ENGEL机械手程序求救

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1、>ENGEL机械手程序求救回帖内容： 一下  的程序应该符合的要求。                           1Set          FIRSTCYCLE     (Marker 41)on      1 2 G3  Gripper3     OFF        3 G4  Gripper4     OFF         13 Depositgrid                                      14Jumpwhen    SUCKERS3PART  (Input.280) =      0to  

2、PICKUP 15Jumpalways     toLabel  AFTPIC    18***MOVETODEPOSITAREA           *** 19Move             X= 850.0mm Y=   0.0mm Z=3305.0mm                     C=  0.00dg                     V=   100% 20Label               PICKUP 21Waituntil   ACTUALZ_POS    (Act.    2)  >  2000 22 G

3、3  Gripper3     ONSTART   23***PICKUPFROMTABLE             *** 24Startprogram    6assub-program      25Label               AFTPIC 26 G3  Gripper3     OFFSTART  27***MOVETOIMM                   *** 28Move             X= 341.0mm Y=   0.0mm Z=3305.0mm                     C= up  

4、                   V=   100% 29Label                START 30***STARTPOSITION                 *** 31Wmove            X= 850.0mm Y=   0.0mm Z= 150.0mm                     C=  0.00dg                     V=   100% 32 SG1 Suction/GripperOFF        33 SG2 Suction/GripperOFF        

5、       37Jumpwhen    FIRSTCYCLE     (Marker 41) =      1to   FIRST 38***TAKEOFFFROMMOLD             *** 39 Waitforpart                                     40***BEFORETAKEOFF                *** 41Move             X= 850.0mm Y= 600.0mm Z= 150.0mm                     C=  0.00dg 

6、                    V=   100% 42***TAKEOFFPOSITION               *** 43Wmove            X=1000.0mm Y= 600.0mm Z= 150.0mm                     C=  0.00dg                     V=   100% 44 Ejector            FWD        45 SG1 Suction/GripperONSTART   46 SG2 Suction/GripperONSTART

7、   47Waitingtime           0.2 48 SG1 Suction/GripperON         49 SG2 Suction/GripperON         50 Ejector            BACK       51***AFTERTAKEOFF                 *** 52Move             X= 850.0mm Y= 600.0mm Z= 150.0mm                     C=  0.00dg                     V=   

8、100% 53Label                FIRST 54***INSERTINMOLD                *