法那科机器人专机程序

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1、/PROGPNS0001/ATTROWNER=MNEDITOR;COMMENT="MAIN";PROG_SIZE=4009;CREATE=DATE15-10-11TIME17:39:40;MODIFIED=DATE15-11-04TIME10:23:42;FILE_NAME=RSR0001;VERSION=0;LINE_COUNT=145;MEMORY_SIZE=4469;PROTECT=READ_WRITE;TCD:STACK_SIZE=0,TASK_PRIORITY=50,TIME_SLICE=0,BUSY_LAMP_OFF=0,ABORT_REQUEST=0

2、,PAUSE_REQUEST=0;DEFAULT_GROUP=1,*,*,*,*;CONTROL_CODE=0000000000000000;/APPL/MN1:UFRAME_NUM=0;2:UTOOL_NUM=1;3:PAYLOAD[1];4:;5:!HOMEANDINITI;6:LBL[888];7:IFUO[7:Atperch]<>ON,JMPLBL[9999];8:CALLHOME;9:CALLHAND_OPEN;10:;11:!CYCLESTART;12:;13:LBL[10];14:JP[1:WAIT_PSN]100%FINE;15:CALLHAND_

3、OPEN;16:WAITDI[2:M1_LOAD_PMT]=ONORDI[12:M2_LOAD_PMT]=ON;17:;18:WAITDI[10:LIAOJIA_READY]=ON;19:;20:!GOTOPICK;21:JP[2:PICK_APPR]100%FINE;22:;23:LP[21:JIEJIN_POINT]100mm/secFINE;24:LP[22:JIEJIN_POINT_LEF]30mm/secFINE;25:;26:WAIT.60(sec);27:;28:CALLHAND_CLOSE;29:WAIT.40(sec);30:DO[11:HAND

4、_CLOSE]=PULSE,1.0sec;31:;32:WAITDI[9:FEEDIN_HOME]=ON;33:;34:;35:LP[20:TAIQI_POINT]100mm/secFINE;36:LP[23:OUT_POINT]500mm/secCNT10;37:!PICKFINISH;38:JP[9:GOM1M2WAIT]100%CNT100;39:;40:!******;41:!***SELECTTASK***;42:;43:WAITDI[2:M1_LOAD_PMT]=ONORDI[12:M2_LOAD_PMT]=ON;44:;45:IFDI[2:M1_LO

5、AD_PMT]=ON,JMPLBL[1];46:IFDI[12:M2_LOAD_PMT]=ON,JMPLBL[2];47:;48:!***GOTOM1***;49:;50:LBL[1:M1_LOAD];51:!GOTOM1PUT;52:;53:DO[6:M1_CLIP_OPEN_REQ]=PULSE,1.0sec;54:JP[35:GUODUO]100%CNT100;55:;56:LP[36]1000mm/secCNT100;57:;58:JP[37:M1_IN]100%CNT10;59:LP[3]100mm/secFINE;60:LP[38:M1_APPR]30

6、mm/secFINE;61:LP[39:M1_CENTER]30mm/secFINE;62:WAIT.80(sec);63:LP[40:M1_JIAJIN_POINT]2mm/secFINE;64:DO[5:M1_CLIP_CLOSE_REQ]=PULSE,1.0sec;65:WAITDI[4:M1_CLIP_CLOSED]=ON;66:!M1PICKFINISH;67:;68:WAIT1.50(sec);69:CALLHAND_OPEN;70:WAIT1.50(sec);71:;72:LP[41:M1_REBACK_POIT]100mm/secFINE;73:J

7、P[45:M1_REBACK]60%CNT10;74:LP[46]100mm/secFINE;75:JP[47:M1_OUT]70%CNT100;76:;77:DO[3:M1_LOAD_FIN]=PULSE,1.0sec;78:JP[36]100%CNT50;79:JP[35:GUODUO]100%CNT100;80:JMPLBL[3];81:;82:!***;83:!***GOTOM2***;84:;85:LBL[2:M2_LOAD];86:!GOTOM2PUT;87:;88:DO[10:M2_OPEN_REQUE]=PULSE,1.0sec;89:JP[30:

8、GUODU