DIM SHARED F_SCAN AS LONG ‘首次执行标志 DIM SHARED HOME_VEL AS LONG ‘自动回参考点速度 PROGRAM WITH ROBOT ATTACH ROBOT CALL SETTOOLNUM(0) CALL SETBASENUM(0) BLENDINGMETHOD =1 ‘--------------------------------------------------- ‘-------------------位置路径------------------------ ‘--------------------------------------------------- GOTO LABEL100 MOVE ROBOT REF[1] ‘参考点 MOVE ROBOT P10 ‘取料入境点 MOVE ROBOT P20 ‘取料前上方点 MOVE ROBOT P30 ‘取料点 MOVE ROBOT P40 ‘取料后上方点 MOVE ROBOT P50 ‘取料出境点 MOVE ROBOT P100 ‘车床入境点 MOVE ROBOT P110 ‘爪2取料前上方点 MOVE ROBOT P120 ‘爪2取料点 MOVE ROBOT P130 ‘爪2取料后上方点 MOVE ROBOT P140 ‘爪1放料前上方点 MOVE ROBOT P150 ‘爪1放料点 MOVE ROBOT P160 ‘爪1放料后上方点 MOVE ROBOT P170 ‘车床出境点 LABEL100: ‘--------------------------------------------------- ‘----------------调用回原子程序--------------------- ‘--------------------------------------------------- CALL HOME ‘--------------------------------------------------- ‘---------------调用初始化子程序-------------------- ‘--------------------------------------------------- CALL INITAL ‘--------------------------------------------------- ‘------------------主循环开始----------------------- ‘--------------------------------------------------- WHILE TRUE ‘主循环开始 CALL CHKIR(44,5000) ‘产线负压检测 CALL CHKIR(46,5000) ‘产线正压检测 CALL CHKIR(82,5000) ‘机器人通讯检测 MOVE ROBOT P10 CP=5 ‘《取料入境点》 LABEL10: IR[66]=1 ‘入境请求 IF IR[40]=1 AND F_SCAN=1 THEN ‘初次运行+清机 GOTO LABEL999 ‘清机场景---------1 ELSE IF IR[52]=0 THEN ‘允许入境 SLEEP 100 GOTO LABEL10 END IF END IF IR[64]=1 ‘在取料干涉区内 ‘------------取料前上方点相关判断-------------------- MOVE ROBOT P20 CP=5 ‘《取料前上方点》 IF F_SCAN=1 THEN ‘第一次执行 LABEL20: IF IR[40]=1 THEN ‘清机场景---------2 GOTO LABEL999 ELSE IF IR[48]=0 THEN ‘允许取料 SLEEP 100 GOTO LABEL20 END IF END IF END IF IF F_SCAN=0 THEN ‘非第一次执行 LABEL30: IF IR[48]=0 OR IR[50]=0 THEN ‘允许取料+允许卸料 SLEEP 100 GOTO LABEL30 END IF END IF IR[62]=1 ‘停止皮带运行 F_SCAN=0 ‘首次执行标志 MOVE ROBOT P30 ‘《取料点》 DELAY ROBOT 2 IF IR[40]=0 THEN ‘清机 D_OUT[9]=ON ‘爪1吸气 D_OUT[11]=OFF ‘爪2吹气 CALL CHKON(9,5000) ‘爪1负压检测 CALL CHKOFF(11,5000) ‘爪2负压检测 ELSE D_OUT[9]=OFF ‘爪1吹气 D_OUT[11]=OFF ‘爪2吹气 CALL CHKOFF(9,5000) ‘爪1负压检测 CALL CHKOFF(11,5000) ‘爪2负压检测 END IF MOVES ROBOT P40 ‘《取料后上方点》 DELAY ROBOT 2 IF IR[40]=0 THEN CALL CHKON(9,5000) ‘爪1负压检测 CALL CHKOFF(11,5000) ‘爪2负压检测 IR[62]=0 ‘停止皮带运行 ELSE CALL CHKOFF(9,5000) ‘爪1负压检测 CALL CHKOFF(11,5000) ‘爪2负压检测 IR[62]=0 ‘停止皮带运行 GOTO LABEL999 END IF MOVE ROBOT P50 ‘《取料出境点》 DELAY ROBOT 2 IR[64]=0 ‘在取料干涉区内 IR[66]=0 ‘入境请求 ‘--------------------车床---------------------- MOVE ROBOT P100 ‘《车床入境点》 DELAY ROBOT 2 CALL CHKON(17,20000) ‘车床完成信号检测 CALL CHKON(18,20000) ‘车床真空信号检测 CALL CHKON(19,20000) ‘车床报警信号检测 IR[81]=1 ‘在车床干涉区内 MOVE ROBOT P110 CP=5 ‘《爪2取料前上方点》 MOVE ROBOT P120 CP=5 ‘《爪2取料点》 DELAY ROBOT 2 D_OUT[19] = ON ‘车床吹气 CALL CHKOFF(18,5000) ‘车床真空信号检测 D_OUT[11] = ON ‘爪2吸气 CALL CHKON(11,5000) ‘爪2负压检测 MOVES ROBOT P130 ‘《爪2取料后上方点》 DELAY ROBOT 2 D_OUT[19] = OFF ‘车床吹气关 CALL CHKON(11,5000) ‘爪2负压检测 CALL CHKON(9,5000) ‘爪1负压检测 MOVE ROBOT P140 CP=5 ‘《爪1放料前上方点》 MOVES ROBOT P150 ‘《爪1放料点》 DELAY ROBOT 2 D_OUT[9] = OFF ‘爪1吹气关 CALL CHKOFF(9,5000) ‘爪1负压检测 MOVE ROBOT P160 CP=15 ‘《爪1放料后上方点》 MOVE ROBOT P170 CP=15 ‘《车床内出境点》 DELAY ROBOT 2 IR[81]=0 ‘在车床干涉区内 CALL CHKON(18,5000) ‘车床真空信号检测 CALL PULSE(17,1000) ‘车床启动 CALL CHKOFF(17,5000) ‘车床完成信号检测 END WHILE ‘主循环结束 LABEL999: MOVE ROBOT P10 ‘取料入境点 MOVE ROBOT REF[1] ‘参考点 DELAY ROBOT 2 D_OUT[9]=OFF ‘爪1真空阀 D_OUT[11]=OFF ‘爪2真空阀 D_OUT[17]=OFF ‘车床启动 D_OUT[18]=OFF ‘车床暂停 D_OUT[19]=OFF ‘车床吹气 IR[60]=1 ‘清机完成 IR[62]=0 ‘停止皮带 IR[64]=0 ‘干涉区内 IR[66]=0 ‘入境请求 IR[68]=0 ‘出境请求 IR[80]=0 ‘机器人异常标志 IR[81]=0 ‘在车床内标志 DELAY ROBOT 2 END WITH DETACH ROBOT END PROGRAM SUB INITAL ‘初始化子程序 CALL CHKON(999,5000) ‘启动时需在参考点 CALL CHKIR(44,5000) ‘产线负压检测 CALL CHKIR(46,5000) ‘产线正压检测 CALL CHKIR(82,5000) ‘机器人通讯检测 CALL CHKOFF(9,5000) ‘爪1负压检测 CALL CHKOFF(11,5000) ‘爪2负压检测 CALL CHKON(17,5000) ‘车床完成信号检测 CALL CHKON(18,5000) ‘车床真空信号检测 CALL CHKOFF(19,5000) ‘车床报警信号检测 D_OUT[9]=0 ‘爪1真空阀 D_OUT[11]=0 ‘爪2真空阀 D_OUT[17]=0 ‘车床启动 D_OUT[18]=0 ‘车床暂停 D_OUT[19]=0 ‘车床吹气 IR[60]=0 ‘清机完成 IR[62]=0 ‘停止皮带 IR[64]=0 ‘干涉区内 IR[66]=0 ‘入境请求 IR[68]=0 ‘出境请求 IR[80]=0 ‘机器人异常标志 IR[81]=0 ‘在车床内标志 ‘VTRAN=1200 ‘VMAX=450 ‘VCRUISE=VMAX ‘ACC=AMAX ‘DEC=ACC ‘JMAX=100000 ‘JERK=JMAX F_SCAN=1 ‘首次执行标志 END SUB SUB HOME ‘回参考点子程序 CALL CHKOFF(9,5000) ‘检测爪1真空OFF CALL CHKOFF(11,5000) ‘检测爪2真空OFF D_OUT[9] = OFF ‘爪1吹气 D_OUT[11] = OFF ‘爪2吹气 IF OIN_REF[1]=0 THEN ‘判断机器人是否在参考点 ‘-------------------------------------------------------- ‘---------读取机器人当前关节坐标位置---------------- ‘-------------------------------------------------------- JR[10]=P10 JR[20]=P20 JR[30]=P30 JR[40]=P40 JR[50]=P50 JR[100]=P100 JR[110]=P110 JR[120]=P120 JR[130]=P130 JR[140]=P140 JR[150]=P150 JR[160]=P160 JR[170]=P170 JR[1]=ROBOT.PFB ‘读取当前关节??置 HOME_VEL=30 ‘自动回参考点速度 ‘-------------------------------------------------------- ‘--------------与所有示教点进行匹配---------------------- ‘-------------------------------------------------------- IF (JR[10]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[10]{1}+1) AND (JR[10]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[10]{2}+1) AND (JR[10]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[10]{3}+1) THEN IF (JR[10]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[10]{4}+1) AND (JR[10]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[10]{5}+1) AND (JR[10]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[10]{6}+1) THEN GOTO LABEL913 END IF END IF IF (JR[20]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[20]{1}+1) AND (JR[20]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[20]{2}+1) AND (JR[20]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[20]{3}+1) THEN IF (JR[20]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[20]{4}+1) AND (JR[20]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[20]{5}+1) AND (JR[20]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[20]{6}+1) THEN GOTO LABEL912 END IF END IF IF (JR[30]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[30]{1}+1) AND (JR[30]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[30]{2}+1) AND (JR[30]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[30]{3}+1) THEN IF (JR[30]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[30]{4}+1) AND (JR[30]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[30]{5}+1) AND (JR[30]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[30]{6}+1) THEN GOTO LABEL911 END IF END IF IF (JR[40]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[40]{1}+1) AND (JR[40]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[40]{2}+1) AND (JR[40]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[40]{3}+1) THEN IF (JR[40]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[40]{4}+1) AND (JR[40]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[40]{5}+1) AND (JR[40]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[40]{6}+1) THEN GOTO LABEL912 END IF END IF IF (JR[50]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[50]{1}+1) AND (JR[50]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[50]{2}+1) AND (JR[50]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[50]{3}+1) THEN IF (JR[50]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[50]{4}+1) AND (JR[50]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[50]{5}+1) AND (JR[50]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[50]{6}+1) THEN GOTO LABEL912 END IF END IF IF (JR[100]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[100]{1}+1) AND (JR[100]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[100]{2}+1) AND (JR[100]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[100]{3}+1) THEN IF (JR[100]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[100]{4}+1) AND (JR[100]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[100]{5}+1) AND (JR[100]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[100]{6}+1) THEN GOTO LABEL923 END IF END IF IF (JR[110]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[110]{1}+1) AND (JR[110]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[110]{2}+1) AND (JR[110]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[110]{3}+1) THEN IF (JR[110]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[110]{4}+1) AND (JR[110]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[110]{5}+1) AND (JR[110]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[110]{6}+1) THEN GOTO LABEL922 END IF END IF IF (JR[120]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[120]{1}+1) AND (JR[120]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[120]{2}+1) AND (JR[120]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[120]{3}+1) THEN IF (JR[120]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[120]{4}+1) AND (JR[120]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[120]{5}+1) AND (JR[120]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[120]{6}+1) THEN GOTO LABEL921 END IF END IF IF (JR[130]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[130]{1}+1) AND (JR[130]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[130]{2}+1) AND (JR[130]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[130]{3}+1) THEN IF (JR[130]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[130]{4}+1) AND (JR[130]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[130]{5}+1) AND (JR[130]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[130]{6}+1) THEN GOTO LABEL922 END IF END IF IF (JR[140]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[140]{1}+1) AND (JR[140]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[140]{2}+1) AND (JR[140]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[140]{3}+1) THEN IF (JR[140]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[140]{4}+1) AND (JR[140]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[140]{5}+1) AND (JR[140]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[140]{6}+1) THEN GOTO LABEL932 END IF END IF IF (JR[150]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[150]{1}+1) AND (JR[150]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[150]{2}+1) AND (JR[150]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[150]{3}+1) THEN IF (JR[150]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[150]{4}+1) AND (JR[150]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[150]{5}+1) AND (JR[150]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[150]{6}+1) THEN GOTO LABEL931 END IF END IF IF (JR[160]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[160]{1}+1) AND (JR[160]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[160]{2}+1) AND (JR[160]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[160]{3}+1) THEN IF (JR[160]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[160]{4}+1) AND (JR[160]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[160]{5}+1) AND (JR[160]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[160]{6}+1) THEN GOTO LABEL932 END IF END IF IF (JR[170]{1}-1<JR[1]{1} ) AND (JR[1]{1}<JR[170]{1}+1) AND (JR[170]{2}-1<JR[1]{2} ) AND (JR[1]{2}<JR[170]{2}+1) AND (JR[170]{3}-1<JR[1]{3}) AND (JR[1]{3}<JR[170]{3}+1) THEN IF (JR[170]{4}-1<JR[1]{4}) AND (JR[1]{4}<JR[170]{4}+1) AND (JR[170]{5}-1<JR[1]{5}) AND (JR[1]{5}<JR[170]{5}+1) AND (JR[170]{6}-1<JR[1]{6}) AND (JR[1]{6}<JR[170]{6}+1) THEN GOTO LABEL933 END IF END IF ‘-------------------------------------------------------- ‘--------------回???轨迹1--------------------------------- ‘-------------------------------------------------------- GOTO LABEL914 LABEL910: MOVE ROBOT P30 VCRUISE=HOME_VEL ‘取料点 LABEL911: MOVE ROBOT P20 VCRUISE=HOME_VEL ‘取料前上方点 LABEL912: MOVE ROBOT P10 VCRUISE=HOME_VEL ‘取料入境点 LABEL913: MOVE ROBOT REF[1] VCRUISE=HOME_VEL ‘参考点 DELAY ROBOT 2 LABEL914: ‘-------------------------------------------------------- ‘--------------回原轨迹2--------------------------------- ‘-------------------------------------------------------- GOTO LABEL924 LABEL920: MOVE ROBOT P120 VCRUISE=HOME_VEL ‘爪2取料点 LABEL921: MOVE ROBOT P110 VCRUISE=HOME_VEL ‘爪2取料前上方点 LABEL922: MOVE ROBOT P100 VCRUISE=HOME_VEL ‘车床入境点 LABEL923: MOVE ROBOT REF[1] VCRUISE=HOME_VEL ‘参考点 DELAY ROBOT 2 LABEL924: ‘-------------------------------------------------------- ‘--------------回原轨迹3--------------------------------- ‘-------------------------------------------------------- GOTO LABEL934 LABEL930: MOVE ROBOT P150 VCRUISE=HOME_VEL ‘爪1放料点 LABEL931: MOVE ROBOT P160 VCRUISE=HOME_VEL ‘爪1放料后上方点 LABEL932: MOVE ROBOT P170 VCRUISE=HOME_VEL ‘车床出境点 LABEL933: MOVE ROBOT REF[1] VCRUISE=HOME_VEL ‘参考点 DELAY ROBOT 2 LABEL934: END IF END SUB
DIM SHARED ON9 AS NOTE "爪1负压反馈信号D_IN[9]未ON" DIM SHARED ON10 AS NOTE "爪1正压反馈信号D_IN[10]未ON" DIM SHARED ON11 AS NOTE "爪2负压反馈信号D_IN[11]未ON" DIM SHARED ON12 AS NOTE "爪2正压反馈信号D_IN[12]未ON" DIM SHARED ON17 AS NOTE "车床工作完成信号D_IN[17]未ON" DIM SHARED ON18 AS NOTE "车床真空反馈信号D_IN[18]未ON" DIM SHARED ON19 AS NOTE "车床报警反馈信号D_IN[19]未ON" DIM SHARED ON999 AS NOTE "与所有示教点匹配失败，请手动回参考点！" PUBLIC SUB CHKON(BYVAL INDEX AS LONG,BYVAL TM AS LONG) ‘ (WRITE YOUR CODE HERE) DIM FLAG AS LONG FLAG=0 ‘标志位复位 IR[80]=0 ‘机器人异常标志 IF INDEX=999 THEN CALL WAITUNTIL(OIN_REF[1],ON,TM,FLAG) ELSE CALL WAITUNTIL(D_IN[INDEX],ON,TM,FLAG) END IF IF FLAG=1 THEN ‘异常标志位为1，机器人面板上异常提示 IR[80]=1 ‘机器人异常标志 SELECT CASE INDEX CASE 999 THROW ON999 CASE 9 THROW ON9 CASE 10 THROW ON10 CASE 11 THROW ON11 CASE 12 THROW ON12 CASE 17 THROW ON17 CASE 18 THROW ON18 CASE 19 THROW ON19 END SELECT IF INDEX=999 THEN CALL WAIT(OIN_REF[1],ON) ELSE CALL WAIT(D_IN[INDEX],ON) END IF CALL WAIT(D_IN[7],ON) ‘报警复位按钮 IR[80]=0 ‘机器人异常标志 FLAG=0 END IF END SUB
DIM SHARED OFF9 AS NOTE "爪1负压反馈信号D_IN[9]未OFF" DIM SHARED OFF10 AS NOTE "爪1正压反馈信号D_IN[10]未OFF" DIM SHARED OFF11 AS NOTE "爪2负压反馈信号D_IN[11]未OFF" DIM SHARED OFF12 AS NOTE "爪2正压反馈信号D_IN[12]未OFF" DIM SHARED OFF17 AS NOTE "车床工作完成信号D_IN[17]未OFF" DIM SHARED OFF18 AS NOTE "车床真空反馈信号D_IN[18]未OFF" DIM SHARED OFF19 AS NOTE "车床报警反馈信号D_IN[19]未OFF" PUBLIC SUB CHKOFF(BYVAL INDEX AS LONG,BYVAL TM AS LONG) ‘ (WRITE YOUR CODE HERE) DIM FLAG AS LONG FLAG=0 ‘标志位复位 IR[80]=0 ‘机器人异常标志 CALL WAITUNTIL(D_IN[INDEX],OFF,TM,FLAG) IF FLAG=1 THEN ‘异常标志位为1，机器人面板上异常提示 IR[80]=1 ‘机器人异常标志 SELECT CASE INDEX CASE 9 THROW OFF9 CASE 10 THROW OFF10 CASE 11 THROW OFF11 CASE 12 THROW OFF12 CASE 17 THROW OFF17 CASE 18 THROW OFF18 CASE 19 THROW OFF19 END SELECT CALL WAIT(D_IN[INDEX],OFF) CALL WAIT(D_IN[7],ON) ‘报警复位按钮 IR[80]=0 ‘机器人异常标志 FLAG=0 END IF END SUB
DIM SHARED ON44 AS NOTE "产线负压不合格，IR[44]不等于1" DIM SHARED ON46 AS NOTE "产线正压不合格，IR[46]不等于1" DIM SHARED ON82 AS NOTE "机器人和总控通讯中断，IR[82]不等于1" PUBLIC SUB CHKIR(BYVAL INDEX AS LONG,BYVAL TM AS LONG) ‘ (WRITE YOUR CODE HERE) DIM FLAG AS LONG FLAG=0 ‘标志位复位 IR[82] = 0 ‘报警 CALL WAITUNTIL(IR[INDEX],1,TM,FLAG) IF FLAG=1 THEN ‘异常标志位为1，机器人面板上异常提示 IR[82] = 1 ‘报警 SELECT CASE INDEX CASE 44 THROW ON44 CASE 46 THROW ON46 CASE 82 THROW ON82 END SELECT CALL WAIT(IR[INDEX],1) CALL WAIT(D_IN[7],ON) ‘报警复位按钮 IR[82] = 0 ‘报警复位 FLAG=0 END IF END SUB
COMMON SHARED MY_STOP AS LONG = 0 COMMON SHARED C1 AS LONG = 0 ‘计数器1 COMMON SHARED C2 AS LONG = 0 ‘计数器2 COMMON SHARED C3 AS LONG = 0 ‘计数器3 COMMON SHARED C4 AS LONG = 0 ‘计数器3 ‘ PUBLIC SUB USR_PLC ‘MODBUS-TCP和机器人地址映射 ‘----------PLC给机器人信号----------- IN_STAT[1]= COIL_STAT[1] ‘接受心跳\发送心跳 IPRG_START= COIL_STAT[2] ‘IPRG_START IPRG_PAUSE= COIL_STAT[3] ‘IPRG_PAUSE IPRG_RESUME= COIL_STAT[4] ‘IPRG_RESUME IPRG_KILL= COIL_STAT[5] ‘IPRG_KILL IPRG_LOAD= COIL_STAT[6] ‘IPRG_LOAD IPRG_UNLOAD= COIL_STAT[7] ‘IPRG_UNLOAD IENABLE= COIL_STAT[8] ‘IENABLE ICLEAR_DRV_FAULTS= COIL_STAT[9] ‘ICLEAR_DRV_FAULTS IR[40] = COIL_STAT[10] ‘机器人清机 IR[42] = COIL_STAT[11] ‘复位机器人异常 IR[44] = COIL_STAT[12] ‘产线正压检测 IR[46] = COIL_STAT[13] ‘产线负压检测 IR[48] = COIL_STAT[14] ‘允许取料 IR[50] = COIL_STAT[15] ‘允许卸料 IR[52] = COIL_STAT[16] ‘允许入境 IR[54] = COIL_STAT[17] ‘允许出境 ‘-----------机器人信号给PLC----------- IN_STAT[1]= COIL_STAT[1] ‘接受心跳\发送心跳 IN_STAT[2]= OROBOT_READY ‘OROBOT_READY IN_STAT[3]= ODRV_FAULTS ‘ODRV_FAULTS IN_STAT[4]= OENABLE_STATE ‘OENABLE_STATE IN_STAT[5]= OPRG_UNLOAD ‘OPRG_UNLOAD IN_STAT[6]= OPRG_READY ‘OPRG_READY IN_STAT[7]= OPRG_RUNNING ‘OPRG_RUNNING IN_STAT[8]= OPRG_ERR ‘OPRG_ERR IN_STAT[9]= OPRG_PAUSE ‘OPRG_PAUSE IN_STAT[10]= OPRG_KILLED ‘OPRG_KILLED IN_STAT[11]= OIN_REF[1] ‘OIN_REF[1] IN_STAT[12]= OIN_REF[2] ‘OIN_REF[2] IN_STAT[13]= OIN_REF[3] ‘OIN_REF[3] IN_STAT[14]= OIS_MOVING ‘OIS_MOVING IN_STAT[15]= OMANUAL_MODE ‘OMANUAL_MODE IN_STAT[16]= OAUTO_MODE ‘OAUTO_MODE IN_STAT[17]= OEXT_MODE ‘OEXT_MODE IN_STAT[18]= OSYS_ERR ‘OSYS_ERR IN_STAT[19]= D_IN[5] ‘启动按钮 IN_STAT[20]= D_IN[6] ‘停止按钮 IN_STAT[21]= D_IN[7] ‘复位按钮 IN_STAT[22]= D_IN[8] ‘清机按钮 IN_STAT[23]= IR[60] ‘清机完成 IN_STAT[24]= IR[62] ‘停止皮带 IN_STAT[25]= IR[64] ‘干涉区内 IN_STAT[26]= IR[66] ‘入境请求 IN_STAT[27]= IR[68] ‘出境请求 ‘-----------机器人和和总控通讯心跳----------- IF COIL_STAT[1]=1 THEN ‘通讯心跳 C3=C3+1 C4=0 IF C3>1000 THEN C3=1000 END IF ELSE C4=C4+1 C3=0 IF C4>1000 THEN C4=1000 END IF END IF IF (COIL_STAT[1]=1 AND C3>500) OR (COIL_STAT[1]=0 AND C4>500) THEN ‘通讯心跳 IR[82]=0 ‘通讯中断标志 ELSE IR[82]=1 END IF ‘-----------机器人和车床同时进入干涉区----------- IF D_IN[17]=OFF AND IR[81]=1 THEN ‘车床干涉区 AND 车床完成信号OFF CALL PULSE(18,1000) ‘给车床暂停\急停 MY_STOP=PROGSTOP ‘停止机器人 IR[81]=0 END IF ‘-----------自动复位清机完成信号----------- IF OPRG_RUNNING=0 AND OPRG_PAUSE=0 THEN IR[60]=0 ‘清机完成反馈 IR[80]=0 ‘机器人异常标志 END IF ‘-----------机器人回参考点后复位相关信号----------- IF OIN_REF[1]=1 THEN D_OUT[18]=OFF ‘给车床暂停\急停 IR[62]=0 ‘停止皮带 IR[64]=0 ‘取料干涉区内 IR[66]=0 ‘取料入境请求 IR[68]=0 ‘取料出境请求 IR[80]=0 ‘机器人异常标志 IR[81]=0 ‘车床干涉区内 END IF ‘-----------三色灯显示----------- ‘急停报警汇总(红灯亮) IF OSYS_ERR=1 OR ODRV_FAULTS=1 OR OPRG_ERR=1 OR IR[82]=0 THEN ‘通讯中断 D_OUT[5]=ON ‘机器人红灯 ELSE D_OUT[5]=OFF ‘机器人红灯 END IF ‘机器人未运行指示灯 IF OPRG_RUNNING=0 AND OPRG_PAUSE=0 AND D_OUT[5] = OFF THEN ‘未运行且未暂停且红灯不亮 D_OUT[6] = OFF ‘机器??黄灯 D_OUT[7] = OFF ‘机器人绿灯 END IF ‘机器人正常运行指示灯 IF (OPRG_RUNNING=1 OR OPRG_PAUSE=1) AND D_OUT[5]=OFF AND IR[80]=0 AND IR[40]=0 THEN ‘正在运行且红灯不亮且无异常且无清机 D_OUT[6] = OFF ‘机器人黄灯 D_OUT[7] = ON ‘机器人绿灯 END IF ‘机器人异常指示灯 IF (OPRG_RUNNING=1 OR OPRG_PAUSE=1) AND D_OUT[5]=OFF AND IR[80]=1 THEN ‘正在运行且红灯不亮且有异常 C1=C1+1 IF C1>100 THEN C1=0 END IF IF C1>50 THEN D_OUT[6] = ON ‘机器人黄灯 END IF IF C1<50 THEN D_OUT[6] = OFF ‘机器人黄灯 END IF END IF ‘清机指示灯 IF (OPRG_RUNNING=1 OR OPRG_PAUSE=1) AND D_OUT[5]=OFF AND IR[40]=1 THEN ‘正在运行且红灯不亮且清机 C2=C2+1 IF C2>100 THEN C2=0 END IF IF C2>50 THEN D_OUT[7] = ON ‘机器人绿灯 END IF IF C2<50 THEN D_OUT[7] = OFF ‘机器人绿灯 END IF END IF ‘蜂鸣器 IF D_OUT[5]=ON OR D_OUT[6]=ON THEN ‘红灯 OR 黄灯 D_OUT[8] = ON ‘机器人蜂鸣器 ELSE D_OUT[8] = OFF ‘机器人蜂鸣器 END IF ‘复位按钮操作 IF D_IN[3]=ON THEN ‘异常复位 D_OUT[5] = OFF ‘机器人红灯 D_OUT[6] = OFF ‘机器人黄灯 D_OUT[7] = OFF ‘机器人绿灯 D_OUT[8] = OFF ‘机器人蜂鸣器 END IF JR[10]=ROBOT.PFB END SUB
<?xml version=‘1.0‘ encoding=‘UTF-8‘ standalone=‘yes‘ ?> <config> <IO_INFO name="DI1" value="" /> <IO_INFO name="DI2" value="" /> <IO_INFO name="DI3" value="" /> <IO_INFO name="DI4" value="" /> <IO_INFO name="DI5" value="启动按钮" /> <IO_INFO name="DI6" value="停止按钮" /> <IO_INFO name="DI7" value="复位按钮" /> <IO_INFO name="DI8" value="清机按钮" /> <IO_INFO name="DI9" value="爪1负压反馈" /> <IO_INFO name="DI10" value="爪1正压反馈" /> <IO_INFO name="DI11" value="爪2负压反馈" /> <IO_INFO name="DI12" value="爪2正压反馈" /> <IO_INFO name="DI13" value="" /> <IO_INFO name="DI14" value="" /> <IO_INFO name="DI15" value="" /> <IO_INFO name="DI16" value="" /> <IO_INFO name="DI17" value="车床完成反馈" /> <IO_INFO name="DI18" value="车床真空反馈" /> <IO_INFO name="DI19" value="车床报警反馈" /> <IO_INFO name="DI20" value="" /> <IO_INFO name="DI21" value="" /> <IO_INFO name="DI22" value="" /> <IO_INFO name="DI23" value="" /> <IO_INFO name="DI24" value="" /> <IO_INFO name="DI25" value="" /> <IO_INFO name="DI26" value="" /> <IO_INFO name="DI27" value="" /> <IO_INFO name="DI28" value="" /> <IO_INFO name="DI29" value="" /> <IO_INFO name="DI30" value="" /> <IO_INFO name="DI31" value="" /> <IO_INFO name="DI32" value="" /> <IO_INFO name="DO1" value="" /> <IO_INFO name="DO2" value="" /> <IO_INFO name="DO3" value="" /> <IO_INFO name="DO4" value="" /> <IO_INFO name="DO5" value="红灯" /> <IO_INFO name="DO6" value="黄灯" /> <IO_INFO name="DO7" value="绿灯" /> <IO_INFO name="DO8" value="蜂鸣器" /> <IO_INFO name="DO9" value="爪1吸气电磁阀" /> <IO_INFO name="DO10" value="" /> <IO_INFO name="DO11" value="爪2吸气电磁阀" /> <IO_INFO name="DO12" value="" /> <IO_INFO name="DO13" value="" /> <IO_INFO name="DO14" value="" /> <IO_INFO name="DO15" value="" /> <IO_INFO name="DO16" value="" /> <IO_INFO name="DO17" value="车床启动" /> <IO_INFO name="DO18" value="车床暂停/急停" /> <IO_INFO name="DO19" value="车床吹气" /> <IO_INFO name="DO20" value="" /> <IO_INFO name="DO21" value="" /> <IO_INFO name="DO22" value="" /> <IO_INFO name="DO23" value="" /> <IO_INFO name="DO24" value="" /> <IO_INFO name="DO25" value="" /> <IO_INFO name="DO26" value="" /> <IO_INFO name="DO27" value="" /> <IO_INFO name="DO28" value="" /> <IO_INFO name="DO29" value="" /> <IO_INFO name="DO30" value="" /> <IO_INFO name="DO31" value="" /> <IO_INFO name="DO32" value="" /> </config>
<?xml version=‘1.0‘ encoding=‘UTF-8‘ standalone=‘yes‘ ?> <config> <VAR_INFO name="EXT_PRG[1]" value="程序名1" /> <VAR_INFO name="EXT_PRG[2]" value="" /> <VAR_INFO name="EXT_PRG[3]" value="" /> <VAR_INFO name="EXT_PRG[4]" value="" /> <VAR_INFO name="EXT_PRG[5]" value="" /> <VAR_INFO name="EXT_PRG[6]" value="" /> <VAR_INFO name="EXT_PRG[7]" value="" /> <VAR_INFO name="EXT_PRG[8]" value="" /> <VAR_INFO name="EXT_PRG[9]" value="" /> <VAR_INFO name="EXT_PRG[10]" value="" /> <VAR_INFO name="EXT_PRG[11]" value="" /> <VAR_INFO name="EXT_PRG[12]" value="" /> <VAR_INFO name="EXT_PRG[13]" value="" /> <VAR_INFO name="EXT_PRG[14]" value="" /> <VAR_INFO name="EXT_PRG[15]" value="" /> <VAR_INFO name="EXT_PRG[16]" value="" /> <VAR_INFO name="REF[1]" value="参考点1" /> <VAR_INFO name="REF[2]" value="" /> <VAR_INFO name="REF[3]" value="" /> <VAR_INFO name="REF[4]" value="" /> <VAR_INFO name="REF[5]" value="" /> <VAR_INFO name="REF[6]" value="" /> <VAR_INFO name="REF[7]" value="" /> <VAR_INFO name="REF[8]" value="" /> <VAR_INFO name="TOOL_FRAME[1]" value="" /> <VAR_INFO name="TOOL_FRAME[2]" value="" /> <VAR_INFO name="TOOL_FRAME[3]" value="" /> <VAR_INFO name="TOOL_FRAME[4]" value="" /> <VAR_INFO name="TOOL_FRAME[5]" value="" /> <VAR_INFO name="TOOL_FRAME[6]" value="" /> <VAR_INFO name="TOOL_FRAME[7]" value="" /> <VAR_INFO name="TOOL_FRAME[8]" value="" /> <VAR_INFO name="TOOL_FRAME[9]" value="" /> <VAR_INFO name="TOOL_FRAME[10]" value="" /> <VAR_INFO name="TOOL_FRAME[11]" value="" /> <VAR_INFO name="TOOL_FRAME[12]" value="" /> <VAR_INFO name="TOOL_FRAME[13]" value="" /> <VAR_INFO name="TOOL_FRAME[14]" value="" /> <VAR_INFO name="TOOL_FRAME[15]" value="" /> <VAR_INFO name="TOOL_FRAME[16]" value="" /> <VAR_INFO name="BASE_FRAME[1]" value="" /> <VAR_INFO name="BASE_FRAME[2]" value="" /> <VAR_INFO name="BASE_FRAME[3]" value="" /> <VAR_INFO name="BASE_FRAME[4]" value="" /> <VAR_INFO name="BASE_FRAME[5]" value="" /> <VAR_INFO name="BASE_FRAME[6]" value="" /> <VAR_INFO name="BASE_FRAME[7]" 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value="" /> <VAR_INFO name="IR[18]" value="" /> <VAR_INFO name="IR[19]" value="" /> <VAR_INFO name="IR[20]" value="" /> <VAR_INFO name="IR[21]" value="" /> <VAR_INFO name="IR[22]" value="" /> <VAR_INFO name="IR[23]" value="" /> <VAR_INFO name="IR[24]" value="" /> <VAR_INFO name="IR[25]" value="" /> <VAR_INFO name="IR[26]" value="" /> <VAR_INFO name="IR[27]" value="" /> <VAR_INFO name="IR[28]" value="" /> <VAR_INFO name="IR[29]" value="" /> <VAR_INFO name="IR[30]" value="" /> <VAR_INFO name="IR[31]" value="" /> <VAR_INFO name="IR[32]" value="" /> <VAR_INFO name="IR[33]" value="" /> <VAR_INFO name="IR[34]" value="" /> <VAR_INFO name="IR[35]" value="" /> <VAR_INFO name="IR[36]" value="" /> <VAR_INFO name="IR[37]" value="" /> <VAR_INFO name="IR[38]" value="" /> <VAR_INFO name="IR[39]" value="" /> <VAR_INFO name="IR[40]" value="机器人清机" /> <VAR_INFO name="IR[41]" value="" /> <VAR_INFO name="IR[42]" value="复位机器人异常" /> <VAR_INFO name="IR[43]" value="" /> <VAR_INFO name="IR[44]" value="产线正压检测" /> <VAR_INFO name="IR[45]" value="" /> <VAR_INFO name="IR[46]" value="产线负压检测" /> <VAR_INFO name="IR[47]" value="" /> <VAR_INFO name="IR[48]" value="允许取料" /> <VAR_INFO name="IR[49]" value="" /> <VAR_INFO name="IR[50]" value="允许卸料" /> <VAR_INFO name="IR[51]" value="" /> <VAR_INFO name="IR[52]" value="允许入境" /> <VAR_INFO name="IR[53]" value="" /> <VAR_INFO name="IR[54]" value="允许出境" /> <VAR_INFO name="IR[55]" value="" /> <VAR_INFO name="IR[56]" value="" /> <VAR_INFO name="IR[57]" value="" /> <VAR_INFO name="IR[58]" value="" /> <VAR_INFO name="IR[59]" value="" /> <VAR_INFO name="IR[60]" value="清机完成" /> <VAR_INFO name="IR[61]" value="" /> <VAR_INFO name="IR[62]" value="停止皮带" /> <VAR_INFO name="IR[63]" value="" /> <VAR_INFO name="IR[64]" value="干涉区内" /> <VAR_INFO name="IR[65]" value="" /> <VAR_INFO name="IR[66]" value="入境请求" /> <VAR_INFO name="IR[67]" value="" /> <VAR_INFO name="IR[68]" value="出境请求" /> <VAR_INFO name="IR[69]" value="" /> <VAR_INFO name="IR[70]" value="" /> <VAR_INFO name="IR[71]" value="" /> <VAR_INFO name="IR[72]" value="" /> <VAR_INFO name="IR[73]" value="" /> <VAR_INFO name="IR[74]" value="" /> <VAR_INFO name="IR[75]" value="" /> <VAR_INFO name="IR[76]" value="" /> <VAR_INFO name="IR[77]" value="" /> <VAR_INFO name="IR[78]" value="" /> <VAR_INFO name="IR[79]" value="" /> <VAR_INFO name="IR[80]" value="机器人异常标志" /> <VAR_INFO name="IR[81]" value="在车床内标志" /> <VAR_INFO name="IR[82]" value="机器人通讯中断" /> <VAR_INFO name="IR[83]" value="" /> <VAR_INFO name="IR[84]" value="" /> <VAR_INFO name="IR[85]" value="" /> <VAR_INFO name="IR[86]" value="" /> <VAR_INFO name="IR[87]" value="" /> <VAR_INFO name="IR[88]" value="" /> <VAR_INFO name="IR[89]" value="" /> <VAR_INFO name="IR[90]" value="" /> <VAR_INFO name="IR[91]" value="" /> <VAR_INFO name="IR[92]" value="" /> <VAR_INFO name="IR[93]" value="" /> <VAR_INFO name="IR[94]" value="" /> <VAR_INFO name="IR[95]" value="" /> <VAR_INFO name="IR[96]" value="" /> <VAR_INFO name="IR[97]" value="" /> <VAR_INFO name="IR[98]" value="" /> <VAR_INFO name="IR[99]" value="" /> <VAR_INFO name="IR[100]" value="" /> <VAR_INFO name="IR[101]" value="" /> <VAR_INFO name="IR[102]" value="" /> <VAR_INFO name="IR[103]" value="" /> <VAR_INFO name="IR[104]" value="" /> <VAR_INFO name="IR[105]" value="" /> <VAR_INFO name="IR[106]" value="" /> <VAR_INFO name="IR[107]" value="" /> <VAR_INFO name="IR[108]" value="" /> <VAR_INFO name="IR[109]" value="" /> <VAR_INFO name="IR[110]" value="" /> <VAR_INFO name="IR[111]" value="" /> <VAR_INFO name="IR[112]" value="" /> <VAR_INFO name="IR[113]" value="" /> <VAR_INFO name="IR[114]" value="" /> <VAR_INFO name="IR[115]" value="" /> <VAR_INFO name="IR[116]" value="" /> <VAR_INFO name="IR[117]" value="" /> <VAR_INFO name="IR[118]" value="" /> <VAR_INFO name="IR[119]" value="" /> <VAR_INFO name="IR[120]" value="" /> <VAR_INFO name="IR[121]" value="" /> <VAR_INFO name="IR[122]" value="" /> <VAR_INFO name="IR[123]" value="" /> <VAR_INFO name="IR[124]" value="" /> <VAR_INFO 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原文：https://www.cnblogs.com/csflyw/p/14794281.html