昆山萊捷程序注解2014.6.25ABB機(jī)器人相關(guān)設(shè)置一，機(jī)器人語言設(shè)置，二，機(jī)器人IO設(shè)置三，總線設(shè)置四，系統(tǒng)輸入/輸出五，交叉連接六，安全區(qū)域七，上電啟動(dòng)程序連接八，程序解析一，機(jī)器人語言設(shè)置一，取件程序DownloadDCMOpen_Grip_Mt;-------打開夾手

；

MoveJpWaitDCM,v2000,z100,tGriper;-------機(jī)器人移至待機(jī)位置（pWaitDCM）；MoveJpInDCM_1,v2000,z100,tGriper;------進(jìn)入模具點(diǎn)一；MoveJpInDCM_2,v2000,z100,tGriper;-------進(jìn)入模具點(diǎn)二；MoveLpMiddle_Die,v2000,z1,tGriper;-------進(jìn)入模具中心點(diǎn)；WaituntilDi44ExtAweGrip=1\MaxTime:=15\TimeFlag:=flag2;---------等待可抓取信號(hào)（Di44ExtAweGrip）

IFNOTflag2THEN----------如果等待可抓取信號(hào)

未超時(shí)則繼續(xù)下一條指令；

MoveLOffs(pGrPart10,150,0,0),v500,fine,tGriper;------------直線移至大地坐標(biāo)下“X”軸據(jù)抓取點(diǎn)150mm的位置；MoveLpGrPart10,v500,fine,tGriper;------------直線移至抓取點(diǎn)；WaitTime0.2;Close_Grip_Mt;------------夾手加緊；WaitTime0.2;SoftActive;------------軟浮動(dòng)打開setDo39EjFwdDCM;--------------置位允許頂出信號(hào)；WaituntilDi45EjectFwLS=1\MaxTime:=15\TimeFlag:=flag1;-------------等待頂針出限；

IFNOTflag1THEN-------------------如果等待頂針出現(xiàn)未超時(shí)pGripPart:=CRobT(\Tool:=tGriper\WObj:=wobj0);---------------記錄頂針頂出后機(jī)器人的位置；MoveLOffs(pGripPart,0,0,0),v500,fine,tGriper;----------------機(jī)器人移至當(dāng)前位置（注：此處不可任意改動(dòng)）SoftDeact;--------------關(guān)閉軟浮動(dòng)；WaitTime0.2;MoveLOffs(pGripPart,250,0,0),v500,fine,tGriper;--------直線移至大地坐標(biāo)下“X”軸據(jù)抓取點(diǎn)250mm的位置；ResetDo39EjFwdDCM;------------復(fù)位允許頂出信號(hào)；IncrnProductCount;-------------產(chǎn)品計(jì)數(shù)；ExitDCM;-------------調(diào)用退出壓鑄機(jī)程序；注：此程序中，除待機(jī)位置，進(jìn)入模具位置，抓取位置可改動(dòng)外其他程序均不可改動(dòng)，改動(dòng)位置后要手動(dòng)運(yùn)行兩遍以上才可自動(dòng)運(yùn)行二，取件失敗DCM_ExtrFailPROCDCM_ExtrFail()!theroutineforafterpickpartfailformDCMSoftDeact;---------------先關(guān)閉軟私服；WaitTime0.3;Open_Grip_Mt;------------打開夾手；WaitTime0.5;MoveLpMiddle_Die,v1000,z1,tGriper;--------直線移至模具中心點(diǎn)；MoveJpInDCM_2,v1500,z60,tGriper;-------移至進(jìn)入模具點(diǎn)二；MoveJpInDCM_1,v1500,z60,tGriper;--------移至進(jìn)入模具點(diǎn)一；MoveJpWaitDCM,v2500,z60,tGriper;--------移至待機(jī)點(diǎn)；!MoveJpHome,v1000,fine,tGriper;MoveJDOpHome,v1000,fine,tGriper,Do42ExRobSfHome,1;--------回原點(diǎn)并置位原點(diǎn)信號(hào)；注：一：此程序是取件失敗時(shí)自動(dòng)放棄取件回原點(diǎn)程序，只有在等待可抓取信號(hào)超時(shí)或等待頂針頂出限位信號(hào)超時(shí)時(shí)才會(huì)自動(dòng)回到原點(diǎn)，如果取件過程中遇到其他意外情況則需手動(dòng)回到原點(diǎn)位置，此路徑是按照取件的路徑原路返回，如果修改則取件路徑需重新試驗(yàn)；二：“！”表示程序被注釋掉，不執(zhí)行該句程序ENDPROC三，取件后退出DCM(ExitDCM)PROCExitDCM()!theroutineforafterpickpartformDCMMoveLpMiddle_Die,v500,z1,tGriper;-----------直線移至模具中心點(diǎn)；MoveLpInDCM_2,v2000,z50,tGriper;----------直線移至進(jìn)入模具電二；MoveJpWaitDCM,v2000,z60,tGriper;-----------移至待機(jī)位置；!ISleepirDieClose;!PulseDO\PLength:=1,Do44BaDoorClose;ClkStopclTimerEx;---------停止取件時(shí)間計(jì)時(shí)；nExtractTimer:=ClkRead(clTimerEx);---------取件時(shí)間賦值；ClkResetclTimerEx;----------取件始終復(fù)位；CheckPart;----------調(diào)用產(chǎn)品檢測(cè)程序；注：此程序?yàn)楫a(chǎn)品正常取出時(shí)退出壓鑄機(jī)程序，退出時(shí)速度不宜太快，“！”開頭的程序注解程序，無需改動(dòng)或考慮，取件時(shí)鐘為記錄取件時(shí)間的計(jì)時(shí)器不許改動(dòng)，程序自動(dòng)運(yùn)行時(shí)會(huì)在示教盤上顯示取件時(shí)間，單位為秒。

ENDPROC四，產(chǎn)品檢測(cè)程序（CheckPart）PROCCheckPart()TPWrite“RobotCheckingPart”;--------寫屏，即在示教盤上寫出“”中的內(nèi)容；MoveJPcheckpart,v2000,z100,tGriper;-----移至產(chǎn)品檢測(cè)點(diǎn)一；MoveJPcheckpart_1,v2000,z100,tGriper;-------移至產(chǎn)品檢測(cè)點(diǎn)二；MoveLpCheckPosition,v300,fine,tGriper;--------直線移至產(chǎn)品檢測(cè)點(diǎn)；PulseDO\PLength:=3,Do40CheckStart;--------發(fā)送產(chǎn)品檢測(cè)開始脈沖；WaitTime0.2;WaituntilsiPartCheckOK=1\MaxTime:=10\TimeFlag:=flag1;---------等待產(chǎn)品檢測(cè)信號(hào)；IFNOTflag1THEN-----------如果產(chǎn)品檢測(cè)等待未超時(shí)；PulseDO\PLength:=2,Do44BaDoorClose;-------發(fā)送后門關(guān)閉信號(hào)；bPartCheck:=TRUE;ResetsoRobExtrWork;------------復(fù)位取件中信號(hào)MoveLpCheckPart_1,v1500,z100,tGriper;---------退回到檢測(cè)前位置；Vibration;------------調(diào)用震動(dòng)去渣包程序；

ELSE----------如果等待產(chǎn)品檢測(cè)信號(hào)超時(shí)；bPartCheck:=FALSE;PulseDO\PLength:=1,Do35ExRobAlarm;-----發(fā)出警報(bào)信號(hào)；TPWrite“PleaseCheckingPartandSensorSwitch”;--------寫出報(bào)警信息；MoveLpCheckPart_1,v1500,z100,tGriper;----------退回到檢測(cè)位置1MoveJpCheckPart_2,v1500,z100,tGriper;---------退回到檢測(cè)位置2!GoodPart;PutNG;---------調(diào)用PutNG程序（扔廢料）STOP;--------暫停取件程序。ENDIFENDPROC五，震動(dòng)去渣包（Vibration）PROCVibration()!***************Vibration*************MoveJVibration_1,v1500,z100,tGriper;--------移至震動(dòng)去渣包區(qū)域過程點(diǎn)一，MoveJVibration_2,v1500,z100,tGriper;--------移至震區(qū)去渣包區(qū)域過程點(diǎn)二，MoveJVibration_3,v1500,z100,tGriper;---------移至震動(dòng)去渣包區(qū)域過程點(diǎn)三；MoveJVibration_4,v1500,fine,tGriper;----------去渣包點(diǎn)一Z軸負(fù)方向點(diǎn)；SetDo60VibrationValve;---------打開震動(dòng)去渣包氣閥；MoveLOffs(Vibration_4,0,0,35),v1000,fine,tGriper;-------移至去渣包點(diǎn)一；WaitTime0.5;MoveJVibration_4,v1500,z50,tGriper;;MoveJVibration_5,v1000,z10,tGriper;;----------去渣包點(diǎn)二Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_5,0,0,60),v1000,fine,tGriper;-----------移至去渣包點(diǎn)二；WaitTime0.5;MoveJVibration_5,v1000,z10,tGriper;WaitTime0.5;MoveJVibration_14,v1500,z10,tGriper;----------去渣包點(diǎn)三Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_14,0,0,95),v1000,fine,tGriper;;-----------移至去渣包點(diǎn)三；WaitTime0.5;MoveJVibration_14,v1000,z10,tGriper;MoveJVibration_13,v1000,z100,tGriper;----------去渣包點(diǎn)四Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_13,0,0,95),v1000,z50,tGriper;;MoveLOffs(Vibration_13,0,0,140),v1000,fine,tGriper;;-----------移至去渣包點(diǎn)四；WaitTime0.5;MoveJVibration_13,v1000,z100,tGriper;MoveJVibration_12,v1000,z10,tGriper;震動(dòng)去渣包續(xù)MoveJVibration_15,v1000,z10,tGriper;

----------去渣包點(diǎn)五Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_15,0,0,90),v1000,fine,tGriper;;-----------移至去渣包點(diǎn)五；WaitTime0.5;MoveJVibration_15,v800,fine,tGriper;MoveJVibration_6,v1000,fine,tGriper;

----------去渣包點(diǎn)六Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_6,0,0,95),v1000,fine,tGriper;

----------移至去渣包點(diǎn)六；WaitTime0.5;MoveJVibration_6,v1000,z10,tGriper;

MoveJVibration_7,v1000,z100,tGriper;

----------去渣包點(diǎn)七Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_7,0,0,95),v1000,fine,tGriper;

----------移至去渣包點(diǎn)七；WaitTime0.5;MoveLOffs(Vibration_7,0,0,-100),v1000,fine,tGriper;WaitTime0.5;MoveJVibration_8,v1000,z10,tGriper;

----------去渣包點(diǎn)八Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_8,0,0,80),v1000,fine,tGriper;

----------移至去渣包點(diǎn)八；WaitTime0.5;MoveJVibration_8,v1000,z10,tGriper;MoveJVibration_9,v1000,z10,tGriper;

----------去渣包點(diǎn)九Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_9,0,0,60),v1000,fine,tGriper;

----------移至去渣包點(diǎn)九；WaitTime0.5;MoveJVibration_9,v1000,z10,tGriper;WaitTime0.5;MoveJVibration_10,v1000,z100,tGriper;----------去渣包點(diǎn)十Z軸負(fù)方向點(diǎn)；MoveLOffs(Vibration_10,0,0,50),v1000,fine,tGriper;

----------移至去渣包點(diǎn)十；WaitTime0.5;MoveJVibration_10,v1000,z100,tGriper;MoveJVibration_11,v1000,z10,tGriper;

--------退出去渣包區(qū)域點(diǎn)；ResetDo60VibrationValve;-----------復(fù)位震動(dòng)閥。六，水冷卻（LoadCoolWater）WaitDIDi57CoolClaOpenLS,1;--------等待冷卻水槽可放件信號(hào)MoveJLoadCool_A1,v1500,z100,tGriper;-------水槽冷卻點(diǎn)一；MoveJLoadCool_A2,v1500,z100,tGriper;-------水槽冷卻點(diǎn)二；MoveLLoadCool_A3,v400,fine,tGriper;--------進(jìn)入水槽點(diǎn)；WaitTime2;MoveJLoadCool_A4,v500,z100,tGriper;--------出水槽點(diǎn)一；MoveLLoadCool_A5,v800,z100,tGriper;-------出水槽點(diǎn)二；MoveLLoadCool_A6,v800,z100,tGriper;-------出水槽點(diǎn)三；MoveJLoadCool_B1,v1000,z100,tGriper;--------水槽放件吹氣點(diǎn)一；MoveJLoadCool_B2,v1000,z100,tGriper;--------水槽放件吹氣點(diǎn)二；MoveLOffs(PCoolClaPos,100,0,0),v1000,z50,tGriper;------冷卻水槽預(yù)放件位置；MoveJPCoolClaPos,v300,fine,tGriper;-----------冷卻水槽放件位置；WaitTime0.2;SoftActive;---------軟浮動(dòng)打開；ResetDo58CoolClaOpen;-------PulseDO\PLength:=3,Do59CoolClaClose;--------夾取脈沖；WaitTime2;SoftDeact;-----------關(guān)閉軟浮動(dòng)；Open_Grip_Mt;--------夾手打開；WaitTime0.5;MoveLOffs(PCoolClaPos,100,0,0),v300,z20,tGriper;------直線移至與抓取點(diǎn)；PulseDO\PLength:=10,Do55CoolLeftBlow;-----------打開吹氣閥；PulseDO\PLength:=10,Do56CoolRightBlow;PulseDO\PLength:=10,Do57CoolSideBlow;MoveLLoadCool_B2,v1000,z100,tGriper;----------直線上升；冷卻放件續(xù)Lable_Cut:WaitUntilDi61CutTake=1ORDi60CutPart=1\MaxTime:=50\TimeFlag:=flag1;---------等待可放或可取信號(hào)；IFNOTFlag1THEN---------若等待未超時(shí)；

IFDi58CutAuto=1andDi59CutFault=0andDi61CutTake=1THEN-----判斷是否為可??；

UnloadOil; -------若可取信號(hào)為ON則調(diào)用油壓機(jī)取件信號(hào)

ENDIF

IFDi58CutAuto=1andDi59CutFault=0ANDDi60CutPart=1THEN-------判斷是否有可放信號(hào)WaitTime0.5;UnloadWatercool;----------若有可放信號(hào)則調(diào)用冷卻水槽取件程序；ENDIFELSE

PulseDO\PLength:=3,Do35ExRobAlarm；-----------------若等待超時(shí)；

Stop;-----------------程序暫停；GOTOLable_Cut;----跳回到等待本頁首行ENDIF七，油壓機(jī)取件（UnloadOil）PROCUnloadOil() !***************ExtractoutOilhydraulicpress*************start:--------程序標(biāo)簽；WaitDIDi61CutTake,1;---------等待油壓機(jī)可取信號(hào)MoveJUnloadOil_1,v2000,z200,tGriper;-------油壓機(jī)取件過程點(diǎn)一；MoveJUnloadOil_2,v2000,z100,PartTool;------油壓機(jī)取件過程點(diǎn)二；MoveLUnloadOil_3,v1000,z100,PartTool;------油壓機(jī)取件過程點(diǎn)三；MoveLOffs(pOilGripPos,0,0,50),v800,z20,PartTool;------預(yù)抓取位置；MoveLpOilGripPos,v200,fine,PartTool;---------抓取位置；ResetDo47PartClaOpen;------制品抓手打開；PulseDO\PLength:=2,Do48PartClaClose;WaitTime0.2;MoveLOffs(pOilGripPos,0,0,80),v400,fine,PartTool;------移回預(yù)抓取點(diǎn)；MoveJUnloadOil_4,v400,z10,PartTool;-------移出油壓機(jī)過程點(diǎn)；MoveLUnloadOil_14,v400,z10,PartTool;MoveLUnloadOil_24,v400,z10,PartTool;MoveJUnloadOil_2,v1000,z100,PartTool;MoveJUnloadOil_1,v1500,z100,tGriper;GoodPart;------------------------調(diào)用制品放置傳輸帶程序。八，制品放傳輸帶（GoodPart）PROCGoodPart()TPWrite“Downloadingatgoodpartcontainer”;-----------寫屏WaitTime0.2;MoveJpGoodPart1,v1500,z100,tGriper;-------------移至傳輸帶過程點(diǎn)；MoveJpGoodPart2,v1500,z200,tGriper;MoveJpGoodPart3,v1500,fine,tGriper;------------產(chǎn)品取出檢測(cè)點(diǎn)；WaitTime0.6;MoveLpGoodPart2,v1500,z100,tGriper;-----------預(yù)放件位置；

！MoveLpGoodPart13,v1500,fine,tGriper;Open_Grip_Mt;--------料柄夾手打開；

ResetDo48PartClaClose;

PulseDO\PLength:=2,Do47PartClaOpen;------------松開制品夾手；PulseDO\PLength:=2,Do62ClampOpen;--------------啟動(dòng)傳輸帶；WaitTime0.5;MoveJpGoodPart1,v2000,z200,tGriper;IFDi57CoolClaOpenLS=0THEN-------判斷冷卻水槽是否有工件； UnloadWatercool;--------------------若有則調(diào)用冷卻水槽取件程序；ENDIFMoveJDOpHome,v2000,z200,tGriper,Do42ExRobSfHome,1;--------回原點(diǎn)；ENDPROC九，水槽取件（UnloadWatercool）WaitDIDi57CoolClaOpenLS,0;------------等待冷卻水槽可取信號(hào)；MoveJUnLoadCool_B1,v2000,z100,tGriper;---------冷卻水槽取件過程點(diǎn)；MoveJUnLoadCool_B2,v2000,z100,tGriper;MoveLOffs(PCoolGripPos,50,0,0),v1500,fine,tGriper;----------冷卻取件預(yù)抓取點(diǎn)；MoveLPCoolGripPos,v400,fine,tGriper;------------冷卻水槽抓取點(diǎn)；Close_Grip_Mt;-------------夾手夾緊；WaitTime0.2;ResetDo59CoolClaClose;PulseDO\PLength:=2,Do58CoolClaOpen;-------打開冷卻夾具；WaitUntilDi57CoolClaOpenLS=1\MaxTime:=15\TimeFlag:=flag8;--------等待冷卻夾具松開限；IFFlag8THEN----------如果等待超時(shí)，則跳轉(zhuǎn)至錯(cuò)誤處理程序；GOTOErr_UnLoadCool_B;ENDIFMoveLOffs(PCoolGripPos,150,0,0),v500,z50,tGriper;-------若等待未超時(shí)則移至預(yù)抓取位置；MoveJUnLoadCool_B2,v1500,z100,tGriper;------------原路返回移出水槽掛件位置；MoveJUnLoadCool_B1,v1500,z100,tGriper;GOTOFinish;------------移出后跳轉(zhuǎn)至結(jié)束位置調(diào)用油壓機(jī)放件程序；Err_UnLoadCool_B:--------錯(cuò)誤處理Open_Grip_Mt;WaitTime1;MoveJUnLoadCool_B2,v1500,z100,tGriper;MoveJUnLoadCool_B1,v1500,z100,tGriper;PulseDO\PLength:=1,Do35ExRobAlarm;TPErase;Stop;Finish:LoadOil;十，油壓機(jī)放件（LoadOil）WaitDIDi60CutPart,1;---------等待可放件信號(hào)；start:MoveJLoadOil_1,v1500,z100,tGriper;MoveJLoadOil_2,v1500,z100,tGriper;MoveJLoadOil_3,v1500,z100,tGriper;MoveLOffs(pOilPutPos,1000,0,90),v1000,z50,tGriper;MoveLO