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1、川崎机器人程序，已经测试在客户运行的.SIG_COMMENTCLEAR_COMMENTX0001 "Automatic"X0000 "CircleStartON"X0005 "RPS-ST"X0002 "TeachMode"X0003 "Error"X0004 "Home"X0007 "FixedAirValveL"X0008 "FixedWaterValveL"X0009 "FixedAirValveR"X000A "FixedWaterValveR"X000B "FixedAirFlowValve"X000
2、C "MobileAirValveL"X000D "MobileWaterValveL"X000E "MobileAirValveR"X0010 "MobileAirFlowValve"X000F "MobileWaterValveR"X0209 "PLCStart"X0013 "ProgressComplete"X0015 "ProgressRunning"X020A "PLCProgressAllow"X001F "RobotPowerON"Y0000 "EXTMotorON"Y0001 "EXTCirc
3、leStart"Y0002 "RPS-ON"Y0212 "RobotStandbyState"Y0202 "ProgressRunningLight"Y0216 "RPS-STOutput"Y0010 "ProgressBreak"Y0214 "RobotHomeOutput"Y0213 "ProgressCompleteOutput"Y0207 "FixedAirValveLOutput"Y0208 "FixedWaterValveLOutput"Y0209 "FixedAirValveROutput"Y020
4、A "FixedWaterValveROutput"Y020B "FixedAirFlowValveOutput"Y020C "MobileAirValveLOutput"Y020D "MobileWaterValveLOutput"Y020E "MobileAirValveROutput"Y020F "MobileWaterValveROutput"Y0210 "MobileAirFlowValveOutput"Y0011 "RobotProgressAllow"Y0003 "EXTPgReset"Y0211
5、"ErrorOutput"Y0215 "ProgressRunningOutput"M0000 "StartSign"M0100 "FirstStartSign"M0101 "CircleStartCondition"M0102 "ProgressRunningSign"M0103 "ModeChangeSign"K0000 "FirstStartMemory"T0000 "PgResetPulse"T0001 "MotorONPulse"T0002 "CircleStartPulse"T0003 "RPS-O
6、NPulse"T0004 "ModeChangePulse"T0005 "ProgressCompletePulse"T0050 "EXTMotorONDelay"T0051 "CircleStartDelay"V0000 "AlwaysON".END.PROGRAMautostart.pc()#0;AUTOSTART.PCloop: SOUT2001=4;输出信号4转化为内部信号2001(异常) SOUT2002=7;输出信号7转化为内部信号2002(急停) TWAIT0.02 IFSIG(2001)ORSIG(2002
7、)THEN BITS8,10=0;关闭所有阀门 END IFSIG(1017)THEN SIGNAL-22;作业信号切断 END GOTOloop.END.PROGRAMlsqpg()#0 LSQFST LSQSTART LSQSTR,&V0000 LSQMOVE,&X0020L,&Y0000H LSQSTR,&V0000 LSQAND,&X020A LSQOUT,&Y0011 LSQSTR,&V0000 LSQAND,&X0209 LSQOUT,&M0000 LSQSTR,&V0000 LSQAND,&M0000 LSQP
8、TS LSQSTR,&Y0003 LSQANDN,&T0000 LSQORS LSQANDN,&K0000 LSQOUT,&Y0003 LSQTMR,&T0000,0.5 LSQSTR,&V0000 LSQAND,&X0000 LSQ
