用Fanuc機(jī)器人進(jìn)行上下料試驗(yàn),在抓取有序排列的工件時(shí),用了一段碼垛指令;在放置工件時(shí),又用了一段碼垛指令,最后發(fā)現(xiàn)兩段碼垛指令的寄存器出現(xiàn)了干擾。已采用了不同的代碼編號(hào),程序如下:
* F3 M6 |7 a& A# S9 i) Q
, T9 A' I- G/ i7 h1:L P[1] 100mm/sec CNT50 ' }9 _* F7 A3 H3 p. h! Q% d6 w
2: L P[2] 100mm/sec CNT50 ! g! ]0 @& ~! C( G
3: LBL[1] # r. i- n$ r$ M9 s
4: L P[3] 50mm/sec FINE
6 \# u$ y: l$ Q! a- G+ m5: PALLETIZING-B_1 //抓取零件的碼垛指令//
" i7 C1 |* z& F! y- o8 F6: J PAL_1[A_1] 30% FINE % m+ E( J& I. b
7: J PAL_1[BTM] 10% FINE
- a3 m6 R* p0 C2 b4 @; e8: DO[4:ON:SUCTION]=ON //氣缸吸氣,抓取工件// * a/ h$ x$ ], ]8 t- r. d8 l8 ]9 e' Q
9: WAIT 1.50(sec)
+ ]4 Y, l7 \2 W10: J PAL_1[R_1] 30% FINE 2 k0 W, \; p& B
11: PALLETIZING-END_1 # u. }8 I; S% o! f/ c5 C
12: J P[4] 80% FINE
! {- F. q' Y X/ }; _2 X) W' F0 D2 C13: J P[5] 80% FINE 7 {: l5 v1 @, G% ~! m; X# O1 a
14: J P[6] 50% FINE * W. _' N9 H+ O; k1 t5 s d
15: PALLETIZING-B_2 //放置零件的碼垛指令// ) P# ]3 r4 O0 J4 D4 \
16: J PAL_2[A_1] 30% FINE ; n; ~* Y7 @) k) ^4 j+ m( P# Y
17: J PAL_2[BTM] 10% FINE
0 s. J1 S% G6 f0 ~. H18: DO[4:ON:SUCTION]=OFF //氣缸停止吸氣,放置工件// 1 m# j" H+ [% \ I
19: WAIT 1.50(sec) ( N" x5 f4 H U, `3 ?6 W( z
20: J PAL_2[R_1] 30% FINE
. t6 g( T( q8 N$ y6 k/ i21: PALLETIZING-END_2
# ?# T4 y% x; J' m; D7 p22: J P[7] 100% FINE
& z1 E( \- E. _8 F6 k23: JMP LBL[1]
7 E$ o, S: T" S) h# L8 V. }[End] ! L& c$ O: A( w% |( F/ a
|