机器人搬运程序

/PROG PNS0001
/ATTR
OWNER = MNEDITOR;
COMMENT = "232";
PROG_SIZE = 4427;
CREATE = DATE 11-08-25 TIME 12:46:30;
MODIFIED = DATE 11-08-26 TIME 09:47:14;
FILE_NAME = PNS0001;
VERSION = 0;
LINE_COUNT = 178;
MEMORY_SIZE = 4839;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
/MN
1: OVERRIDE=20% ;
2: ;
3: UFRAME_NUM=0 ;
4: UTOOL_NUM=2 ;
5: ;
6: WAIT UO[7:At perch]=ON ;
7: WAIT RI[1:CLAMP A OPEN LIM]=ON AND RI[2:CLAMP B OPEN LIM]=ON ;
8: ;
9:J P[1:REF] 30% FINE ;
10: R[1:ENLARGER FLAG]=0 ;
11: !---GO TO CONVEY--- ;
12: ;
13: LBL[10] ;
14: ;
15: IF UI[4:Cycle stop]=ON,JMP LBL[100] ;
16: ;
17: WAIT DI[41:CONVEY No1 DOWN OK]=ON OR DI[46:CONVEY No2 DOWN OK]=ON OR
: DI[47:CONVEY No3 DOWN OK]=ON TIMEOUT,LBL[10] ;
18: CALL CV ;
19: LBL[20] ;
20: ;
21: IF R[1:ENLARGER FLAG]=1,JMP LBL[22] ;
22: ;
23: !---UPLOAD TO ENLARGER--- ;
24: ;
25: LBL[21] ;
26:J P[4] 100% CNT100 ;
27: WAIT DI[43:ENLARGER UP OK]=ON ;
28: ;
29:J P[10] 100% CNT50 ;
30:L P[11] 4000mm/sec FINE ;
31:L P[18] 4000mm/sec FINE ;
32: WAIT .30(sec) ;
33: RO[1:CLAMP A OPEN]=ON ;
34: WAIT RI[1:CLAMP A OPEN LIM]=ON ;
35: ;
36:J P[12] 100% CNT100 ;
37:J P[3] 100% CNT100 ;
38: R[1:ENLARGER FLAG]=1 ;
39: DO[45:ENLARGER UP DONE]=PULSE,2.0sec ;
40: ;
41: WAIT DI[41:CONVEY No1 DOWN OK]=ON OR DI[46:CONVEY No2 DOWN OK]=ON OR
: DI[47:CONVEY No3 DOWN OK]=ON TIMEOUT,LBL[10] ;
42: CALL CV ;
43: LBL[22] ;
44: ;
45: WAIT DI[42:ENLARGER DOWN OK]=ON ;
46:L P[7] 4000mm/sec CNT30 ;
47:L P[8] 4000mm/sec FINE ;
48:L P[9] 4000mm/sec FINE ;
49: RO[4:CLAMP B CLOSE]=ON ;
50: WAIT .30(sec) ;
51:L P[19] 4000mm/sec CNT70 ;
52:L P[2] 800mm/sec FINE ;
53: ;
54: WAIT DI[43:ENLARGER UP OK]=ON ;
55: ;
56: R[1:ENLARGER FLAG]=0 ;
57: DO[48:ENLARGER DL DONE]=PULSE,1.0sec ;
58:J P[10] 100% CNT100 ;
59: ;
60:J P[20] 100% FINE ;
61:L P[22] 4000mm/sec FINE ;
62: ;
63: RO[1:CLAMP A OPEN]=ON ;
64: WAIT RI[1:CLAMP A OPEN LIM]=ON ;
65:J P[12] 100% CNT100 ;
66: ;
67: R[1:ENLARGER FLAG]=1 ;
68: DO[45:ENLARGER UP DONE]=PULSE,2.0sec ;
69: ;
70:L P[17] 4000mm/sec CNT100 ;
71: ;
72: !---COARSE SELECT--- ;
73: ;
74: LBL[25] ;
75:J P[21] 100% CNT100 ;
76:L P[21] 4000mm/sec CNT100 ;
77: ;
78: IF DO[27:COARSE B FIRST]=ON,JMP LBL[30] ;
79: IF DO[26:COARSE A FIRST ]=ON,JMP LBL[40] ;
80: ;
81: JMP LBL[25] ;
82: ;
83: ;
84: !---GO TO COARSE B--- ;
85: ;
86: LBL[30] ;
87:

;
88:L P[31] 4000mm/sec CNT100 ;
89:L P[24] 4000mm/sec CNT70 ;
90:L P[25] 4000mm/sec FINE ;
91:L P[26] 4000mm/sec FINE ;
92: ;
93: WAIT .30(sec) ;
94: RO[3:CLAMP B OPEN]=ON ;
95: WAIT RI[2:CLAMP B OPEN LIM]=ON ;
96: ;
97:L P[27] 4000mm/sec CNT30 ;
98:L P[28] 4000mm/sec CNT100 ;
99: ;
100: IF DO[25:VERIFICATION MODE]=ON,JMP LBL[105] ;
101: ;
102: DO[47:COARSE B UP DONE]=PULSE,2.0sec ;
103: ;
104:L P[31] 4000mm/sec CNT100 ;
105:J P[5] 100% CNT100 ;
106: ;
107:L P[6] 800mm/sec FINE ;
108: IF UI[4:Cycle stop]=ON,JMP LBL[100] ;
109: ;
110: JMP LBL[10] ;
111: ;
112: ;
113: !---GO TO COARSE A--- ;
114: ;
115: LBL[40] ;
116: ;
117:L P[31] 4000mm/sec CNT100 ;
118:L P[32] 4000mm/sec CNT70 ;
119:L P[33] 4000mm/sec FINE ;
120:L P[34] 4000mm/sec FINE ;
121: ;
122: WAIT .30(sec) ;
123: RO[3:CLAMP B OPEN]=ON ;
124: WAIT RI[2:CLAMP B OPEN LIM]=ON ;
125: ;
126:L P[35] 4000mm/sec CNT30 ;
127:L P[36] 4000mm/sec CNT100 ;
128: ;
129: IF DO[25:VERIFICATION MODE]=ON,JMP LBL[105] ;
130: ;
131: DO[46:COARSE A UP DONE]=PULSE,2.0sec ;
132: ;
133:L P[31] 4000mm/sec CNT100 ;
134:J P[5] 100% CNT100 ;
135:J P[3] 100% CNT100 ;
136: ;
137: IF UI[4:Cycle stop]=ON,JMP LBL[100] ;
138: ;
139: JMP LBL[10] ;
140: ;
141: !---CYCLE STOP--- ;
142: ;
143: LBL[100] ;
144: ;
145: IF R[1:ENLARGER FLAG]=1,JMP LBL[101] ;
146: JMP LBL[102] ;
147: ;
148: LBL[101] ;
149: ;
150:L P[13] 4000mm/sec CNT70 ;
151: ;
152: WAIT DI[42:ENLARGER DOWN OK]=ON ;
153: ;
154:L P[14] 4000mm/sec CNT30 ;
155:L P[15] 4000mm/sec FINE ;
156: ;
157: WAIT .30(sec) ;
158: RO[4:CLAMP B CLOSE]=ON ;
159: WAIT .30(sec) ;
160: ;
161:L P[16] 4000mm/sec CNT30 ;
162: ;
163: R[1:ENLARGER FLAG]=0 ;
164: DO[48:ENLARGER DL DONE]=PULSE,2.0sec ;
165: ;
166: JMP LBL[30] ;
167: ;
168: LBL[102] ;
169:L P[39:REF] 2000mm/sec FINE ;
170: END ;
171: ;
172: !---VERIFICATION ROUTE--- ;
173: ;
174: LBL[105] ;
175: ;
176:L P[31] 4000mm/sec CNT100 ;
177:L P[42:REF] 4000mm/sec FINE ;
178: END ;
/POS
P[1:"REF"]{
GP1:
UF : 0, UT : 2,
J1= 150.827 deg, J2= 5.495 deg, J3= -18.803 deg,
J4= -118.334 deg, J5= -33.754 deg, J6= 303.954 deg
};
P[2]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -197.203 mm, Y = 1583.270 mm, Z = 672.616 mm,
W = 178.725 deg, P = -.184 deg, R = -27.546 deg
};
P[3]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 156.610 mm, Y = 1296.547 mm, Z = 356.170 mm,
W = -179.966 deg, P = -.009 deg, R = -54.044 deg
};
P[4]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -1179.934 mm, Y = 794.756 mm, Z = 1058.025 mm,
W = -126.796 deg, P =

89.121 deg, R = 36.612 deg
};
P[5]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 564.799 mm, Y = 1279.438 mm, Z = 420.682 mm,
W = -179.965 deg, P = .001 deg, R = -178.663 deg
};
P[6]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -257.248 mm, Y = 982.772 mm, Z = 766.641 mm,
W = -156.241 deg, P = 88.124 deg, R = -18.248 deg
};
P[7]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 204.324 mm, Y = 1115.662 mm, Z = 630.813 mm,
W = 178.952 deg, P = -.090 deg, R = -80.380 deg
};
P[8]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 88.740 mm, Y = 1452.425 mm, Z = 80.157 mm,
W = 178.952 deg, P = -.090 deg, R = -31.679 deg
};
P[9]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -192.211 mm, Y = 1587.553 mm, Z = 100.166 mm,
W = 178.708 deg, P = -.166 deg, R = -27.491 deg
};
P[10]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -478.764 mm, Y = 1235.797 mm, Z = 820.124 mm,
W = 179.996 deg, P = -.072 deg, R = 56.496 deg
};
P[11]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -495.562 mm, Y = 1253.040 mm, Z = 529.362 mm,
W = 179.849 deg, P = .475 deg, R = 54.735 deg
};
P[12]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -684.107 mm, Y = 965.274 mm, Z = 271.101 mm,
W = 179.996 deg, P = -.073 deg, R = 56.496 deg
};
P[13]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 120.657 mm, Y = 1185.804 mm, Z = 288.231 mm,
W = -179.866 deg, P = .039 deg, R = -55.181 deg
};
P[14]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 86.094 mm, Y = 1450.005 mm, Z = 95.133 mm,
W = -179.741 deg, P = -.279 deg, R = -15.995 deg
};
P[15]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -12.787 mm, Y = 1468.669 mm, Z = 87.000 mm,
W = -179.810 deg, P = -.524 deg, R = -11.209 deg
};
P[16]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -12.787 mm, Y = 1468.669 mm, Z = 630.000 mm,
W = -179.810 deg, P = -.524 deg, R = -11.209 deg
};
P[17]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -718.345 mm, Y = 995.469 mm, Z = 277.352 mm,
W = -179.779 deg, P = -.235 deg, R = 53.359 deg
};
P[18]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -478.764 mm, Y = 1235.797 mm, Z = 271.101 mm,
W = 179.996 deg, P = -.073 deg, R = 56.496 deg
};
P[19]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -197.202 mm, Y = 1583.270 mm, Z = 308.622 mm,
W = 178.725 deg, P = -.184 deg, R = -27.546 deg
};
P[20]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -478.730 mm, Y = 1231.396 mm, Z = 492.263 mm,
W = 179.995 deg, P = -.070 deg, R = 56.495 deg
};
P[21]{
GP1:
UF : 0

, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 729.872 mm, Y = 362.294 mm, Z = 550.000 mm,
W = 180.000 deg, P = -.000 deg, R = 90.000 deg
};
P[22]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = -478.729 mm, Y = 1231.396 mm, Z = 183.143 mm,
W = 179.995 deg, P = -.070 deg, R = 56.495 deg
};
P[24]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1123.552 mm, Y = 924.219 mm, Z = 200.000 mm,
W = -90.000 deg, P = -90.000 deg, R = 0.000 deg
};
P[25]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1291.324 mm, Y = 1303.563 mm, Z = 39.864 mm,
W = -7.270 deg, P = -89.168 deg, R = -82.644 deg
};
P[26]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1291.325 mm, Y = 1303.563 mm, Z = -80.903 mm,
W = -7.270 deg, P = -89.168 deg, R = -82.645 deg
};
P[27]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1296.645 mm, Y = 1278.531 mm, Z = -39.217 mm,
W = -7.067 deg, P = -89.123 deg, R = -82.844 deg
};
P[28]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1168.188 mm, Y = 924.219 mm, Z = 200.000 mm,
W = -90.000 deg, P = -90.000 deg, R = 0.000 deg
};
P[31:""]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1285.962 mm, Y = 291.195 mm, Z = 549.959 mm,
W = -179.999 deg, P = -.001 deg, R = 141.849 deg
};
P[32]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 1227.615 mm, Y = -813.105 mm, Z = 121.006 mm,
W = 90.000 deg, P = -90.000 deg, R = 0.000 deg
};
P[33]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 1344.116 mm, Y = -1275.370 mm, Z = -92.577 mm,
W = -30.047 deg, P = -89.961 deg, R = 119.572 deg
};
P[34]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 1349.014 mm, Y = -1270.100 mm, Z = -120.000 mm,
W = -30.385 deg, P = -89.963 deg, R = 119.909 deg
};
P[35]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 0',
X = 1354.705 mm, Y = -1280.615 mm, Z = -69.971 mm,
W = -30.338 deg, P = -89.961 deg, R = 119.766 deg
};
P[36]{
GP1:
UF : 0, UT : 2, CONFIG : 'N U T, 0, 0, 1',
X = 1227.615 mm, Y = -813.105 mm, Z = 121.006 mm,
W = 90.000 deg, P = -90.000 deg, R = 0.000 deg
};
P[39:"REF"]{
GP1:
UF : 0, UT : 2,
J1= -.000 deg, J2= -25.000 deg, J3= -45.000 deg,
J4= -.000 deg, J5= -45.000 deg, J6= 90.000 deg
};
P[42:"REF"]{
GP1:
UF : 0, UT : 2,
J1= -.000 deg, J2= -25.000 deg, J3= -45.000 deg,
J4= -.000 deg, J5= -45.000 deg, J6= 90.000 deg
};
/END