我上一段FANUC机器人程序吧!!!
哪里不懂的后面跟帖说出来!!!
要是高手看到的话就相互学习了!!!
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/PROG RSR0001
/ATTR
OWNER = MNEDITOR;
COMMENT = "";
PROG_SIZE = 3756;
CREATE = DATE 13-04-19 TIME 14:34:18;
MODIFIED = DATE 13-04-24 TIME 16:16:09;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 193;
MEMORY_SIZE = 4388;
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 00000000;
/MN
1: UFRAME_NUM = 3 ;
2: UTOOL_NUM = 2 ;
3: PAYLOAD[1] ;
4: LBL[1] ;
5: R[1] = 1 ;
6: DO[101] = ON ;
7:J P[1:HOME] 100% FINE ;
8: LBL[2] ;
9: IF DI[101] = ON,JMP LBL[50] ;
10: LBL[50] ;
11: WAIT DI[102] = ON ;
12: LBL[99] ;
13:J P[9:DAI MIN DIAN] 100% CNT10 ;
18: DO[102] = ON ;
20:J P[4:ZHUA QU HT] 100% FINE ;
21:J P[5:GONG JIAN SZ] 100% CNT10 ;
22: SELECT R[1] = 1,JMP LBL[11] ;
23: = 2,JMP LBL[12] ;
24: = 3,JMP LBL[13] ;
25: = 4,JMP LBL[14] ;
26: = 5,JMP LBL[15] ;
27: = 6,JMP LBL[16] ;
28: = 7,JMP LBL[17] ;
29: = 8,JMP LBL[18] ;
30: = 9,JMP LBL[19] ;
31: = 10,JMP LBL[20] ;
32: = 11,JMP LBL[21] ;
33: = 12,JMP LBL[22] ;
34: = 13,JMP LBL[23] ;
35: = 14,JMP LBL[24] ;
36: = 15,JMP LBL[25] ;
37: = 16,JMP LBL[26] ;
38: = 17,JMP LBL[27] ;
39: = 18,JMP LBL[28] ;
40: LBL[11] ;
41:J PR[1] 100% FINE ;
42:L PR[2] 3000mm/sec FINE ;
43:L PR[3] 3000mm/sec FINE ;
44: DO[102] = OFF ;
45: WAIT 0.30(sec) ;
46:J PR[1] 100% FINE ;
47: JMP LBL[10] ;
48: LBL[12] ;
49:J PR[4] 100% FINE ;
50:L PR[5] 3000mm/sec FINE ;
51:L PR[6] 3000mm/sec FINE ;
52: DO[102] = OFF ;
53: WAIT 0.30(sec) ;
54:J PR[4] 100% FINE ;
55: JMP LBL[10] ;
56: LBL[13] ;
57:J PR[7] 100% FINE ;
58:L PR[8] 3000mm/sec FINE ;
59:L PR[9] 3000mm/sec FINE ;
60: DO[102] = OFF ;
61: WAIT 0.30(sec) ;
62:J PR[7] 100% FINE ;
63: JMP LBL[10] ;
64: LBL[14] ;
65:J PR[10] 100% FINE ;
66:L PR[11] 3000mm/sec FINE ;
67:L PR[12] 3000mm/sec FINE ;
68: DO[102] = OFF ;
69: WAIT 0.30(sec) ;
70:J PR[10] 100% FINE ;
71: JMP LBL[10] ;
72: LBL[15] ;
73:J PR[13] 100% FINE ;
74:L PR[14] 3000mm/sec FINE ;
75:L PR[15] 3000mm/sec FINE ;
76: DO[102] = OFF ;
77: WAIT 0.30(sec) ;
78:J PR[13] 100% FINE ;
79: JMP LBL[10] ;
80: LBL[16] ;
81:J PR[16] 100% FINE ;
82:L PR[17] 3000mm/sec FINE ;
83:L PR[18] 3000mm/sec FINE ;
84: DO[102] = OFF ;
85: WAIT 0.30(sec) ;
86:J PR[16] 100% FINE ;
87: JMP LBL[10] ;
88: LBL[17] ;
89:J PR[19] 100% FINE ;
90:L PR[20] 3000mm/sec FINE ;
91:L PR[21] 3000mm/sec FINE ;
92: DO[102] = OFF ;
93: WAIT 0.30(sec) ;
94:J PR[19] 100% FINE ;
95: JMP LBL[10] ;
96: LBL[18] ;
97:J PR[22] 100% FINE ;
98:L PR[23] 3000mm/sec FINE ;
99:L PR[24] 3000mm/sec FINE ;
100: DO[102] = OFF ;
101: WAIT 0.30(sec) ;
102:J PR[22] 100% FINE ;
103: JMP LBL[10] ;
104: LBL[19] ;
105:J PR[25] 100% FINE ;
106:L PR[26] 3000mm/sec FINE ;
107:L PR[27] 3000mm/sec FINE ;
108: DO[102] = OFF ;
109: WAIT 0.30(sec) ;
110:J PR[25] 100% FINE ;
111: JMP LBL[10] ;
112: LBL[20] ;
113:J PR[28] 100% FINE ;
114:L PR[29] 3000mm/sec FINE ;
115:L PR[30] 3000mm/sec FINE ;
116: DO[102] = OFF ;
117: WAIT 0.30(sec) ;
118:J PR[28] 100% FINE ;
119: JMP LBL[10] ;
120: LBL[21] ;
121:J PR[31] 100% FINE ;
122:L PR[32] 3000mm/sec FINE ;
123:L PR[33] 3000mm/sec FINE ;
124: DO[102] = OFF ;
125: WAIT 0.30(sec) ;
126:J PR[31] 100% FINE ;
127: JMP LBL[10] ;
128: LBL[22] ;
129:J PR[34] 100% FINE ;
130:L PR[35] 3000mm/sec FINE ;
131:L PR[36] 3000mm/sec FINE ;
132: DO[102] = OFF ;
133: WAIT 0.30(sec) ;
134:J PR[34] 100% FINE ;
135: JMP LBL[10] ;
136: LBL[23] ;
137:J PR[37] 100% FINE ;
138:L PR[38] 3000mm/sec FINE ;
139:L PR[39] 3000mm/sec FINE ;
140: DO[102] = OFF ;
141: WAIT 0.30(sec) ;
142:J PR[37] 100% FINE ;
143: JMP LBL[10] ;
144: LBL[24] ;
145:J PR[40] 100% FINE ;
146:L PR[41] 3000mm/sec FINE ;
147:L PR[42] 3000mm/sec FINE ;
148: DO[102] = OFF ;
149: WAIT 0.30(sec) ;
150:J PR[40] 100% FINE ;
151: JMP LBL[10] ;
152: LBL[25] ;
153:J PR[43] 100% FINE ;
154:L PR[44] 3000mm/sec FINE ;
155:L PR[45] 3000mm/sec FINE ;
156: DO[102] = OFF ;
157: WAIT 0.30(sec) ;
158:J PR[43] 100% FINE ;
159: JMP LBL[10] ;
160: LBL[26] ;
161:J PR[46] 100% FINE ;
162:L PR[47] 3000mm/sec FINE ;
163:L PR[48] 3000mm/sec FINE ;
164: DO[102] = OFF ;
165: WAIT 0.30(sec) ;
166:J PR[46] 100% FINE ;
167: JMP LBL[10] ;
168: LBL[27] ;
169:J PR[49] 100% FINE ;
170:L PR[50] 3000mm/sec FINE ;
171:L PR[51] 3000mm/sec FINE ;
172: DO[102] = OFF ;
173: WAIT 0.30(sec) ;
174:J PR[49] 100% FINE ;
175: JMP LBL[10] ;
176: LBL[28] ;
177:J PR[52] 100% FINE ;
178:L PR[53] 3000mm/sec FINE ;
179:L PR[54] 3000mm/sec FINE ;
180: DO[102] = OFF ;
181: WAIT 0.30(sec) ;
182:J PR[52] 100% FINE ;
183: JMP LBL[10] ;
184: LBL[10] ;
185: R[1] = R[1] + 1 ;
186: SELECT R[1] = 19,JMP LBL[4] ;
187: ELSE ,JMP LBL[2] ;
188: LBL[4] ;
189: DO[101] = OFF ;
190: DO[103] = ON ;
191: WAIT 3.00(sec) ;
192: DO[103] = OFF ;
193: JMP LBL[1] ;
/POS
P[1 : "HOME"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = -94.340 mm, Y = -75.358 mm, Z = 53.777 mm,
W = 0.153 deg, P = -0.757 deg, R = -5.335 deg
};
P[2 : "ZHUA QU SF"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 14.462 mm, Y = 1.424 mm, Z = -4.997 mm,
W = -3.946 deg, P = 45.465 deg, R = -16.128 deg
};
P[3 : "ZHUA QU DIAN"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 14.462 mm, Y = 1.424 mm, Z = -18.473 mm,
W = -3.946 deg, P = 45.465 deg, R = -16.128 deg
};
P[4 : "ZHUA QU HT"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = -13.612 mm, Y = -75.643 mm, Z = 57.409 mm,
W = -1.102 deg, P = -0.222 deg, R = -5.884 deg
};
P[5 : "GONG JIAN SZ"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = -51.681 mm, Y = 21.224 mm, Z = 77.742 mm,
W = 96.846 deg, P = 8.084 deg, R = 45.445 deg
};
P[9 : "DAI MIN DIAN"] {
GP1:
UF : 3, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = -22.318 mm, Y = -82.074 mm, Z = 31.171 mm,
W = -0.411 deg, P = 10.271 deg, R = -5.375 deg
};
/END
略懂COMAU,以此类推,不对之处请指正
180: DO[102] = OFF ; //将数字输出102置 0
181: WAIT 0.30(sec) ; //等待0.3秒
182:J PR[52] 100% FINE ; //以joint方式运动到点52,速度100%
183: JMP LBL[10] ; //跳转到标记10
184: LBL[10] ; //标记10
185: R[1] = R[1] + 1 ; //将R1值加1
186: SELECT R[1] = 19,JMP LBL[4] ;//如果R1=19,跳转到标记4
187: ELSE ,JMP LBL[2] ; //否则跳转到标记2
188: LBL[4] ; //标记4
189: DO[101] = OFF ; //将数字输出101置0
190: DO[103] = ON ; //将数字输出103置 1
191: WAIT 3.00(sec) ; //等待3秒
192: DO[103] = OFF ; //将数字输出103置 0
193: JMP LBL[1] ; //跳转到标记1
顺便问下L PR[50] 3000mm/sec FINE ;是不是以LINE,3000毫米每秒运动到点50
回复内容:
对: 碧水轻波 略懂COMAU,以此类推,不对之处请指正 180: ... 内容的回复!
180: DO[102] = OFF ; //将数字输出102置 0
181: WAIT 0.30(sec) ; //等待0.3秒
182:J PR[52] 100% FINE ; //以joint方式运动到点52,速度100%,FINE 代表精确定位
183: JMP LBL[10] ; //跳转到标记10
184: LBL[10] ; //标记10
185: R[1] = R[1] + 1 ; //将R1值加1
186: SELECT R[1] = 19,JMP LBL[4] ;//如果R1=19,跳转到标记4
187: ELSE ,JMP LBL[2] ; //否则跳转到标记2
188: LBL[4] ; //标记4
189: DO[101] = OFF ; //将数字输出101置0
190: DO[103] = ON ; //将数字输出103置 1
191: WAIT 3.00(sec) ; //等待3秒
192: DO[103] = OFF ; //将数字输出103置 0
193: JMP LBL[1] ; //跳转到标记1
顺便问下L PR[50] 3000mm/sec FINE ;是不是以LINE,3000毫米每秒运动到点50 是的,如果把后面的FINE 变成某个数值,比如50,就是到达50点的50mm范围内即算到达