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188017452.xls
1RBPage 2
PULSE OT#(63) T=0.50
因手臂振动大、降低速度
压机内 开放位置 MOVL C00006 V=1600.0 PL=1
因发生进入错误、使用
PULSE OT#(64) T=0.50
TIMER T=0.01
PULSE OT#(17) T=1.00
WAIT IN#(24)=OFF
PULSE OT#(65) T=0.50
压机内 MOVJ C00007 VJ=100.00
PULSE OT#(66) T=0.50
向压机外移动 MOVJ C00008 VJ=100.00
PULSE OT#(28) T=1.00
PULSE OT#(67) T=0.50
*Loop2
JUMP *cyclstop IF IN#(16)=ON
JUMP *cycle IF IN#(39)=ON
JUMP JOB:HOME_POS IF IN#(23)=ON
JUMP *Loop2
MOVJ C00009 VJ=100.00
MOVJ C00010 VJ=70.00
*cyclstop
END
188017452.xls
2RB Page 3
/JOB
//NAME 7
//POS
///NPOS 11,0,0,1,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
各点的轴数据
C00000=-48511,-103222,26208,3810,-15296,14424
C00001=-110157,-52464,69211,-6781,-45315,40708
C00002=-109621,-38455,66791,-9260,-45213,41219
C00003=-109922,-66203,73955,-8470,-49929,41023
C00004=-51263,-112716,50874,-320,-33966,18659
C00005=34786,-116759,25148,1312,-16759,-13007
C00006=108325,-46213,68947,-336,-45981,-41734
C00007=109339,-18438,62894,-3487,-39924,-41191
C00008=108574,-39400,67462,-1109,-44495,-41601
C00009=46216,-82827,39087,438,-26146,-17206
C00010=-48511,-103222,26208,3810,-15296,14424
P0000=1307,-189860,55966,835,-37405,122
//INST
///DATE 2004/09/26 09:08
///COMM B/S OTR RH
///ATTR SC,RW
///GROUP1 RB1
NOP
JUMP *CYCLE IF IN#(39)=ON
'Y23E(Auto Cycle select)
*Manual
TIMER T=0.20
JUMP *Whipout IF IN#(40)=ON
'Y23F(Whip out Cycle start)
JUMP *Throw IF IN#(41)=ON
'Y240(Throw Cycle start)
JUMP *Manual
*LOOP1
*CYCLE
*Whipout
MOVJ C00000 VJ=100.00
PULSE OT#(68) T=0.50
*CYCLE2
JUMP *CYCLSTOP IF IN#(16)=ON
'Y227(Cycle stop command)
JUMP *CYCLE1 IF IN#(18)=ON
'Y229(Whip out Ok)
JUMP *CYCLE2
*CYCLE1
PULSE OT#(31) T=0.50
'X236(Whiout Start)
'X227(Vacuum command)
PULSE OT#(16) T=1.00
MOVJ C00001 VJ=100.00
PULSE OT#(57) T=0.50
向1号机前移动、条件等待
进入1号机
188017452.xls
2RBPage 4
'Vacuum position
压机内 吸着位置
MOVL C00002 V=1600.0 PL=2
PULSE OT#(58) T=0.50
TIMER T=0.01
WAIT IN#(24)=ON
'Y22F(Vacuum confirmation)
PULSE OT#(59) T=0.50
MOVL C00003 V=1600.0
PULSE OT#(60) T=0.50
WAIT IN#(24)=ON
PULSE OT#(29) T=1.00
'X234
MOVJ C00004 VJ=100.00
PULSE OT#(27) T=1.00
'X232(Whip out Completion)
PULSE OT#(61) T=0.50
MOVJ C00005 VJ=100.00
PULSE OT#(62) T=0.50
JUMP *Manual IF IN#(39)=OFF
'Y23E(Auto Cycle select)
*Throw
WAIT IN#(21)=ON
'Y22C(No.4 Panel Set Ok)
WAIT IN#(22)=ON
'Y22D(No.4 Abnormal no)
PULSE OT#(32) T=0.50
'X237(Throw Start)
PULSE OT#(33) T=1.00
'X238
MOVJ C00006 VJ=100.00 PL=2
PULSE OT#(63) T=0.50
压机内 开放位置
MOVL C00007 V=1600.0 PL=1
PULSE OT#(64) T=0.50
TIMER T=0.01
'Release position
PULSE OT#(17) T=1.00
'X228(Release command)
WAIT IN#(24)=OFF
'Y22F(Vacuum confirmation)
PULSE OT#(65) T=0.50
MOVJ C00008 VJ=100.00
PULSE OT#(66) T=0.50
MOVJ C00009 VJ=100.00
PULSE OT#(28) T=1.00
PULSE OT#(67) T=0.50
MOVJ C00010 VJ=100.00
'X233(Throw Completion)
向原点移动
JUMP *AUTO IF IN#(39)=ON
MOVJ P000 VJ=50.00
JUMP *Manual IF IN#(39)=OFF
'Y23E(Auto Cycle select)
*AUTO
*CYCLE4
向1号机外移动
向2号机前移动、条件等待
进入2号机内
因翻边変形、使用1
向2号机外移动
向1号机前移动
188017452.xls
2RB Page 5
JUMP *CYCLSTOP IF IN#(16)=ON
'Y227(Cycle stop command)
JUMP *CYCLE3 IF IN#(19)=ON
'Y22A(No.3 Abnormal no)
JUMP *CYCLE4
*CYCLE3
JUMP *LOOP1 IF IN#(39)=ON
MOVJ P000 VJ=75.00
*CYCLSTOP
RET
END
188017452.xls
3RBPage 6
/JOB
//NAME 7
//POS
///NPOS 11,0,0,1,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
各点的轴数据
C00000=-37494,-90535,27984,-1213,-18751,13675
C00001=-107257,-42819,74774,-17494,-57640,44938
C00002=-107049,-26854,71958,-18020,-55788,45078
C00003=-107529,-46453,73660,-13933,-55010,43888
C00004=-51795,-83360,35967,-770,-24040,18815
C00005=44436,-82489,37777,5644,-23082,-17704
C00006=106556,-44151,68111,6530,-48843,-40537
C00007=106459,-26694,65072,6787,-46837,-40599
C00008=106986,-41411,67311,4706,-47575,-40201
C00009=50191,-82308,36285,275,-24138,-18735
C00010=-37494,-90535,27984,-1213,-18751,13675
P0000=0,-203865,58795,0,-38613,0
//INST
///DATE 2004/09/26 20:43
///COMM B/S OTR RH
///ATTR SC,RW
///GROUP1 RB1
NOP
JUMP *CYCLE IF IN#(39)=ON
'Y39E(Auto Cycle select)
*Manual
TIMER T=0.20
JUMP *Whipout IF IN#(40)=ON
'Y39F(Whip out Cycle start)
JUMP *Throw IF IN#(41)=ON
'Y3A0(Throw Cycle start)
JUMP *Manual
*LOOP1
*CYCLE
*Whipout
MOVJ C00000 VJ=100.00
PULSE OT#(68) T=0.50
*CYCLE2
JUMP *CYCLSTOP IF IN#(16)=ON
'Y387(Cycle stop command)
JUMP *CYCLE1 IF IN#(18)=ON
'Y389(Whip out Ok)
JUMP *CYCLE2
*CYCLE1
PULSE OT#(31) T=0.50
'X396(Whipout Start)
PULSE OT#(16) T=1.00
'X387(Vacuum command)
MOVJ C00001 VJ=100.00
PULSE OT#(57) T=0.50
'Vacuum position
向2号机前移动、条件等待
进入2号机内
188017452.xls
3RB Page 7
压机内 吸着位置 MOVL C00002 V=1600.0
PULSE OT#(58) T=0.50
TIMER T=0.01
WAIT IN#(24)=ON
'Y38F(Vacuum confirmation)
PULSE OT#(59) T=0.50
MOVJ C00003 VJ=100.00
PULSE OT#(60) T=0.50
PULSE OT#(29) T=1.00
向号机外移动 MOVJ C00004 VJ=100.00
PULSE OT#(27) T=1.00
'X392(Whip out Completion)
PULSE OT#(61) T=0.50
MOVJ C00005 VJ=100.00
PULSE OT#(62) T=0.50
JUMP *Manual IF IN#(39)=OFF
'Y39E(Auto Cycle select)
*Throw
WAIT IN#(21)=ON
'Y38C(No.4 Panel Set Ok)
WAIT IN#(22)=ON
'Y38D(No.4 Abnormal no)
PULSE OT#(32) T=0.50
'X397(Throw Start)
PULSE OT#(33) T=1.00
'X398
MOVJ C00006 VJ=100.00
PULSE OT#(63) T=0.50
压机内 开放位置
MOVL C00007 V=1600.0 PL=1
PULSE OT#(64) T=0.50
TIMER T=0.01
'Release position
PULSE OT#(17) T=1.00
'X388(Release command)
WAIT IN#(24)=OFF
'Y38F(Vacuum confirmation)
PULSE OT#(65) T=0.50
MOVJ C00008 VJ=100.00
PULSE OT#(66) T=0.50
MOVJ C00009 VJ=100.00
PULSE OT#(28) T=1.00
'X393(Throw Completion)
PULSE OT#(67) T=0.50
MOVJ C00010 VJ=100.00
JUMP *AUTO IF IN#(39)=ON
向原点移动 MOVJ P000 VJ=50.00
JUMP *Manual IF IN#(39)=OFF
'Y39E(Auto Cycle select)
*AUTO
*CYCLE4
JUMP *CYCLSTOP IF IN#(16)=ON
'Y387(Cycle stop command)
JUMP *CYCLE3 IF IN#(19)=ON
'Y38A(No.3 Abnormal no)
向3号机前移动、条件等待
进入3号机内
因翻边変形、使用1
向3号机外移动
向2号机前移动
188017452.xls
3RBPage 8
JUMP *CYCLE4
*CYCLE3
JUMP *LOOP1 IF IN#(39)=ON
MOVJ P000 VJ=75.00
*CYCLSTOP
RET
END
188017452.xls
4RB Page 9
/JOB
//NAME 7
//POS
///NPOS 11,0,0,1,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
各点的轴数据
C00000=-45783,-74937,25191,3044,-15524,16817
C00001=-109573,-32281,63935,794,-40949,40952
C00002=-109581,-19647,62338,815,-39898,40946
C00003=-109571,-36784,64687,787,-41453,40949
C00004=-42490,-71831,38642,848,-24345,16383
C00005=41832,-91687,23687,-2437,-14247,-13720
C00006=107836,-42088,71022,10512,-50089,-42686
C00007=107686,-23739,68005,10908,-48098,-42785
C00008=107842,-42676,71146,10497,-50171,-42682
C00009=42603,-84962,33561,36971,-24487,-27504
C00010=-45783,-74937,25191,3044,-15524,16817
P0000=6621,-183401,50145,-2746,-33299,56
//INST
///DATE 2004/09/26 19:32
///COMM B/S OTR RH
///ATTR SC,RW
///GROUP1 RB1
NOP
JUMP *CYCLE IF IN#(39)=ON
'Y50E(Auto Cycle select)
*Manual
TIMER T=0.20
JUMP *Whipout IF IN#(40)=ON
'Y50F(Whip out Cycle start)
JUMP *Throw IF IN#(41)=ON
'Y510(Throw Cycle start)
JUMP *Manual
*LOOP1
*CYCLE
*Whipout
MOVJ C00000 VJ=100.00
PULSE OT#(68) T=0.50
*CYCLE2
JUMP *CYCLSTOP IF IN#(16)=ON
'Y4E7(Cycle stop command)
JUMP *CYCLE1 IF IN#(18)=ON
'Y4E9(Whip out Ok)
JUMP *CYCLE2
*CYCLE1
PULSE OT#(31) T=0.50
'X4F6(Whipout Start)
PULSE OT#(16) T=1.00
'X4E7(Vacuum command)
MOVJ C00001 VJ=100.00
PULSE OT#(57) T=0.50
'Vacuum position
向3号机前移动、条件等待
进入3号机内
188017452.xls
4RBPage 10
压机内 吸着位置
MOVL C00002 V=1600.0 PL=2
PULSE OT#(58) T=0.50
TIMER T=0.01
WAIT IN#(24)=ON
'Y4FF(Vacuum confirmation)
PULSE OT#(59) T=0.50
MOVJ C00003 VJ=90.00
PULSE OT#(60) T=0.50
WAIT IN#(24)=ON
PULSE OT#(29) T=1.00
MOVJ C00004 VJ=100.00
PULSE OT#(27) T=1.00
'X4F2(Whip out Completion)
PULSE OT#(61) T=0.50
MOVJ C00005 VJ=100.00
PULSE OT#(62) T=0.50
JUMP *Manual IF IN#(39)=OFF
'Y50E(Auto Cycle select)
*Throw
WAIT IN#(21)=ON
'Y4FC(No.4 Panel Set Ok)
WAIT IN#(22)=ON
'Y4FD(No.4 Abnormal no)
PULSE OT#(32) T=0.50
'X4F7(Throw Start)
PULSE OT#(33) T=1.00
'X4F8
MOVJ C00006 VJ=100.00
PULSE OT#(63) T=0.50
'Release position
压机内 开放位置
MOVL C00007 V=1600.0 PL=0
因翻边変形、使用
PULSE OT#(64) T=0.50
TIMER T=0.01
PULSE OT#(17) T=1.00
'X4E8(Release command)
WAIT IN#(24)=OFF
'Y4FF(Vacuum confirmation)
PULSE OT#(65) T=0.50
MOVJ C00008 VJ=100.00
PULSE OT#(66) T=0.50
MOVJ C00009 VJ=100.00
PULSE OT#(28) T=1.00
PULSE OT#(67) T=0.50
MOVJ C00010 VJ=100.00
'X4F3(Throw Completion)
JUMP *AUTO IF IN#(39)=ON
向原点移动 MOVJ P000 VJ=50.00
JUMP *Manual IF IN#(39)=OFF
'Y50E(Auto Cycle select)
*AUTO
*CYCLE4
JUMP *CYCLSTOP IF IN#(16)=ON
'Y4E7(Cycle stop command)
JUMP *CYCLE3 IF IN#(19)=ON
向3号机外移动
向4号机前移动、条件等待
进入4号机内
向4号机外移动
向3号机前移动
188017452.xls
4RB Page 11
'Y4FA(No.3 Abnormal no)
JUMP *CYCLE4
*CYCLE3
JUMP *LOOP1 IF IN#(39)=ON
MOVJ P000 VJ=75.00
*CYCLSTOP
RET
END
188017452.xls
5RBPage 12
/JOB
//NAME 7
//POS
///NPOS 10,0,0,1,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
各点的轴数据 C00000=-242714,-75338,33743,-3411,-21309,21329
C00001=-307616,-29512,63786,8664,-38091,44499
C00002=-307508,-10473,62101,8133,-37312,44608
C00003=-307927,-30592,64172,10107,-38700,44219
C00004=-250943,-69551,29714,13877,-16840,21376
C00005=-169268,-81945,33437,3201,-21400,-6068
C00006=-102962,-23135,43353,3016,-27901,-30730
C00007=-103087,4175,42468,3022,-27327,-30026
C00008=-105318,-15289,38902,3223,-24964,-29276
C00009=-242714,-75338,33743,-3411,-21309,21329
P0000=-193494,-210655,55681,-996,-36805,2311
//INST
///DATE 2004/09/26 18:48
///COMM B/S OTR RH
///ATTR SC,RW
///GROUP1 RB1
NOP
JUMP *CYCLE IF IN#(39)=ON
'Y65E(Auto Cycle select)
*Manual
TIMER T=0.20
JUMP *Whipout IF IN#(40)=ON
'Y65F(Whip out Cycle start)
JUMP *Throw IF IN#(41)=ON
'Y670(Throw Cycle start)
JUMP *Manual
*LOOP1
*CYCLE
*Whipout
向号机前移动、条件等待 MOVJ C00000 VJ=100.00
PULSE OT#(68) T=0.50
*CYCLE2
JUMP *CYCLSTOP IF IN#(16)=ON
'Y647(Cycle stop command)
JUMP *CYCLE1 IF IN#(18)=ON
'Y649(Whip out Ok)
JUMP *CYCLE2
*CYCLE1
WAIT IN#(42)=OFF
PULSE OT#(31) T=0.50
'X656(Whipout Start)
PULSE OT#(16) T=1.00
'X647(Vacuum command)
MOVJ C00001 VJ=100.00
PULSE OT#(57) T=0.50
'Vacuum position
进入4号压机
188017452.xls
5RB Page 13
压机内 吸着位置 MOVL C00002 V=1600.0 PL=2
PULSE OT#(58) T=0.50
TIMER T=0.01
WAIT IN#(24)=ON
'Y64F(Vacuum confirmation)
PULSE OT#(59) T=0.50
MOVL C00003 V=1600.0 PL=2
PULSE OT#(60) T=0.50
MOVJ C00004 VJ=100.00
WAIT IN#(24)=ON
PULSE OT#(29) T=1.00
PULSE OT#(27) T=1.00
'X652(Whip out Completion)
PULSE OT#(61) T=0.50
向皮带前移动、条件等待 MOVJ C00005 VJ=100.00
PULSE OT#(62) T=0.50
JUMP *Manual IF IN#(39)=OFF
'Y65E(Auto Cycle select)
*Throw
WAIT IN#(21)=ON
'Y64C(C/V Panel SET OK)
PULSE OT#(32) T=0.50
'X657(Throw Start)
进入传送带上 MOVJ C00006 VJ=100.00
PULSE OT#(63) T=0.50
WAIT IN#(42)=OFF
开放位置 MOVJ C00007 VJ=75.00 因変形降低速度
PULSE OT#(64) T=0.50
TIMER T=0.01
PULSE OT#(17) T=1.00
'X648(Release command)
WAIT IN#(24)=OFF
'Y64F(Vacuum confirmation)
PULSE OT#(65) T=0.50
MOVJ C00008 VJ=100.00
PULSE OT#(28) T=1.00
'X653(Throw Completion)
PULSE OT#(66) T=0.50
PULSE OT#(67) T=0.50
MOVJ C00009 VJ=100.00
JUMP *AUTO IF IN#(39)=ON
向原点移动 MOVJ P000 VJ=50.00
JUMP *Manual IF IN#(39)=OFF
'Y65E(Auto Cycle Select)
*AUTO
*CYCLE4
JUMP *CYCLSTOP IF IN#(16)=ON
'Y647(Cycle stop command)
JUMP *CYCLE3 IF IN#(19)=ON
'Y64A(No.4 Throw Ok)
JUMP *CYCLE4
*CYCLE3
JUMP *LOOP1 IF IN#(39)=ON
MOVJ P000 VJ=75.00
向4号压机外移动
向4号机外移动
188017452.xls
了解更多 安川机器人