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:( w! n) v* |8 o6 O
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1:L P[1] 100mm/sec CNT50
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2: L P[2] 100mm/sec CNT50
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3: LBL[1]
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4: L P[3] 50mm/sec FINE
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5:PALLETIZING-B_1 //抓取零件的码垛指令//
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6: J PAL_1[A_1] 30% FINE
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7: J PAL_1[BTM] 10% FINE
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8:DO[4:ON:SUCTION]=ON //气缸吸气,抓取工件//
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9: WAIT 1.50(sec)
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10: J PAL_1[R_1] 30% FINE
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11: PALLETIZING-END_1
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12: J P[4] 80% FINE
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13: J P[5] 80% FINE
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14: J P[6] 50% FINE
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15:PALLETIZING-B_2 //放置零件的码垛指令//
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16: J PAL_2[A_1] 30% FINE
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17: J PAL_2[BTM] 10% FINE
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18:DO[4:ON:SUCTION]=OFF //气缸停止吸气,放置工件//
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19: WAIT 1.50(sec)
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20: J PAL_2[R_1] 30% FINE
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21: PALLETIZING-END_2
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22: J P[7] 100% FINE
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23: JMP LBL[1]
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[End]
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