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：6 d" V( R! f+ F% |4 p
& T6 } p) W# p6 n8 p1：L P[1] 100mm/sec CNT50
* A& E8 b5 K6 ~; K& {# H- I6 r2: L P[2] 100mm/sec CNT50
3 z/ o% S1 C9 \! \8 n4 x) S3: LBL[1] 9 e2 d: a# b0 e- b' [" t8 _% M' `
4: L P[3] 50mm/sec FINE
5 _2 G( b1 V& v) Y$ e$ x5： PALLETIZING-B_1 //抓取零件的码垛指令//
. s' O5 m# k3 |7 t( d3 h2 [; c4 f6: J PAL_1[A_1] 30% FINE ' K4 J9 J0 q, H# q
7: J PAL_1[BTM] 10% FINE
1 b2 O$ Q" L$ O6 Y9 n8： DO[4:ON:SUCTION]=ON //气缸吸气，抓取工件// 8 {4 p9 L/ P1 a- ~: e
9: WAIT 1.50(sec)
# T" J% V, r8 U10: J PAL_1[R_1] 30% FINE
* q9 c' J, k0 s. K, O11: PALLETIZING-END_1
+ m) F$ y: N/ N N& M12: J P[4] 80% FINE
" S% Z/ A; F' N13: J P[5] 80% FINE ! n7 F4 \* \( f! m
14: J P[6] 50% FINE
- x8 K2 w2 v4 \15： PALLETIZING-B_2 //放置零件的码垛指令// " t6 |: X" A0 i( u c# h
16: J PAL_2[A_1] 30% FINE ; y5 ?3 j+ @" M1 y
17: J PAL_2[BTM] 10% FINE
' U7 Z8 l2 }: |; @9 `( h9 p4 S18： DO[4:ON:SUCTION]=OFF //气缸停止吸气，放置工件// * K" ~& n: |, {! h% H- q
19: WAIT 1.50(sec) " E) b' f2 B; X7 Z9 ^
20: J PAL_2[R_1] 30% FINE ' I: X L2 x2 N; t! c' a
21: PALLETIZING-END_2 / r& `, h* G m! T
22: J P[7] 100% FINE " w+ C9 v& o* l" }" y: w
23: JMP LBL[1] 2 f" f$ c3 U; D) n% \6 e5 C3 B
[End]
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发表于 2016-5-23 22:02:33
