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:
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9 k+ K) P% F% W L j5 |+ c& s1:L P[1] 100mm/sec CNT50
7 Q: I" n/ D: C0 _2: L P[2] 100mm/sec CNT50 & i) I( `5 w. H" I. m/ s7 b; _" b
3: LBL[1] % p* G/ L5 ~. o: x/ l- L0 T. \/ m R
4: L P[3] 50mm/sec FINE & _* ]' C9 I+ E U9 h
5: PALLETIZING-B_1 //抓取零件的码垛指令// * A2 l% r' ^+ ~! a: `" @
6: J PAL_1[A_1] 30% FINE
- B' y( i1 ]9 N- K7: J PAL_1[BTM] 10% FINE
5 p9 c" ]6 O# y! e8: DO[4:ON:SUCTION]=ON //气缸吸气,抓取工件//
5 t$ I" a& u3 h& q7 Z$ g9: WAIT 1.50(sec)
5 W6 R8 U$ P6 n* p" |! g10: J PAL_1[R_1] 30% FINE 0 }& R, Y0 H# G5 S: ~
11: PALLETIZING-END_1
* g8 c3 L% w. r12: J P[4] 80% FINE
( w& R3 _6 K2 T# Z13: J P[5] 80% FINE 7 z3 Q4 q8 ^0 [3 _9 f* c* s
14: J P[6] 50% FINE
4 D. o& C$ _. h% i3 d# k; I& L15: PALLETIZING-B_2 //放置零件的码垛指令// 5 D3 T2 N1 B# U, R: o7 E
16: J PAL_2[A_1] 30% FINE
1 v& k* y- N8 O. N/ _9 L17: J PAL_2[BTM] 10% FINE
- R L9 R; V- q2 l6 e" E- n18: DO[4:ON:SUCTION]=OFF //气缸停止吸气,放置工件//
% J2 U( A! f# a$ I7 l, w: n8 w# R3 i4 x19: WAIT 1.50(sec) 7 Q1 t7 o$ ~- i
20: J PAL_2[R_1] 30% FINE
% C: q1 r8 }' ]2 E$ }; W21: PALLETIZING-END_2
4 S ^3 x& ?) X! X' f& u0 }4 H22: J P[7] 100% FINE 8 v( Z" u/ g# H! e- [* ]( u: f
23: JMP LBL[1] . ]# f( ^: x& @4 ]
[End]
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