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1、&ACCESSRVP1&REL1324&COMMENTDNL_5SchFrontDoorLkr240r2700_prime_s&PARAMDISKPATH=KRC:R11_Geely_UserlProductionDEFDNL_5LFD080ROB01()工位主程序;*DefaultsrcTemplateforKuka-Krc-Volvo;*Created01/10/2012bySiemensPLM;*;*Study:FrontDoorL;*Program:DNL_5SchFrontDoorLk
2、r240r2700_prime_s;*GenerationDate:05/01/2013at10:01:54;*Robot:LFD080ROB01(kr240r2700_prime_s);*User:Administrator;*TecnomatixSoftware:ProcessSimulateoneMServer13;*Olp:Kuka-Krc-Volvo0.0;*Rcs:krc8.2_r01;*Controller:v8.2(KRC4)CTime(TRUE,1)计时（计时器1，置位为TRUE）C
3、ollisionDetectBEGIN(TorqSequence1)碰撞检测开启MovInitAll()初始化所有Inittool(GrippGP01a)抓手初始化Inittool(StatdoserSG01A)Inittool(StatDoserSG01B)DNL_5SchDefault()生产程序CollisionDetectEND(TorqSequence1,25)碰撞检测关闭CTime(FALSE,1)计时器（结束计时1，置位为false）END循环结束GLOBALDEFDNL_5SchDef
4、ault()全局程序步序WaitSignal(AllocateStation);1进入大区域，信号：1WaitSignal(AllocateST01a);3等待ST01条件满足抓件，信号：3WaitSignal(AllocateZone1);21进入干涉区1，信号21DNL_5Get080ST01()机器人去ST01抓件WaitSignal(ReleaseZone1);22释放干涉区1，信号22WaitSignal(ReleaseST01a);4释放ST01，信号4WaitSignal(Request
5、Seala);33请求进入涂胶，信号23DNL_5Seal080SG01a()080涂胶胶枪ADNL_5Seal080SG01b()080涂胶胶枪BDNL_5SealChk080FGH01()照相检测GlueingCheck(#DNL_5)涂胶抽检WaitSignal(FinishSeala);34释放涂胶完成，信号34WaitSignal(AllocateST01b);5进入涂胶枪B，信号5WaitSignal(AllocateZone2);23进入干涉区2，信号23WaitSignal(Alloc
6、ateZone9);61进入干涉区9，信号61DNL_5Put090ST01()090ST01放件程序WaitSignal(ReleaseZone9);62释放干涉区9，信号62WaitSignal(ReleaseZone2);24释放干涉区2，信号24WaitSignal(ReleaseST01b);6释放ST01B，信号24WaitSignal(ReleaseStation);2离开大区域，信号：2WaitSignal(WoekIsDone);31释放信号，工作完成，31ENDDEFDNL_5Ge
7、t080ST01()抓080ST01MovSetAcc(100)加速时间100m/sGripperCheckNoPart(#PartPresent1)抓手没有检测到板件GripperCls(#Sequence1,)抓手阀1夹紧GripperCheckClo(#Sequence1)抓手阀1检测信号GripperOpn(#Sequence4,)抓手阀4打开GripperCheckOpn(#Sequence4)抓手阀4打开检测信号VacuumSupervisionOff(#VacPresent1)吸盘1检测
8、关闭（删了也可以）VacuumSupervisionOff(#VacPresent2)吸盘2检测关闭MovA(HomeGrippGP01a,Exact,100)原点位置MovL(ToInGetFixtST01_20,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovL(ToInGetFixtST01_10,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5Gri
