川崎机器人程序示例

PROGRAM a()#0;左小车

HOME

SWAIT 39

RESET

ra = 1

100 HOME

JMOVE point0

LMOVE point1

LMOVE point2

LMOVE waitpoint;抓件等待点

POINT #pickfront = SHIFT(pickpoint BY 0,200.5*(ra-1),500) ;抓件上方点计算公式 LMOVE #pickfront;抓件上方点

SPEED 10

POINT #picka = SHIFT(pickpoint BY 0,200*(ra-1),0) ;抓件点计

LMOVE #picka;抓件点

TWAIT 1

SIGNAL 1

SPEED 20

LAPPRO #picka,500 ;抓件后上升位

LMOVE point3

SPEED 40

LMOVE point4

LMOVE point5

SPEED 50

LMOVE waitplace

TWAIT 1

CALL correct

LMOVE waitpoint2;放件等待点

POINT #placefront = SHIFT(placepoint BY 0,200*(ra-1),80)

LMOVE #placefront;放件上方点

SPEED 10

POINT #place = SHIFT(placepoint BY 0,200*(ra-1),0)

LMOVE #place;放件点

TWAIT 1

SIGNAL -1

SPEED 20

LAPPRO #place,120

LMOVE point30

ra = ra+1

IF ra<=5 THEN

GOTO 100

ELSE

GOTO 200

200 ra = 1

END

PULSE 51,1.5

HOME

.END

.PROGRAM b()#0;左小车

HOME

SWAIT 39

RESET

rb = 1

LMOVE pointb2

LMOVE waitpointb

POINT #pickfrontb = SHIFT(pickpointb BY 0,200*(rb-1),400) LMOVE #pickfrontb

SPEED 10

POINT #pickb = SHIFT(pickpointb BY 0,200*(rb-1),0)

LMOVE #pickb

TWAIT 1

SIGNAL 1

SPEED 20

LAPPRO #pickb,500

LMOVE pointb3

SPEED 40

LMOVE pointb4

LMOVE pointb5

SPEED 50

LMOVE waitplace

TWAIT 1

CALL correct

LMOVE waitpoint2;放件等待点

POINT #placefront = SHIFT(placepoint BY 200*(rb-1),0,80) LMOVE #placefront;放件上方点

SPEED 10

POINT #place = SHIFT(placepoint BY 200*(rb-1),0,0)

LMOVE #place;放件点

TWAIT 1

SIGNAL -1

SPEED 20

LAPPRO #place,120

LMOVE point30

rb = rb+1

IF rb<=5 THEN

GOTO 100

ELSE

GOTO 200

200 rb = 1

END

PULSE 51,1.5

HOME

.END

.PROGRAM correct()#0

LMOVE waitplace

SPEED 20

LMOVE p1acepoint

TWAIT 1

SWAIT 1004

SIGNAL -1

LMOVE point06

LMOVE point6

SPEED 40

LMOVE point7

TWAIT 1

SIGNAL 1

SWAIT 1001,1002,1003

LMOVE point9

LMOVE point10

LMOVE point12

LMOVE point14

.END

.PROGRAM home()#0

HOME

.END

.PROGRAM main()#0

CALL home

CALL pg30

.END

.PROGRAM pg10()#2

HOME

SWAIT 39

RESET

ra = 1

100 HOME

JMOVE point0

LMOVE point1

LMOVE point2

LMOVE waitpoint

POINT #pickfront = SHIFT(pickpoint BY 0,200.5*(ra-1),500) LMOVE #pickfront

SPEED 10

POINT #picka = SHIFT(pickpoint BY 0,200*(ra-1),0)

LMOVE #picka

TWAIT 1

SIGNAL 1

SPEED 20

LAPPRO #picka,500

LMOVE point3

SPEED 40

LMOVE point4

LMOVE point5

SPEED 50

LMOVE waitplace

TWAIT 1

ra = ra+1

IF ra<=5 THEN

GOTO 100

ELSE

GOTO 200

200 ra = 1

END

PULSE 51,1.5

HOME

.END

;抓件上方点计算公式

件点计算公式

件后上升位