用Fanuc机器人进行上下料试验,在抓取有序排列的工件时,用了一段码垛指令;在放置工件时,又用了一段码垛指令,最后发现两段码垛指令的寄存器出现了干扰。已采用了不同的代码编号,程序如下:* m, u4 h: g: i6 K' r1 k5 }$ Q( ?
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1:L P[1] 100mm/sec CNT50
6 R; t! t' c: y, I3 B5 I. x# e5 v1 L2: L P[2] 100mm/sec CNT50 1 J& n/ U7 ~2 \( s/ d& {
3: LBL[1]
8 W, e. p- X7 t6 j4 S4: L P[3] 50mm/sec FINE 6 U B# R6 a2 y1 L9 }0 _3 V
5: PALLETIZING-B_1 //抓取零件的码垛指令//
4 {: _9 T! x2 X% i1 M2 A: O6: J PAL_1[A_1] 30% FINE 7 s5 Y! f. U$ t/ t1 y5 I
7: J PAL_1[BTM] 10% FINE T7 X2 {" P- g) z
8: DO[4:ON:SUCTION]=ON //气缸吸气,抓取工件//
8 V B7 _5 w3 d: }9: WAIT 1.50(sec)
5 n7 ^. }7 v" J" h Z8 J |- I10: J PAL_1[R_1] 30% FINE : k6 Z/ B* m$ ^
11: PALLETIZING-END_1
5 G# G6 ]' ]* `& T9 P$ P12: J P[4] 80% FINE ! _: f K0 f( O' f8 d
13: J P[5] 80% FINE
+ l3 D2 w( c( C6 B4 u! m" p- P3 u v14: J P[6] 50% FINE & H4 Y% s) F; ~4 |: T; i( W5 }
15: PALLETIZING-B_2 //放置零件的码垛指令//
$ H# C* t! E3 [1 | B" N16: J PAL_2[A_1] 30% FINE
5 U/ u$ m) v4 h9 d17: J PAL_2[BTM] 10% FINE
v& P9 s% x5 \' q2 M) X5 [18: DO[4:ON:SUCTION]=OFF //气缸停止吸气,放置工件//
" B' B$ B3 y! k! \7 q4 O+ X. z5 Z/ y19: WAIT 1.50(sec)
$ O* l' r8 Y3 F F/ p0 G! D20: J PAL_2[R_1] 30% FINE
8 m1 E7 U1 r( o5 D# h8 y21: PALLETIZING-END_2
% {( @: U7 G" I0 m22: J P[7] 100% FINE
0 m9 S m" j8 d I. v4 s# H2 _' L+ R9 n23: JMP LBL[1] 5 k, l* Y0 S5 e7 o8 N7 B
[End] + H. S! z S z" X8 T2 A% H% t
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