三菱机器人程序

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1、word资料下载可编辑'//////////////定义输入////////////DefIoin0=Bit,0DefIoin1=Bit,1DefIoin3=Bit,3DefIoin4=Bit,4DefIoin5=Bit,5DefIoin6=Bit,6DefIoin7=Bit,7DefIoin8=Bit,8DefIoin9=Bit,9DefIoin10=Bit,10DefIoin11=Bit,11DefIoin12=Bit,12DefIoin13=Bit,13DefIoin14=Bit,14Def

2、Ioin15=Bit,15'///////////////定义/输出//////////DefIoout0=Bit,0DefIoout1=Bit,1DefIoout3=Bit,3DefIoout4=Bit,4DefIoout5=Bit,5DefIoout6=Bit,6DefIoout7=Bit,7DefIoout8=Bit,8DefIoout9=Bit,9DefIoout10=Bit,10DefIoout11=Bit,11DefIoout12=Bit,12DefIoout13=Bit,13DefI

3、oout14=Bit,14DefIoout15=Bit,15'//////////////定义变量//////////////DefJntjyd'定义安全点DefPlt1,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)p20

4、0=(+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)'////////////

5、托盘点//////////////p12=p11p21=p11专业技术资料word资料下载可编辑p22=p11p12.Y=p11.Y+12p21.X=p11.X+12p22.X=p11.X+12p22.Y=p11.Y+12p15=(Plt1,3)p16=p15p25=p15p26=p15p16.Y=p15.Y+12p25.X=p15.X+12p26.X=p15.X+12p26.Y=p15.Y+12p31=(Plt1,8)p32=p31p41=p31p42=p31p32.Y=p31.Y+12p41.

6、X=p31.X+12p42.X=p31.X+12p42.Y=p31.Y+12p35=(Plt1,6)p36=p35p45=p35p46=p35p36.Y=p35.Y+12p45.X=p35.X+12p46.X=p35.X+12p46.Y=p35.Y+12p51=(Plt1,9)p52=p51p61=p51p62=p51p52.Y=p51.Y+12p61.X=p51.X+12p62.X=p51.X+12p62.Y=p51.Y+12p55=(Plt1,11)p56=p55p65=p55p66=p55p

7、56.Y=p55.Y+12p65.X=p55.X+12p66.X=p55.X+12p66.Y=p55.Y+12p75=(Plt1,14)专业技术资料word资料下载可编辑p76=p75p85=p75p86=p75p76.Y=p75.Y+12p85.X=p75.X+12p86.X=p75.X+12p86.Y=p75.Y+12p72=p71p81=p71p82=p71p72.Y=p71.Y+12p81.X=p71.X+12p82.X=p71.X+12p81.Y=p71.Y+12'///////////

8、////判断/////////////IfM_In(9)=1AndM_In(10)=0Then'判断3个夹具是否在原位IfM_In(11)=0AndM_In(13)=0ThenGoSub*fw'程序fwEndIfEndIfIfM_In(9)=1AndM_In(10)=1Then'判断1夹具是否在原位IfM_In(11)=0AndM_In(13)=0ThenGoSub*fw1'夹具1复位EndIfEndIfIfM_In(9)=1AndM_In(10)=0Then'判断夹具2是否在原位