安川机器人程序

安川机器人

31118083.xls

/JOB

//NAME 7

//POS

///NPOS 11,0,0,0,0,0

///TOOL 0

///POSTYPE PULSE

各点的轴数据

对中台

吸着位置

对中台

进入压机前

压机内

压机内　开放位置///PULSEC00000=-38450,-111577,26908,-3783,-19432,14416C00001=-38450,-90528,18897,-5342,-13464,14856C00002=-38450,-105438,24422,-4126,-17790,14530C00003=11286,-100246,26336,-12419,-17078,-1256C00004=98477,-56331,57382,-33126,-31918,-27264C00005=107705,-40594,70302,-24975,-39665,-33482C00006=108269,-25505,64903,-21900,-37163,-34777C00007=107705,-40594,70302,-24975,-39665,-33482C00008=25402,-96455,28410,-18720,-18127,-4449C00009=-4621,-100068,29094,-14325,-19715,5249C00010=-41863,-109079,25122,-6738,-18572,16628//INST///DATE 2004/09/25 21:09///COMM RR DOOR OTR R/L///ATTR SC,RW///GROUP1 RB1NOP*cycleMOVJ C00000 VJ=100.00PULSE OT#(68) T=0.50*Loop1JUMP *cyclstop IF IN#(16)=ONJUMP *Whip_out IF IN#(18)=ONJUMP *Loop1*Whip_outPULSE OT#(31) T=1.00PULSE OT#(16) T=1.00MOVL C00001 V=1200.0 PL=0PULSE OT#(58) T=0.50TIMER T=0.01WAIT IN#(24)=ONPULSE OT#(59) T=0.50MOVL C00002 V=1300.0TIMER T=0.20PULSE OT#(27) T=1.00PULSE OT#(60) T=0.50PULSE OT#(61) T=0.50MOVL C00003 V=1600.0PULSE OT#(62) T=0.50WAIT IN#(22)=ONWAIT IN#(21)=ONPULSE OT#(32) T=0.50PULSE OT#(33) T=1.00MOVJ C00004 VJ=100.00MOVJ C00005 VJ=100.00PULSE OT#(63) T=0.50因手臂振动大、降低速度MOVL C00006 V=1600.0 PL=1因发生进入错误、使用ＰＬ＝１

PULSE OT#(64) T=0.50

TIMER T=0.01

PULSE OT#(17) T=1.00

WAIT IN#(24)=OFF

PULSE OT#(65) T=0.50

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