您所在的位置: 首页 > 数控文库 >

Fanuc焊接机器人编程实例

否定先生
  • 类型:TXT
  • 阅读:1952
  • 牛人币:5
  • 简介:Fanuc焊接机器人编程实例
下载 收藏
总页数:1   预览页数:1/1

/PROG PIPE_2SS1CC

/ATTR

OWNER = MNEDITOR;

COMMENT = "START_STOP";

PROG_SIZE = 8121;

CREATE = DATE 10-11-25 TIME 14:22:04;

MODIFIED = DATE 10-11-25 TIME 16:33:18;

FILE_NAME = PIPE_2SS;

VERSION = 0;

LINE_COUNT = 358;

MEMORY_SIZE = 8745;

PROTECT = READ_WRITE;

TCD: STACK_SIZE = 0,

TASK_PRIORITY = 50,

TIME_SLICE = 0,

BUSY_LAMP_OFF = 0,

ABORT_REQUEST = 0,

PAUSE_REQUEST = 0;

DEFAULT_GROUP = 1,1,*,*,*;

CONTROL_CODE = 00000000 00000000;

/APPL

ARC : TRUE ;

ARC Welding Equipment : 1,1,*,*,*;

/MN

1: CALL HOME_ROBOT1 ;

2: UFRAME_NUM=0 ;

3: UTOOL_NUM=1 ;

4: PR[GP1,2,3:11,1]=0 ;

5: PR[GP1:11,2]=0 ;

6: PR[GP1:11,3]=0 ;

7: PR[GP1:11,4]=0 ;

8: PR[GP1:11,5]=0 ;

9: PR[GP1:11,6]=0 ;

10: ;

11: R[12]=0 ;

12:J P[1] 100% CNT100 ;

13:J P[2] 100% CNT100 ;

14: !\\\\\\\\\\\\\\\\\\\ ;

15: !SEARCH POSITION 1 ;

16:J P[3] 30% FINE ;

17: !\\\\\\\\\\\\\\\\\\\ ;

18: ;

19: PR[GP1,2,3:11]=P[3] ;

20: LBL[1] ;

21: ;

22: !FIND JOINT ;

23:J PR[11] 30% FINE ;

24: Search Start [1] PR[40] ;

25:L PR[11] 200.0inch/min FINE Search[-Z] ;

26: Search End ;

27: R[12]=PR[GP1:40,1] ;

28: IF R[12]>3,JMP LBL[2] ;

29: PR[GP1:11,2]=PR[GP1:11,2]+3 ;

30: JMP LBL[1] ;

31: ;

32: !FIND EDGE 1 ;

33: LBL[2] ;

34: PR[GP1:11]=PR[GP1:32] ;

35: PR[GP1:11,2]=PR[GP1:11,2]+3 ;

36:J PR[11] 30% FINE ;

37: Search Start [1] PR[40] ;

38:L PR[11] 500.0inch/min FINE Search[Y] ;

39: Search End ;

40: R[11]=PR[GP1:32,2]-PR[GP1:11,2]-3 ;

41: R[11]=R[11]/2 ;

42: R[11]=R[11]+0 ;

43: PR[GP1:11,2]=PR[GP1:11,2]+R[11] ;

44:J PR[11] 30% FINE ;

45: Search Start [1] PR[40] ;

46:L PR[11] 500.0inch/min FINE Search[-Z] ;

47: Search End ;

48: PR[GP1:11,1]=PR[GP1:32,1]-15 ;

49: DO[109]=PULSE,1.0sec ;

50: R[2]=0 ;……

  • 阅读已结束,如果下载本文需要使用 5牛人币
  • 下载文档
立即升级
开始下载