机械手自动化程序20170915.docx

最新精品文档，知识共享！ 主程序 main ACCESS RVP1 REL 1 PARAM DISKPATH = KRC:\R1\Program DEF Pro_main( ) INT l ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) GLOBAL INTERRUPT DECL 4 WHEN $IN[10]==FALSE DO Itrpt1 () GLOBAL INTERRUPT DECL 5 WHEN $IN[11]==FALSE DO Itrpt1 () INTERRUPT DECL 6 WHEN $IN[9]==TRUE DO Itrpt1 ()；地轨异常进入中断 INTERRUPT ON 6；开地轨监视中断6 IF NOT Gripper_ChkStatus(1,C) THEN Gripper_SetStatus(1,O) Part0InLeft = FALSE Part2InLeft = FALSE ENDIF IF NOT Gripper_ChkStatus(2,C) THEN Gripper_SetStatus(2,O) Part1InRight = FALSE ENDIF FOR l = 1 TO 14 $OUT[l] = FALSE ENDFOR；此循环语句在初始化时把所有端口清零复位。 IF $IN[5] THEN Machine1_OnlyDrop = TRUE Machine2_OnlyDrop = TRUE；机台1有首件信号时，机台1与机台2第一次响应只放标志位置1 ELSE Machine1_OnlyDrop = FALSE Machine2_OnlyDrop = FALSE ENDIF $FLAG[8]=FALSE；FLAG[8]是干什么用的？ ;ENDFOLD (INI)；初始化完成 $OV_PRO=70；限定系统运行速度 ;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD IF $IN_HOME THEN $OUT[5]=FALSE $OUT[8]=FALSE $OUT[11]=FALSE ENDIF LOOP WAIT SEC 0.05 IF $IN[1] AND NOT Part0InLeft AND Gripper_ChkStatus(3,O) THEN ToPick_Search() ENDIF IF Part0InLeft AND ($IN[3] OR Machine1_OnlyDrop) AND Gripper_ChkStatus(1,C) AND Gripper_ChkStatus(2,O) THEN Machine1() ENDIF IF Part1InRight AND ($IN[6] OR Machine2_OnlyDrop) AND Gripper_ChkStatus(2,C) AND Gripper_ChkStatus(1,O) THEN Machine2() ENDIF IF Part2InLeft AND ($IN[8] OR Machine3_OnlyDrop) AND Gripper_ChkStatus(1,C) THEN Machine3() ENDIF ENDLOOP END DEF Itrpt1 () HALT BRAKE END 取料程序（采用中断的方法自动探料，完成取料作业） ACCESS RVO2 REL 1 PARAM DISKPATH = KRC:\R1\Program DEF ToPick_Search( ) ;FOLD INI;%{PE} ;FOLD BASISTEC