机器人搬运程序.docVIP

机器人搬运程序 /PROG PNS0001 /ATTR OWNER = MNEDITOR; COMMENT = 232; PROG_SIZE = 4427; CREATE = DATE 11-08-25 TIME 12:46:30; MODIFIED = DATE 11-08-26 TIME 09:47:14; FILE_NAME = PNS0001; VERSION = 0; LINE_COUNT = 178; MEMORY_SIZE = 4839; PROTECT = READ_WRITE; TCD: STACK_SIZE = 0, TASK_PRIORITY = 50, TIME_SLICE = 0, BUSY_LAMP_OFF = 0, ABORT_REQUEST = 0, PAUSE_REQUEST = 0; DEFAULT_GROUP = 1,*,*,*,*,*,*; CONTROL_CODE =00000000; /APPL /MN 1: OVERRIDE=20% ; 2: ; 3: UFRAME_NUM=0 ; 4: UTOOL_NUM=2 ; 5: ; 6: WAIT UO[7:At perch]=ON ; 7: WAIT RI[1:CLAMP A OPEN LIM]=ON AND RI[2:CLAMP B OPEN LIM]=ON ; 8: ; 9:J P[1:REF] 30% FINE ; 10: R[1:ENLARGER FLAG]=0 ; 11: !---GO TO CONVEY--- ; 12: ; 13: LBL[10] ; 14: ; 15: IF UI[4:Cycle stop]=ON,JMP LBL[100] ; 16: ; 17: WAIT DI[41:CONVEY No1 DOWN OK]=ON OR DI[46:CONVEY No2 DOWN OK]=ON OR : DI[47:CONVEY No3 DOWN OK]=ON TIMEOUT,LBL[10] ; 18: CALL CV ; 19: LBL[20] ; 20: ; 21: IF R[1:ENLARGER FLAG]=1,JMP LBL[22] ; 22: ; 23: !---UPLOAD TO ENLARGER--- ; 24: ; 25: LBL[21] ; 26:J P[4] 100% CNT100 ; 27: WAIT DI[43:ENLARGER UP OK]=ON ; 28: ; 29:J P[10] 100% CNT50 ; 30:L P[11] 4000mm/sec FINE ; 31:L P[18] 4000mm/sec FINE ; 32: WAIT .30(sec) ; 33: RO[1:CLAMP A OPEN]=ON ; 34: WAIT RI[1:CLAMP A OPEN LIM]=ON ; 35: ; 36:J P[12] 100% CNT100 ; 37:J P[3] 100% CNT100 ; 38: R[1:ENLARGER FLAG]=1 ; 39: DO[45:ENLARGER UP DONE]=PULSE,2.0sec ; 40: ; 41: WAIT DI[41:CONVEY No1 DOWN OK]=ON OR DI[46:CONVEY No2 DOWN OK]=ON OR : DI[47:CONVEY No3 DOWN OK]=ON TIMEOUT,LBL[10] ; 42: CALL CV ; 43: LBL[22] ; 44: ; 45: WAIT DI[42:ENLARGER DOWN OK]=ON ; 46:L P[7] 4000mm/sec CNT30 ; 47:L P[8] 4000mm/sec FINE ; 48:L P[9] 4000mm/sec FINE ; 49: RO[4:CLAMP B CLOSE]=ON ; 50: WAIT .30(sec) ; 51:L P[19] 4000mm/sec