三菱机器人程序 Prepared on 24 November 2020'//////////////定义输入////////////Def Io in0=Bit,0Def Io in1=Bit,1Def Io in3=Bit,3Def Io in4=Bit,4Def Io in5=Bit,5Def Io in6=Bit,6Def Io in7=Bit,7Def Io in8=Bit,8Def Io in9=Bit,9Def Io in10=Bit,10Def Io in11=Bit,11Def Io in12=Bit,12Def Io in13=Bit,13Def Io in14=Bit,14Def Io in15=Bit,15'///////////////定义/输出//////////Def Io out0=Bit,0Def Io out1=Bit,1Def Io out3=Bit,3Def Io out4=Bit,4Def Io out5=Bit,5Def Io out6=Bit,6Def Io out7=Bit,7Def Io out8=Bit,8Def Io out9=Bit,9Def Io out10=Bit,10Def Io out11=Bit,11Def Io out12=Bit,12Def Io out13=Bit,13Def Io out14=Bit,14Def Io out15=Bit,15'//////////////定义变量//////////////Def Jnt jyd '定义安全点Def Plt1,p11,p17,p71,p77,4,4,1'定义托盘点j1=(+,,+,+,+,+jyd=(+,,+,+,+,p0=(+,+,+,+,+,+(0,0)p200=(+,+,+,+,+,+(0,0)p201=(+,+,+,+,+,+(0,0)p202=(+,+ ,+,+,+,+(0,0)p203=(+,+,+,+,+,+(0,0)p204=(+,+,+,+,+,+(0,0)'////////////托盘点//////////////p12=p11p21=p11=+12=+12=+12=+12p15=(Plt1,3) p16=p15p25=p15p26=p15=+12=+12=+12=+12p31=(Plt1,8) p32=p31p41=p31p42=p31=+12=+12=+12=+12p35=(Plt1,6) p36=p35p45=p35p46=p35=+12=+12=+12=+12p51=(Plt1,9) p52=p51p61=p51p62=p51=+12=+12=+12=+12p55=(Plt1,11) p56=p55p65=p55p66=p55=+12=+12=+12=+12p75=(Plt1,14)p85=p75p86=p75=+12=+12=+12=+12p72=p71p81=p71p82=p71=+12=+12=+12=+12'///////////////判断/////////////If M_In(9)=1 And M_In(10)=0Then'判断3个夹具是否在原位If M_In(11)=0 And M_In(13)=0ThenGoSub *fw '程序fwEndIfEndIfIf M_In(9)=1 And M_In(10)=1Then'判断1夹具是否在原位If M_In(11)=0 And M_In(13)=0ThenGoSub *fw1 '夹具1复位EndIfEndIfIf M_In(9)=1 And M_In(10)=0Then'判断夹具2是否在原位If M_In(11)=1 And M_In(13)=0ThenGoSub *fw2 '夹具2复位EndIfEndIfIf M_In(9)=1 And M_In(10)=0Then'判断夹具3是否在原位If M_In(11)=0 And M_In(13)=1ThenGoSub *fw3 '夹具3复位EndIfEndIfIf M_05#>3Thenout14=1M_05#=0EndIfIf M_In(6)=1 And M_05#=0ThenGoSub *ks1 '一次装机EndIfIf M_In(6)=1 And M_05#=1ThenGoSub *ks2 '二次装机EndIfIf M_In(6)=1 And M_05#=2ThenGoSub *ks3 '三次装机EndIfIf M_In(6)=1 And M_05#=3ThenGoSub *ks4 '四次装机EndIfEnd'////////////////复位程序////////////*fw '程序复位Ovrd80j1=J_Curr====Mov j1Mov jydout5=1m_outb(6)=0'将输出信号6-13的8个位关闭M_00#=0M_05#=0M_01#=0Return'/////////////////////////////////////'//////////////////复位1/////////////////////*fw1Ovrd70j1=J_Curr====Mov j1Mov jydout12=0out13=0Mov p1Mov p23ovrd50Spd400Mvs p20-p204Mvs p20Dlyout11=1DlyMvs p20+p203out11=0GoSub *fw4Return'/////////////////////////// '/////////////////////// 复位2//////////// *fw2Ovrd70j1=J_Curr====Mov j1Mov jydout12=0out13=0ovrd50Mov p40+p201Spd400Mvs p40Dlyout11=1DlyMvs p40+p203out11=0GoSub *fw4Return'///////////////////////////'/////////////////复位3//////////////// *fw3Ovrd70j1=J_Curr====Mov j1Mov jydout12=1out13=0Mov p5out12=0ovrd51Mov p2Spd600Mvs p33Mvs p30+p200Mvs p30Dlyout11=1DlyMvs p30+p203out11=0M_05#=M_05#+1If M_In(6)=0Then GoTo *fw4 Return'////////////////////////////// '///////////////////正常复位////////// *fw4Ovrd50j1=J_Curr====Mov j1Mov jydout11=0out12=0out13=0out15=0out7=0out6=0out14=0Return'///////////////////取夹具1/////////// *jj1Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Ovrd50Mov p20+p201Spd700Mov p20+p203Spd300out11=1Mvs p20Dlyout11=0DlyMvs p20+p200p23=P_CurrMvs p23-p204p23=P_CurrMvs p23+p201p23=P_CurrReturn'///////////////////取夹具2//////////*jj2Spd400Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Mvs p40+p203out11=1Mvs p40Dlyout11=0DlySpd600Mvs p40+p201Mvs p210+p203Spd400Mvs p210out13=1Mvs p221Mvr p221,p220,p219Mvs p218Mvr p218,p217,p216Mvs p215Mvr p215,p214,p213Mvs p212Mvr p212,p211,p210out13=0out6=1Spd600Mvs p210+p201out6=0Mvs p40+p201Spd400Mvs p40Dlyout11=1DlyMvs p40+p203out6=1Dlyout6=0Return'///////////////////取夹具3////////////////// *jj3Wait M_In(10)=0Wait M_In(11)=0Wait M_In(13)=0Spd400Mvs p30+p203out11=1Spd300Mvs p30Dlyout11=0DlySpd400Mvs p30+p200p33=P_CurrMvs p33-p202p33=P_CurrMvs p33+p201Return'///////////////////去取盖//////////////////*qgOvrd50Mov p5Mov p5Mov p7Wait M_In(7)=1out12=1out13=0Mov p8+p0out12=0Spd200Mvs p8Dlyout13=1Dlyout15=1Dly'/////////////////入仓库///////////////////If M_In(8)=1Then GoTo *ck2 Else GoTo *ck1 '判断颜色Return*ck2 '//////////////////////////////////////////////白色盖GoSub *jgOvrd40Mov p231+p201Spd200If M_In(15)=1 And M_00#>3Thenout10=1Wait M_Out(10)=0M_00#=0EndIfIf M_00#=0Then'第一层If M_In(15)=1ThenMov p6EndIfWait M_In(15)=0Mov p231+p201Spd200Mvs p231EndIfIf M_In(15)=1 And M_00#=1Then'第二层Mvs p231+p0EndIfIf M_In(15)=1 And M_00#=2Then'第三层Mvs p231+p203EndIfIf M_In(15)=1 And M_00#=3Then'第四层Mvs p231+p203+p0EndIfDlyout13=0out12=1Mvs p231+p201out8=1'入库完成GoSub *fw3out8=0M_00#=M_00#+1Return*ck1 '///////////////////////////////////////////////黑色盖GoSub *jgOvrd40Mov p240+p201Spd200If M_In(14)=1 And M_01#>3Thenout9=1Wait M_Out(9)=0M_01#=0EndIfIf M_01#=0Then'第一层If M_In(14)=1ThenMov p6EndIfWait M_In(14)=0Mov p240+p201Spd200Mvs p240EndIfIf M_In(14)=1 And M_01#=1Then'第二层Mvs p240+p0EndIfIf M_In(14)=1 And M_01#=2Then'第三层Mvs p240+p203EndIfIf M_In(14)=1 And M_01#=3Then'第四层Mvs p240+p203+p0EndIfDlyout13=0out12=1Mvs p240+p201out8=1'入库完成GoSub *fw3out8=0M_01#=M_01#+1Return'////////////////////去加盖//////////////////////*jgMvs p8+p203Ovrd50Mov p7Mov p6Mov p9Mov p10+p0Spd200Mvs p10Dlyout7=1Dlyout7=0Mvs p10+p0Ovrd50Mov p9Mov p6Return'//////////////////////////一次装机////////////////////////// *ks1out5=0out6=0out7=0out8=0out14=0out15=0'/////////////////////装1和2键//////////////////////////// Ovrd50Mov p3Ovrd70Mov p11+p0Spd200Mvs p11out12=1out13=1DlyOvrd70Mvs p11+p0Mov p3Mov p104+p0Spd200Mvs p104Dlyout13=0Mvs p104+p0Mvs p103+p0Mvs p103Dlyout12=0Ovrd70Mvs p103+p0Mov p3'/////////////////////// 装3和*键///////////////////// Mov p15+p0Spd200Mvs p15out12=1out13=1DlyOvrd70Mvs p15+p0Mov p3Mov p105+p0Spd200Mvs p105Dlyout12=0Mvs p105+p0Mvs p106+p0Mvs p106DlyOvrd70Mvs p106+p0Mov p3'/////////////////////////// 装4和5键/////////////// Mov p31+p0Spd200Mvs p31out12=1out13=1DlyOvrd70Mvs p31+p0Mov p3Mov p108+p0Spd200Mvs p108Dlyout13=0Mvs p108+p0Mvs p107+p0Mvs p107Dlyout12=0Ovrd70Mvs p107+p0Mov p3'/////////////////////// 装6和0键///////////////////// Mov p35+p0Spd200Mvs p35out12=1out13=1DlyOvrd70Mvs p35+p0Mov p3Mov p109+p0Spd200Mvs p109Dlyout12=0Mvs p109+p0Mvs p110+p0Mvs p110DlyOvrd70Mvs p110+p0Mov p3'/////////////////////////// 装7和8键/////////////// Mov p51+p0Spd200Mvs p51out12=1out13=1DlyOvrd70Mvs p51+p0Mov p3Mov p112+p0Spd200Mvs p112Dlyout13=0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12=0Ovrd70Mvs p111+p0Mov p3'/////////////////////////////装9键////////////////// Mov p55+p0Spd200Mvs p55out12=1DlyOvrd70Mvs p55+p0Mov p3Mov p113+p0Spd200Mvs p113Dlyout12=0Ovrd70Mvs p113+p0Mov p3'//////////////////#和接听键////////////////Mov p71+p0Mvs p71out12=1out13=1DlyOvrd70Mvs p71+p0Mov p3Mov p114+p0Spd200Mvs p114Dlyout12=0Mvs p114+p0Mvs p100+p0Mvs p100Dlyout13=0Ovrd70Mvs p100+p0Mov p3'//////////////////////装挂机键////////////////// Mov p75+p0Spd200Mvs p75out12=1DlyOvrd70Mvs p75+p0Mov p3Mov p102+p0Spd200Mvs p102Dlyout12=0Ovrd70Mvs p102+p0Mov p3'/////////////////////////装方向键///////////////// Mov p50+p0Spd200Mvs p50out12=1DlyOvrd70Mvs p50+p0Mov p101+p0Spd200Mvs p101Dlyout12=0Ovrd70Mvs p101+p203out6=1'/////////////////////////放回夹具1////////////Ovrd50Mov p23Spd450Mvs p20-p204out6=0Spd400Mvs p20Dlyout11=1DlyMvs p20+p203out6=1Dlyout6=0GoSub *jj2GoSub *jj3GoSub *qgReturn'//////////////////////////二次装机////////////////////////// *ks2out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1'/////////////////////装1和2键//////////////////////////// Ovrd50Mov p3Ovrd70Mov p12+p0Spd200Mvs p12out12=1out13=1Ovrd70Mvs p12+p0Mov p3Mov p104+p0Spd200Mvs p104Dlyout13=0Mvs p104+p0Mvs p103+p0Mvs p103Dlyout12=0Ovrd70Mvs p103+p0Mov p3'/////////////////////// 装3和*键///////////////////// Mov p16+p0Spd200Mvs p16out12=1out13=1DlyOvrd70Mvs p16+p0Mov p3Mov p105+p0Spd200Mvs p105Dlyout12=0Mvs p105+p0Mvs p106+p0Mvs p106Dlyout13=0Ovrd70Mvs p106+p0Mov p3'/////////////////////////// 装4和5键/////////////// Mov p32+p0Spd200Mvs p32out12=1out13=1Ovrd70Mvs p32+p0Mov p3Mov p108+p0Spd200Mvs p108Dlyout13=0Mvs p108+p0Mvs p107+p0Mvs p107Dlyout12=0Ovrd70Mvs p107+p0Mov p3'/////////////////////// 装6和0键///////////////////// Mov p36+p0Spd200Mvs p36out12=1out13=1DlyOvrd70Mvs p36+p0Mov p3Mov p109+p0Spd200Mvs p109Dlyout12=0Mvs p109+p0Mvs p110+p0Mvs p110Dlyout13=0Ovrd70Mvs p110+p0Mov p3'/////////////////////////// 装7和8键/////////////// Mov p52+p0Spd200Mvs p52out12=1out13=1Ovrd70Mvs p52+p0Mov p3Mov p112+p0Spd200Mvs p112Dlyout13=0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12=0Ovrd70Mvs p111+p0Mov p3'/////////////////////////////装9键////////////////// Mov p56+p0Spd200Mvs p56out12=1DlyOvrd70Mvs p56+p0Mov p3Mov p113+p0Spd200Mvs p113Dlyout12=0Ovrd70Mvs p113+p0Mov p3'//////////////////#和接听键////////////////Mov p72+p0Spd200Mvs p72out12=1out13=1DlyOvrd70Mvs p72+p0Mov p3Mov p114+p0Spd200Mvs p114Dlyout12=0Mvs p114+p0Mvs p100+p0Mvs p100Dlyout13=0Ovrd70Mvs p100+p0Mov p3'//////////////////////装挂机键////////////////// Mov p76+p0Spd200Mvs p76out12=1DlyOvrd70Mvs p76+p0Mov p3Mov p102+p0Spd200Mvs p102Dlyout12=0Ovrd70Mvs p102+p0Mov p3'/////////////////////////装方向键///////////////// Mov p60+p0Spd200Mvs p60out12=1DlyOvrd70Mvs p60+p0Mov p3Mov p101+p0Spd200Mvs p101Dlyout12=0Ovrd70Mvs p101+p203out6=1'/////////////////////////放回夹具1////////////Ovrd50Mov p23Spd450Mvs p20-p204out6=0Spd400Mvs p20Dlyout11=1DlyMvs p20+p203out6=1Dlyout6=0GoSub *jj2GoSub *jj3GoSub *qgReturn'//////////////////////////三次装机////////////////////////// *ks3out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1'/////////////////////装1和2键//////////////////////////// Ovrd50Mov p3Ovrd70Mov p21+p0Spd200Mvs p21out12=1out13=1DlyOvrd70Mvs p21+p0Mov p3Mov p104+p0Spd200Mvs p104Dlyout13=0Mvs p104+p0Mvs p103Dlyout12=0Ovrd70Mvs p103+p0Mov p3'/////////////////////// 装3和*键///////////////////// Mov p25+p0Spd200Mvs p25out12=1out13=1DlyOvrd70Mvs p25+p0Mov p3Mov p105+p0Spd200Mvs p105Dlyout12=0Mvs p105+p0Mvs p106+p0Mvs p106Dlyout13=0Ovrd70Mvs p106+p0Mov p3'/////////////////////////// 装4和5键/////////////// Mov p41+p0Spd200Mvs p41out12=1out13=1DlyOvrd70Mvs p41+p0Mov p3Mov p108+p0Spd200Mvs p108Dlyout13=0Mvs p108+p0Mvs p107Dlyout12=0Ovrd70Mvs p107+p0Mov p3'/////////////////////// 装6和0键///////////////////// Mov p45+p0Spd200Mvs p45out12=1out13=1DlyOvrd70Mvs p45+p0Mov p3Mov p109+p0Spd200Mvs p109Dlyout12=0Mvs p109+p0Mvs p110+p0Mvs p110Dlyout13=0Ovrd70Mvs p110+p0Mov p3'/////////////////////////// 装7和8键/////////////// Mov p61+p0Spd200Mvs p61out12=1out13=1DlyOvrd70Mvs p61+p0Mov p3Mov p112+p0Spd200Mvs p112Dlyout13=0Mvs p112+p0Mvs p111Dlyout12=0Ovrd70Mvs p111+p0Mov p3'/////////////////////////////装9键////////////////// Mov p65+p0Spd200Mvs p65out12=1DlyOvrd70Mvs p65+p0Mov p3Mov p113+p0Spd200Mvs p113Dlyout12=0Ovrd70Mvs p113+p0Mov p3'//////////////////#和接听键////////////////Mov p81+p0Spd200Mvs p81out12=1out13=1DlyOvrd70Mvs p81+p0Mov p3Mov p114+p0Spd200Mvs p114Dlyout12=0Mvs p114+p0Mvs p100+p0Mvs p100Dlyout13=0Ovrd70Mvs p100+p0Mov p3'//////////////////////装挂机键////////////////// Mov p85+p0Spd200Mvs p85out12=1DlyOvrd70Mvs p85+p0Mov p3Mov p102+p0Spd200Mvs p102Dlyout12=0Ovrd70Mvs p102+p0Mov p3'/////////////////////////装方向键///////////////// Mov p70+p0Spd200Mvs p70out12=1DlyOvrd70Mvs p70+p0Mov p3Mov p101+p0Spd200Mvs p101Dlyout12=0Ovrd70Mvs p101+p203out6=1'/////////////////////////放回夹具1//////////// Ovrd50Mov p23Spd450Mvs p20-p204out6=0Spd400Mvs p20Dlyout11=1DlyMvs p20+p203out6=1Dlyout6=0GoSub *jj2GoSub *jj3GoSub *qgReturn'//////////////////////////四次装机////////////////////////// *ks4out5=0out6=0out7=0out8=0out14=0out15=0GoSub *jj1'/////////////////////装1和2键//////////////////////////// Ovrd50Mov p3Ovrd70Mov p22+p0Spd200Mvs p22out12=1out13=1DlyOvrd70Mvs p22+p0Mov p3Mov p104+p0Spd200Mvs p104Dlyout13=0Mvs p104+p0Mvs p103+p0Mvs p103Dlyout12=0Ovrd70Mvs p103+p0Mov p3'/////////////////////// 装3和*键/////////////////////Mov p26+p0Spd200out12=1out13=1DlyOvrd70Mvs p26+p0Mov p3Mov p105+p0Spd200Mvs p105Dlyout12=0Mvs p105+p0Mvs p106+p0Mvs p106Dlyout13=0Ovrd70Mvs p106+p0Mov p3'/////////////////////////// 装4和5键/////////////// Mov p42+p0Spd200Mvs p42out12=1out13=1DlyOvrd70Mvs p42+p0Mov p3Mov p108+p0Spd200Mvs p108Dlyout13=0Mvs p108+p0Mvs p107+p0Mvs p107Dlyout12=0Ovrd70Mvs p107+p0Mov p3'/////////////////////// 装6和0键///////////////////// Mov p46+p0Spd200out12=1out13=1DlyOvrd70Mvs p46+p0Mov p3Mov p109+p0Spd200Mvs p109Dlyout12=0Mvs p109+p0Mvs p110+p0Mvs p110Dlyout13=0Ovrd70Mvs p110+p0Mov p3'/////////////////////////// 装7和8键/////////////// Mov p62+p0Spd200Mvs p62out12=1out13=1DlyOvrd70Mvs p62+p0Mov p3Mov p112+p0Spd200Mvs p112Dlyout13=0Mvs p112+p0Mvs p111+p0Mvs p111Dlyout12=0Ovrd70Mvs p111+p0Mov p3'/////////////////////////////装9键////////////////// Mov p66+p0Spd200out12=1DlyOvrd70Mvs p66+p0Mov p3Mov p113+p0Spd200Mvs p113Dlyout12=0Ovrd70Mvs p113+p0Mov p3'//////////////////#和接听键//////////////// Mov p82+p0Spd200Mvs p82out12=1out13=1DlyOvrd70Mvs p82+p0Mov p3Mov p114+p0Spd200Mvs p114Dlyout12=0Mvs p114+p0Mvs p100+p0Mvs p100Dlyout13=0Ovrd70Mvs p100+p0Mov p3'//////////////////////装挂机键////////////////// Mov p86+p0Spd200Mvs p86out12=1DlyOvrd70Mvs p86+p0Mov p3Mov p102+p0Spd200Mvs p102Dlyout12=0Ovrd70Mvs p102+p0Mov p3'////////////////////////装方向键///////////////// Mov p80+p0Spd200Mvs p80out12=1DlyOvrd70Mvs p80+p0Mov p3Mov p101+p0Spd200Mvs p101Dlyout12=0Ovrd70Mvs p101+p203out14=1out6=1'/////////////////////////放回夹具1//////////// Ovrd50Mov p23Spd450Mvs p20-p204out14=0out6=0Spd400Mvs p20Dlyout11=1DlyMvs p20+p203out6=1Dlyout6=0GoSub *jj2GoSub *jj3GoSub *qgReturnp0=,,,,,(0,0) p2=,,,,,(7,0) p5=,,,,,(7,0) p6=,,,,,(7,0) p7=,,,,,(7,0) p8=,,,,,(7,0) p9=,,,,,(7,0) p10=,,,,,(7,0) p30=,,,,,(7,0) p33=,,,,,,,(7,0) p40=,,,,,(7,0) p200=,,,,,(0,0) p201=,,,,,(0,0) p202=,,,,,(0,0) p203=,,,,,(0,0) p204=,,,,,(0,0) p231=,,,,,(7,0) p240=,,,,,(7,0) j1=,,,,,jyd=,,,,,。