3Then
GoSub *ks4 '四次装机
EndIf
End
'////////////////复位程序////////////
*fw '程序复位
Ovrd80
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out5=1
m_outb(6)=0'将输出信号6-13的8个位关闭
M_00#=0
M_05#=0
M_01#=0
Return'/////////////////////////////////////
'//////////////////复位1/////////////////////
*fw1
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=0
out13=0
Mov p1
Mov p23
ovrd50
Spd400
Mvs p20-p204
Mvs p20
Dly0.2
out11=1
Dly0.2
Mvs p20+p203
out11=0
GoSub *fw4
Return'/////////////////////////// '/////////////////////// 复位2//////////// *fw2
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=0
out13=0
ovrd50
Mov p40+p201
Spd400
Mvs p40
Dly0.2
out11=1
Dly0.2
Mvs p40+p203
out11=0
GoSub *fw4
Return'///////////////////////////
'/////////////////复位3////////////////
*fw3
Ovrd70
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out12=1
out13=0
Mov p5
out12=0
ovrd51
Mov p2
Spd600
Mvs p33
Mvs p30+p200
Mvs p30
Dly0.2
Dly0.2
Mvs p30+p203
out11=0
M_05#=M_05#+1
If M_In(6)=0Then GoTo *fw4 Return'////////////////////////////// '///////////////////正常复位//////////
*fw4
Ovrd50
j1=J_Curr
j1.J2=jyd.J2
j1.J3=jyd.J3
j1.J4=jyd.J4
j1.J5=jyd.J5
Mov j1
Mov jyd
out11=0
out12=0
out13=0
out15=0
out7=0
out6=0
out14=0
Return
'///////////////////取夹具1///////////
*jj1
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Ovrd50
Mov p20+p201
Spd700
Mov p20+p203
Spd300
out11=1
Mvs p20
Dly0.2
out11=0
Dly0.2
Mvs p20+p200
p23=P_Curr
Mvs p23-p204
p23=P_Curr
Mvs p23+p201
p23=P_Curr
'///////////////////取夹具2//////////
*jj2
Spd400
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Mvs p40+p203
out11=1
Mvs p40
Dly0.2
out11=0
Dly0.2
Spd600
Mvs p40+p201
Mvs p210+p203
Spd400
Mvs p210
out13=1
Mvs p221
Mvr p221,p220,p219
Mvs p218
Mvr p218,p217,p216
Mvs p215
Mvr p215,p214,p213
Mvs p212
Mvr p212,p211,p210
out13=0
out6=1
Spd600
Mvs p210+p201
out6=0
Mvs p40+p201
Spd400
Mvs p40
Dly0.2
out11=1
Dly0.2
Mvs p40+p203
out6=1
Dly0.2
out6=0
Return
'///////////////////取夹具3////////////////// *jj3
Wait M_In(10)=0
Wait M_In(11)=0
Wait M_In(13)=0
Spd400
Mvs p30+p203
out11=1
Spd300
Mvs p30
Dly0.2
out11=0
Dly0.2
Spd400
Mvs p30+p200
p33=P_Curr
Mvs p33-p202
p33=P_Curr
Mvs p33+p201
Return
'///////////////////去取盖//////////////////
*qg
Ovrd50
Mov p5
Mov p5
Mov p7
Wait M_In(7)=1
out12=1
out13=0
Mov p8+p0
out12=0
Spd200
Mvs p8
Dly0.2
out13=1
Dly0.2
out15=1
Dly0.5
'/////////////////入仓库///////////////////
If M_In(8)=1Then GoTo *ck2 Else GoTo *ck1 '判断颜色Return
*ck2 '//////////////////////////////////////////////白色盖GoSub *jg
Ovrd40
Mov p231+p201
Spd200
If M_In(15)=1 And M_00#>3Then
out10=1
Wait M_Out(10)=0
EndIf
If M_00#=0Then'第一层
If M_In(15)=1Then
Mov p6
EndIf
Wait M_In(15)=0
Mov p231+p201
Spd200
Mvs p231
EndIf
If M_In(15)=1 And M_00#=1Then'第二层Mvs p231+p0
EndIf
If M_In(15)=1 And M_00#=2Then'第三层
Mvs p231+p203
EndIf
If M_In(15)=1 And M_00#=3Then'第四层
Mvs p231+p203+p0
EndIf
Dly0.2
out13=0
out12=1
Mvs p231+p201
out8=1'入库完成GoSub *fw3
out8=0
M_00#=M_00#+1
Return
*ck1 '///////////////////////////////////////////////黑色盖GoSub *jg
Ovrd40
Mov p240+p201
Spd200
If M_In(14)=1 And M_01#>3Then
out9=1
Wait M_Out(9)=0
M_01#=0
EndIf
If M_01#=0Then'第一层
If M_In(14)=1Then
Mov p6
EndIf
Wait M_In(14)=0
Mov p240+p201
Spd200
EndIf
If M_In(14)=1 And M_01#=1Then'第二层
Mvs p240+p0
EndIf
If M_In(14)=1 And M_01#=2Then'第三层
Mvs p240+p203
EndIf
If M_In(14)=1 And M_01#=3Then'第四层
Mvs p240+p203+p0
EndIf
Dly0.2
out13=0
out12=1
Mvs p240+p201
out8=1'入库完成GoSub *fw3
out8=0
M_01#=M_01#+1
Return
'////////////////////去加盖//////////////////////
*jg
Mvs p8+p203
Ovrd50
Mov p7
Mov p6
Mov p9
Mov p10+p0
Spd200
Mvs p10
Dly0.2
out7=1
Dly0.2
out7=0
Mvs p10+p0
Ovrd50
Mov p9
Mov p6
Return
'//////////////////////////一次装机//////////////////////////
*ks1
out5=0
out6=0
out7=0
out8=0
out14=0
GoSub *jj1
'/////////////////////装1和2键//////////////////////////// Ovrd50
Mov p3
Ovrd70
Mov p11+p0
Spd200
Mvs p11
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p11+p0
Mov p3
Mov p104+p0
Spd200
Mvs p104
Dly0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly0.2
out12=0
Ovrd70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键///////////////////// Mov p15+p0
Spd200
Mvs p15
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p15+p0
Mov p3
Mov p105+p0
Spd200
Mvs p105
Dly0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
out13=0
Ovrd70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键/////////////// Mov p31+p0
Spd200
Mvs p31
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p31+p0
Mov p3
Mov p108+p0
Spd200
Mvs p108
Dly0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly0.2
out12=0
Ovrd70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键///////////////////// Mov p35+p0
Spd200
Mvs p35
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p35+p0
Mov p3
Mov p109+p0
Spd200
Mvs p109
Dly0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
out13=0
Ovrd70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键/////////////// Mov p51+p0
Spd200
Mvs p51
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p51+p0
Mov p3
Mov p112+p0
Spd200
Mvs p112
Dly0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly0.2
out12=0
Ovrd70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键////////////////// Mov p55+p0
Spd200
Mvs p55
out12=1
Dly0.2
Ovrd70
Mvs p55+p0
Mov p3
Mov p113+p0
Spd200
Mvs p113
Dly0.2
out12=0
Ovrd70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Spd200
Mvs p71
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p71+p0
Mov p3
Mov p114+p0
Spd200
Mvs p114
Dly0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly0.2
out13=0
Ovrd70
Mvs p100+p0
Mov p3
'//////////////////////装挂机键////////////////// Mov p75+p0
Spd200
Mvs p75
out12=1
Dly0.2
Ovrd70
Mvs p75+p0
Mov p3
Mov p102+p0
Spd200
Mvs p102
Dly0.2
out12=0
Ovrd70
Mvs p102+p0
Mov p3
'/////////////////////////装方向键///////////////// Mov p50+p0
Spd200
Mvs p50
out12=1
Dly0.2
Ovrd70
Mov p3
Mov p101+p0
Spd200
Mvs p101
Dly0.2
out12=0
Ovrd70
Mvs p101+p203
out6=1
'/////////////////////////放回夹具1////////////
Ovrd50
Mov p23
Spd450
Mvs p20-p204
out6=0
Spd400
Mvs p20
Dly0.2
out11=1
Dly0.2
Mvs p20+p203
out6=1
Dly0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
Return
'//////////////////////////二次装机////////////////////////// *ks2
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键//////////////////////////// Ovrd50
Mov p3
Ovrd70
Mov p12+p0
Spd200
Mvs p12
out12=1
Dly0.2
Ovrd70
Mvs p12+p0
Mov p3
Mov p104+p0
Spd200
Mvs p104
Dly0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly0.2
out12=0
Ovrd70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键///////////////////// Mov p16+p0
Spd200
Mvs p16
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p16+p0
Mov p3
Mov p105+p0
Spd200
Mvs p105
Dly0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly0.2
out13=0
Ovrd70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键/////////////// Mov p32+p0
Spd200
Mvs p32
out12=1
Dly0.2
Ovrd70
Mvs p32+p0
Mov p3
Mov p108+p0
Spd200
Mvs p108
Dly0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly0.2
out12=0
Ovrd70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键///////////////////// Mov p36+p0
Spd200
Mvs p36
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p36+p0
Mov p3
Mov p109+p0
Spd200
Mvs p109
Dly0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly0.2
out13=0
Ovrd70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键/////////////// Mov p52+p0
Spd200
Mvs p52
out12=1
Dly0.2
Ovrd70
Mvs p52+p0
Mov p3
Mov p112+p0
Spd200
Mvs p112
Dly0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly0.2
out12=0
Ovrd70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键////////////////// Mov p56+p0
Spd200
Mvs p56
out12=1
Dly0.2
Ovrd70
Mvs p56+p0
Mov p3
Mov p113+p0
Spd200
Mvs p113
Dly0.2
out12=0
Ovrd70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Mov p72+p0
Spd200
Mvs p72
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p72+p0
Mov p3
Mov p114+p0
Mvs p114
Dly0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly0.2
out13=0
Ovrd70
Mvs p100+p0
Mov p3
'//////////////////////装挂机键////////////////// Mov p76+p0
Spd200
Mvs p76
out12=1
Dly0.2
Ovrd70
Mvs p76+p0
Mov p3
Mov p102+p0
Spd200
Mvs p102
Dly0.2
out12=0
Ovrd70
Mvs p102+p0
Mov p3
'/////////////////////////装方向键///////////////// Mov p60+p0
Spd200
Mvs p60
out12=1
Dly0.2
Ovrd70
Mvs p60+p0
Mov p3
Mov p101+p0
Spd200
Mvs p101
Dly0.2
out12=0
Ovrd70
Mvs p101+p203
out6=1
'/////////////////////////放回夹具1////////////
Ovrd50
Mov p23
Spd450
Mvs p20-p204
out6=0
Spd400
Mvs p20
Dly0.2
out11=1
Dly0.2
Mvs p20+p203
out6=1
Dly0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
Return
'//////////////////////////三次装机////////////////////////// *ks3
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键//////////////////////////// Ovrd50
Mov p3
Ovrd70
Mov p21+p0
Spd200
Mvs p21
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p21+p0
Mov p3
Mov p104+p0
Spd200
Mvs p104
Dly0.2
out13=0
Mvs p103+p0
Mvs p103
Dly0.2
out12=0
Ovrd70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键///////////////////// Mov p25+p0
Spd200
Mvs p25
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p25+p0
Mov p3
Mov p105+p0
Spd200
Mvs p105
Dly0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly0.2
out13=0
Ovrd70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键/////////////// Mov p41+p0
Spd200
Mvs p41
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p41+p0
Mov p3
Mov p108+p0
Spd200
Mvs p108
Dly0.2
out13=0
Mvs p107+p0
Mvs p107
Dly0.2
out12=0
Ovrd70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键///////////////////// Mov p45+p0
Spd200
Mvs p45
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p45+p0
Mov p3
Mov p109+p0
Spd200
Mvs p109
Dly0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly0.2
out13=0
Ovrd70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键/////////////// Mov p61+p0
Spd200
Mvs p61
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p61+p0
Mov p3
Mov p112+p0
Spd200
Mvs p112
Dly0.2
out13=0
Mvs p111+p0
Mvs p111
Dly0.2
out12=0
Ovrd70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键////////////////// Mov p65+p0
Spd200
Mvs p65
out12=1
Dly0.2
Ovrd70
Mvs p65+p0
Mov p3
Mov p113+p0
Spd200
Mvs p113
Dly0.2
out12=0
Ovrd70
Mvs p113+p0
Mov p3
'//////////////////#和接听键////////////////
Mov p81+p0
Spd200
Mvs p81
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p81+p0
Mov p3
Mov p114+p0
Spd200
Mvs p114
Dly0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly0.2
out13=0
Ovrd70
Mov p3
'//////////////////////装挂机键////////////////// Mov p85+p0
Spd200
Mvs p85
out12=1
Dly0.2
Ovrd70
Mvs p85+p0
Mov p3
Mov p102+p0
Spd200
Mvs p102
Dly0.2
out12=0
Ovrd70
Mvs p102+p0
Mov p3
'/////////////////////////装方向键///////////////// Mov p70+p0
Spd200
Mvs p70
out12=1
Dly0.2
Ovrd70
Mvs p70+p0
Mov p3
Mov p101+p0
Spd200
Mvs p101
Dly0.2
out12=0
Ovrd70
Mvs p101+p203
out6=1
'/////////////////////////放回夹具1//////////// Ovrd50
Mov p23
Spd450
Mvs p20-p204
out6=0
Spd400
Mvs p20
Dly0.2
out11=1
Mvs p20+p203
out6=1
Dly0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
Return
'//////////////////////////四次装机////////////////////////// *ks4
out5=0
out6=0
out7=0
out8=0
out14=0
out15=0
GoSub *jj1
'/////////////////////装1和2键//////////////////////////// Ovrd50
Mov p3
Ovrd70
Mov p22+p0
Spd200
Mvs p22
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p22+p0
Mov p3
Mov p104+p0
Spd200
Mvs p104
Dly0.2
out13=0
Mvs p104+p0
Mvs p103+p0
Mvs p103
Dly0.2
out12=0
Ovrd70
Mvs p103+p0
Mov p3
'/////////////////////// 装3和*键///////////////////// Mov p26+p0
Mvs p26
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p26+p0
Mov p3
Mov p105+p0
Spd200
Mvs p105
Dly0.2
out12=0
Mvs p105+p0
Mvs p106+p0
Mvs p106
Dly0.2
out13=0
Ovrd70
Mvs p106+p0
Mov p3
'/////////////////////////// 装4和5键/////////////// Mov p42+p0
Spd200
Mvs p42
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p42+p0
Mov p3
Mov p108+p0
Spd200
Mvs p108
Dly0.2
out13=0
Mvs p108+p0
Mvs p107+p0
Mvs p107
Dly0.2
out12=0
Ovrd70
Mvs p107+p0
Mov p3
'/////////////////////// 装6和0键///////////////////// Mov p46+p0
Mvs p46
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p46+p0
Mov p3
Mov p109+p0
Spd200
Mvs p109
Dly0.2
out12=0
Mvs p109+p0
Mvs p110+p0
Mvs p110
Dly0.2
out13=0
Ovrd70
Mvs p110+p0
Mov p3
'/////////////////////////// 装7和8键/////////////// Mov p62+p0
Spd200
Mvs p62
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p62+p0
Mov p3
Mov p112+p0
Spd200
Mvs p112
Dly0.2
out13=0
Mvs p112+p0
Mvs p111+p0
Mvs p111
Dly0.2
out12=0
Ovrd70
Mvs p111+p0
Mov p3
'/////////////////////////////装9键////////////////// Mov p66+p0
Mvs p66
out12=1
Dly0.2
Ovrd70
Mvs p66+p0
Mov p3
Mov p113+p0
Spd200
Mvs p113
Dly0.2
out12=0
Ovrd70
Mvs p113+p0
Mov p3
'//////////////////#和接听键//////////////// Mov p82+p0
Spd200
Mvs p82
out12=1
out13=1
Dly0.2
Ovrd70
Mvs p82+p0
Mov p3
Mov p114+p0
Spd200
Mvs p114
Dly0.2
out12=0
Mvs p114+p0
Mvs p100+p0
Mvs p100
Dly0.2
out13=0
Ovrd70
Mvs p100+p0
Mov p3
'//////////////////////装挂机键////////////////// Mov p86+p0
Spd200
Mvs p86
out12=1
Dly0.2
Ovrd70
Mvs p86+p0
Mov p102+p0
Spd200
Mvs p102
Dly0.2
out12=0
Ovrd70
Mvs p102+p0
Mov p3
'////////////////////////装方向键///////////////// Mov p80+p0
Spd200
Mvs p80
out12=1
Dly0.2
Ovrd70
Mvs p80+p0
Mov p3
Mov p101+p0
Spd200
Mvs p101
Dly0.2
out12=0
Ovrd70
Mvs p101+p203
out14=1
out6=1
'/////////////////////////放回夹具1//////////// Ovrd50
Mov p23
Spd450
Mvs p20-p204
out14=0
out6=0
Spd400
Mvs p20
Dly0.2
out11=1
Dly0.2
Mvs p20+p203
out6=1
Dly0.2
out6=0
GoSub *jj2
GoSub *jj3
GoSub *qg
p0=(0.000,0.000,20.000,0.000,0.000,0.000)(0,0)
p2=(-154.670,138.600,418.830,177.240,-2.220,93.990)(7,0)
p5=(113.400,122.320,483.400,179.140,-0.790,-30.240)(7,0)
p6=(91.280,-217.830,438.810,179.750,-0.930,-178.790)(7,0)
p7=(-153.020,-262.020,392.510,179.750,-0.940,-179.930)(7,0)
p8=(-162.480,-443.610,267.820,178.830,0.490,-178.740)(7,0)
p9=(233.070,55.460,418.420,179.750,-0.930,2.420)(7,0)
p10=(265.110,215.710,271.730,-179.910,0.310,0.970)(7,0)
p30=(-168.010,276.940,192.890,179.680,0.290,92.220)(7,0)
p33=(-163.270,151.470,194.950,179.480,-0.120,91.250,0.000,0.000)(7,0) p40=(-47.200,277.180,194.360,179.960,0.340,92.160)(7,0)
p200=(0.000,0.000,5.000,0.000,0.000,0.000)(0,0)
p201=(0.000,0.000,150.000,0.000,0.000,0.000)(0,0)
p202=(0.000,135.000,0.000,0.000,0.000,0.000)(0,0)
p203=(0.000,0.000,60.000,0.000,0.000,0.000)(0,0)
p204=(0.000,20.000,0.000,0.000,0.000,0.000)(0,0)
p231=(144.270,-417.110,248.130,179.740,-0.910,-178.230)(7,0)
p240=(5.860,-417.110,248.800,179.740,-0.910,-178.230)(7,0)
j1=(0.000,-60.000,145.000,0.000,0.000,-90.000)
jyd=(0.000,-60.000,145.000,0.000,0.000,-90.000)。