程序写法案例分享

换抢盘抓抓手程序：

DEF Q1_PICKGRPPER( )             :程序名称

INI             ：系统初始化

PTP HOME  Vel= 100 % DEFAULT               ：HOME原点

OUT 272 'Grip2_Bracket_Open' State=TRUE       ：输出272抓手2防尘盖打开信号为真

OUT 271 'Grip2_Bracket_Cls' State=FALSE       ：输出271抓手2防尘盖关闭信号为假

WAIT FOR ( IN 272 'Grip2_Bracket_Opened' )    ：等待抓手2防尘盖打开到位输入信

号272

WAIT FOR ( NOT IN 263 'ATC_Face' )            ：等待换抢盘面接触输入信号263为非

WAIT FOR ( IN 265 'Grip2_In_Place' )          ：等待抓手2在位输入信号265

PTP P4 CONT Vel=100 % PDAT2 Tool[0] Base[0]

PTP P3 CONT Vel=50 % PDAT1 Tool[0] Base[0]

LIN P2 CONT Vel=0.2 m/s CPDAT2 Tool[0] Base[0]

LIN P1 Vel=0.1 m/s CPDAT1 Tool[0] Base[0]

WAIT FOR ( IN 263 'ATC_Face' )       ：等待换抢盘面接触输入信号263

OUT 261 'ATC_LOCK' State=TRUE        ：输出换抢盘锁紧信号261为真

OUT 262 'ATC_UNLOCK' State=FALSE     ：输出换抢盘松开信号262为假

WAIT FOR ( IN 261 'ATC_Locked' )    ：等待换抢盘锁紧到位输入信号261

RET=IOCTL("PNIO-CTRL",50,3)          ：恢复与抓手阀岛的通讯指令

WAIT Time=1 sec                ：等待1S

Harder2=true                   ：将Harder2置位为真

LIN P6 Vel=0.2 m/s CPDAT4 Tool[3]:GRIPPER2 Base[0]

LIN P5 CONT Vel=0.2 m/s CPDAT3 Tool[3]:GRIPPER2 Base[0]

WAIT FOR ( NOT IN 265 'Grip2_In_Place' )   ：等待抓手2在位输入信号265为假

LIN P8 CONT Vel=1 m/s CPDAT6 Tool[3]:GRIPPER2 Base[0]

LIN P7 CONT Vel=1 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]

PTP P9 CONT Vel=100 % PDAT4 Tool[3]:GRIPPER2 Base[0]

END

换抢盘放抓手程序

DEF Q1_PUTGRPPER( )   :程序名称

INI         ：系统初始化

OUT 271 'Grip2_Bracket_Cls' State=FALSE

OUT 272 'Grip2_Bracket_Open' State=TRUE

WAIT FOR ( IN 272 'Grip2_Bracket_Opened' )

WAIT  FOR  (  IN  269  'Grip1_Bracket_Closed' ) ：等待抓手2防尘盖打开到位输入信号269

PTP P7 CONT Vel=100 % PDAT3 Tool[3]:GRIPPER2 Base[0]

PTP P3 CONT Vel=100 % PDAT1 Tool[3]:GRIPPER2 Base[0]

LIN P2 CONT Vel=0.2 m/s CPDAT2 Tool[3]:GRIPPER2 Base[0]

LIN P1 Vel=0.1 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]

WAIT FOR ( IN 265 'Grip2_In_Place' )

Harder2=false    ：将Harder2置位为假

Repeat            ：循环指令

RET=IOCTL("PNIO-CTRL",60,3)     ：断开与抓手阀岛的通讯指令

until (RET==0)   ：循环结束指令

WAIT FOR ( IN 263 'ATC_Face' )

OUT 261 'ATC_LOCK' State=FALSE

OUT 262 'ATC_UNLOCK' State=TRUE

WAIT FOR ( IN 262 'ATC_Unlocked' )

WAIT Time=1 sec

LIN P4 Vel=0.1 m/s CPDAT3 Tool[0] Base[0]

WAIT FOR ( NOT IN 263 'ATC_Face' )

LIN P5 CONT Vel=0.5 m/s CPDAT4 Tool[0] Base[0]

PTP P6 CONT Vel=100 % PDAT2 Tool[0] Base[0]

PTP P8 CONT Vel=100 % PDAT4 Tool[0] Base[0]

PTP HOME  Vel= 100 % DEFAULT

OUT 271 'Grip2_Bracket_Cls' State=TRUE

OUT 272 'Grip2_Bracket_Open' State=FALSE

WAIT FOR ( IN 271 'Grip2_Bracket_Closed' )

OUT 271 'Grip2_Bracket_Cls' State=FALSE

END

抓手抓件程序：

DEF Q1_Pick_part( )

INI

$CYCFLAG[11]=$IN[357] OR $IN[359]     ：定义循环旗标

INTERRUPT DECL 101 WHEN $CYCFLAG[11] DO INT_101()  ：中断声明

INTERRUPT Off 101     ：关中断101

PTP P1 Vel=100 % PDAT1 Tool[3]:GRIPPER2 Base[0]

OUT 349 'Vac1_ON' State=FALSE    ：输出真空信号249为假

UnClamp1     ：抓手夹具打开

$ADVANCE=0

OUT 348 'unclamp' State=TRUE CONT    ：输出抓手打开信号348为真

OUT 347 'clamp' State=FALSE CONT     ：输出抓手夹紧信号347为假

$TIMER_STOP[6]=TRUE

$TIMER[6]=-10000

$TIMER_STOP[6]=FALSE

WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[351] ) AND ( $IN[349] ))

WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[355] ) AND ( $IN[353] ))

IF $TIMER_FLAG[6]==TRUE THEN

$TIMER_STOP[6]=TRUE

$OUT[76]=TRUE   :输出抓手报警信号76为真

MsgQuit("Check If All Clamps Are Opened!", "Grip")

HALT

WAIT FOR  (  NOT $IN[351] ) AND ( $IN[349] ) ：等待抓手打开到位输入信号349

WAIT FOR  (  NOT $IN[355] ) AND ( $IN[353] ) ：等待抓手打开到位输入信号353

$OUT[76]=FALSE    ：输出抓手报警信号76为假

ENDIF

$ADVANCE=3

PinShift1   ：抓手定位销伸出

$ADVANCE=0

OUT 346 'pin_unshift' State= FALSE CONT  ：输出定位销缩回信号346为假

OUT 345 'pin_shift' State= TRUE CONT      ：输出定位销伸出信号345为真

$TIMER_STOP[6]=TRUE

$TIMER[6]=-10000

$TIMER_STOP[