机械手自动化程序20170915.doc

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1、如有侵权，请联系网站删除，仅供学习与交流1、2、3、4、5、6、7、8、9、10、11、 机械手自动化程序20170915【精品文档】第 21 页12、 主程序 main&ACCESS RVP1&REL 1&PARAM DISKPATH = KRC:R1ProgramDEF Pro_main( )INT l;FOLD INI;%PE ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS=TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH

2、 INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI)GLOBAL INTERRUPT DECL 4 WHEN $IN10=FALSE DO Itrpt1 ()GLOBAL INTERRUPT DECL 5 WHEN $IN11=FALSE DO Itrpt1 ()INTERRUPT DECL 6 WHEN $IN9=TRUE DO Itrpt1 ()；地轨异常进入中断INTERRUPT ON 6；开地轨监视中断6IF NOT Gripper_ChkStatus(1,C) THEN Gripper_SetSt

3、atus(1,O) Part0InLeft = FALSE Part2InLeft = FALSEENDIFIF NOT Gripper_ChkStatus(2,C) THEN Gripper_SetStatus(2,O) Part1InRight = FALSEENDIFFOR l = 1 TO 14 $OUTl = FALSEENDFOR；此循环语句在初始化时把所有端口清零复位。IF $IN5 THEN Machine1_OnlyDrop = TRUE Machine2_OnlyDrop = TRUE；机台1有首件信号时，机台1与机台2第一次响应只放标志位置1ELSE Machine1_O

4、nlyDrop = FALSE Machine2_OnlyDrop = FALSEENDIF$FLAG8=FALSE；FLAG8是干什么用的？;ENDFOLD (INI)；初始化完成$OV_PRO=70；限定系统运行速度;FOLD PTP HOME Vel=100 % DEFAULT;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEP

5、TP XHOME ;ENDFOLDIF $IN_HOME THEN $OUT5=FALSE $OUT8=FALSE $OUT11=FALSEENDIFLOOP WAIT SEC 0.05 IF $IN1 AND NOT Part0InLeft AND Gripper_ChkStatus(3,O) THEN ToPick_Search() ENDIF IF Part0InLeft AND ($IN3 OR Machine1_OnlyDrop) AND Gripper_ChkStatus(1,C) AND Gripper_ChkStatus(2,O) THEN Machine1() ENDIF I

6、F Part1InRight AND ($IN6 OR Machine2_OnlyDrop) AND Gripper_ChkStatus(2,C) AND Gripper_ChkStatus(1,O) THEN Machine2() ENDIF IF Part2InLeft AND ($IN8 OR Machine3_OnlyDrop) AND Gripper_ChkStatus(1,C) THEN Machine3() ENDIFENDLOOPENDDEF Itrpt1 ()HALTBRAKEEND13、 取料程序（采用中断的方法自动探料，完成取料作业）&ACCESS RVO2&REL 1&

7、PARAM DISKPATH = KRC:R1ProgramDEF ToPick_Search( );FOLD INI;%PE ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS=TRUE DO IR_STOPM ( )；单独用了一个系统中断？ INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI);ENDFOLD (INI)INTERRUP

8、T DECL 1 WHEN $IN10=TRUE DO FOUND()SevenAxis_Run(1)GOTO MARK;FOLD PTP P1 CONT Vel=100 % PDAT2 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT2$BWDSTART=FALSEPDAT_ACT=PPDAT2FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTP XP1 C_DIS;ENDFOLD;FOLD PTP P3 CONT Vel=100 % PDAT

9、8 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:C_DIS, 5:100, 7:PDAT8$BWDSTART=FALSEPDAT_ACT=PPDAT8FDAT_ACT=FP3BAS(#PTP_PARAMS,100)PTP XP3 C_DIS;ENDFOLD;FOLD LIN P2 CONT Vel=2 m/s CPDAT2 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:2, 7

10、:CPDAT2$BWDSTART=FALSELDAT_ACT=LCPDAT2FDAT_ACT=FP2BAS(#CP_PARAMS,2)LIN XP2 C_DIS C_DIS;ENDFOLD;FOLD LIN P1 Vel=0.05 m/s CPDAT1 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.05, 7:CPDAT1$BWDSTART=FALSELDAT_ACT=LCPDAT1FDAT_ACT=FP1BAS(#CP_PARAMS,0.05)LIN XP1 ;ENDFOLD;FOLD

11、PTP HOME Vel=100 % DEFAULT;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTP XHOME ;ENDFOLDmark:Search()INTERRUPT OFF 1WAIT SEC 0XP4=$POS_ACT;FOLD LIN P4 CONT Vel=2 m/s CPDAT10 Tool1 Base0;%

12、PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:C_DIS C_DIS, 5:2, 7:CPDAT10$BWDSTART=FALSELDAT_ACT=LCPDAT10FDAT_ACT=FP4BAS(#CP_PARAMS,2)LIN XP4 C_DIS C_DIS;ENDFOLDGripper_SetStatus(1,O)LIN_RELZ 15LIN_RELZ -17Gripper_SetStatus(1,C)Part0InLeft = TRUEWAIT SEC 0XP0=$POS_ACTXP0.Z=XP0.Z+25 ；看一下寻料

13、程序到底是怎么运转的！;FOLD LIN P0 CONT Vel=0.025 m/s CPDAT8 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P0, 3:C_DIS C_DIS, 5:0.025, 7:CPDAT8$BWDSTART=FALSELDAT_ACT=LCPDAT8FDAT_ACT=FP0BAS(#CP_PARAMS,0.025)LIN XP0 C_DIS C_DIS;ENDFOLDWAIT SEC 0IF NOT $IN10 THEN GOTO markENDIF;FOLD LIN P1 CONT

14、 Vel=2 m/s CPDAT7 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:C_DIS C_DIS, 5:2, 7:CPDAT7$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP1BAS(#CP_PARAMS,2)LIN XP1 C_DIS C_DIS;ENDFOLDENDDEF Search( );FOLD INI;%PE ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS=TRUE DO IR

15、_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI);FOLD USER INI;Make your modifications here;ENDFOLD (USER INI);ENDFOLD (INI)INTERRUPT ON 1;FOLD PTP P1 CONT Vel=100 % PDAT6 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT6$BWDSTART=FALSEPD

16、AT_ACT=PPDAT6FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTP XP1 C_DIS;ENDFOLD$OUT16=TRUE;FOLD LIN P3 CONT Vel=2 m/s CPDAT11 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:C_DIS C_DIS, 5:2, 7:CPDAT11$BWDSTART=FALSELDAT_ACT=LCPDAT11FDAT_ACT=FP3BAS(#CP_PARAMS,2)LIN XP3 C_DIS C_DIS;ENDFOLD;F

17、OLD LIN P2 CONT Vel=0.05 m/s CPDAT5 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:0.05, 7:CPDAT5$BWDSTART=FALSELDAT_ACT=LCPDAT5FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LIN XP2 C_DIS C_DIS;ENDFOLD;FOLD LIN P1 Vel=0.02 m/s CPDAT6 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CM

18、OVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.02, 7:CPDAT6$BWDSTART=FALSELDAT_ACT=LCPDAT6FDAT_ACT=FP1BAS(#CP_PARAMS,0.02)LIN XP1 ;ENDFOLDWAIT SEC 0ENDDEF FOUND()BRAKELIN $POS_INT ;rise a littleRESUMEEND14、 机台1取放料程序（完成机台1取放料动作与信号交互）&ACCESS RVO2&REL 1&PARAM DISKPATH = KRC:R1ProgramDEF Machine1( );FOLD INI;%PE ;FO

19、LD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS=TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI);ENDFOLD (INI)SevenAxis_Run(1);FOLD OUT 5 State=TRUE ;%PE%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:5,

20、 3:, 5:TRUE, 6:$OUT5=TRUE;ENDFOLDIF NOT Machine1_OnlyDrop THEN;FOLD PTP P1 CONT Vel=100 % PDAT4 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT4$BWDSTART=FALSEPDAT_ACT=PPDAT4FDAT_ACT=FP1BAS(#PTP_PARAMS,100)PTP XP1 C_DIS;ENDFOLDmark:;FOLD LIN P2 CONT Vel=2 m

21、/s CPDAT4 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:2, 7:CPDAT4$BWDSTART=FALSELDAT_ACT=LCPDAT4FDAT_ACT=FP2BAS(#CP_PARAMS,2)LIN XP2 C_DIS C_DIS;ENDFOLD;FOLD LIN P3 CONT Vel=2 m/s CPDAT5 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:C_

22、DIS C_DIS, 5:2, 7:CPDAT5$BWDSTART=FALSELDAT_ACT=LCPDAT5FDAT_ACT=FP3BAS(#CP_PARAMS,2)LIN XP3 C_DIS C_DIS;ENDFOLDGripper_SetStatus(2,C)LIN_RELZ 7.5Gripper_SetStatus(2,O);FOLD LIN P3 Vel=2 m/s CPDAT1 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:2, 7:CPDAT1$BWDSTART=FALSELDA

23、T_ACT=LCPDAT1FDAT_ACT=FP3BAS(#CP_PARAMS,2)LIN XP3 ;ENDFOLDGripper_SetStatus(2,C)Part1InRight = TRUE;FOLD LIN P2 Vel=0.05 m/s CPDAT6 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:, 5:0.05, 7:CPDAT6$BWDSTART=FALSELDAT_ACT=LCPDAT6FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LIN XP2 ;ENDFOLDI

24、F NOT $IN11 THEN GOTO markENDIF;FOLD PTP P4 CONT Vel=100 % PDAT6 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:C_DIS, 5:100, 7:PDAT6$BWDSTART=FALSEPDAT_ACT=PPDAT6FDAT_ACT=FP4BAS(#PTP_PARAMS,100)PTP XP4 C_DIS;ENDFOLD;FOLD PTP P5 CONT Vel=100 % PDAT10 Tool1 Base0;%PE%R 8.3.40,%

25、MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT10$BWDSTART=FALSEPDAT_ACT=PPDAT10FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTP XP5 C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT8 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT8$BWDSTART=FALSEPDAT_ACT=P

26、PDAT8FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT7 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT7$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LIN XP7 ;ENDFOLDGripper_SetStatus(1,O);FOLD PTP P6 CONT Ve

27、l=100 % PDAT14 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT14$BWDSTART=FALSEPDAT_ACT=PPDAT14FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT9 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P8, 3:C_DIS

28、, 5:100, 7:PDAT9$BWDSTART=FALSEPDAT_ACT=PPDAT9FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTP XP8 C_DIS;ENDFOLDELSE;FOLD PTP P5 CONT Vel=100 % PDAT2 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT2$BWDSTART=FALSEPDAT_ACT=PPDAT2FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTP XP5 C_

29、DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT13 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT13$BWDSTART=FALSEPDAT_ACT=PPDAT13FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT9 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE

30、,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT9$BWDSTART=FALSELDAT_ACT=LCPDAT9FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LIN XP7 ;ENDFOLDGripper_SetStatus(1,O);FOLD PTP P6 Vel=100 % PDAT12 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:, 5:100, 7:PDAT12$BWDSTART=FALSEPDAT_ACT=PPDAT12FDAT_ACT

31、=FP6BAS(#PTP_PARAMS,100)PTP XP6 ;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT7 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P8, 3:C_DIS, 5:100, 7:PDAT7$BWDSTART=FALSEPDAT_ACT=PPDAT7FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTP XP8 C_DIS;ENDFOLDMachine_Start(1);FOLD PTP HOME Vel=100 % DEFAULT;%PE

32、%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT$BWDSTART=FALSEPDAT_ACT=PDEFAULTFDAT_ACT=FHOMEBAS(#PTP_PARAMS,100)$H_POS=XHOMEPTP XHOME ;ENDFOLDENDIFIF Machine1_OnlyDrop THEN Machine1_OnlyDrop = FALSEENDIFMachine_Start(1)END15、 机台2取放料程序（完成机台2取放料动作与信号交互）&ACCESS RV2&REL 6&PA

33、RAM DISKPATH = KRC:R1ProgramDEF Machine2();FOLD INI;%PE ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS=TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI);ENDFOLD (INI)PTP $POS_ACTSevenAxis_Run(2)

34、;FOLD OUT 8 State=TRUE ;%PE%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:8, 3:, 5:TRUE, 6:$OUT8=TRUE;ENDFOLDIF NOT Machine2_OnlyDrop THEN;FOLD PTP P1 CONT Vel=100 % PDAT3 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT3$BWDSTART=FALSEPDAT_ACT=PPDAT3FDAT_ACT=FP1

35、BAS(#PTP_PARAMS,100)PTP XP1 C_DIS;ENDFOLDmark:;FOLD PTP P2 CONT Vel=100 % PDAT4 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:C_DIS, 5:100, 7:PDAT4$BWDSTART=FALSEPDAT_ACT=PPDAT4FDAT_ACT=FP2BAS(#PTP_PARAMS,100)PTP XP2 C_DIS;ENDFOLD;FOLD LIN P3 Vel=2 m/s CPDAT4 Tool1 Base0;%PE%

36、R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:2, 7:CPDAT4$BWDSTART=FALSELDAT_ACT=LCPDAT4FDAT_ACT=FP3BAS(#CP_PARAMS,2)LIN XP3 ;ENDFOLDGripper_SetStatus(1,C)LIN_RELZ 7.5Gripper_SetStatus(1,O);FOLD LIN P3 Vel=2 m/s CPDAT0 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3

37、:, 5:2, 7:CPDAT0$BWDSTART=FALSELDAT_ACT=LCPDAT0FDAT_ACT=FP3BAS(#CP_PARAMS,2)LIN XP3 ;ENDFOLDGripper_SetStatus(1,C)Part2InLeft = TRUE;FOLD LIN P2 CONT Vel=0.05 m/s CPDAT3 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:0.05, 7:CPDAT3$BWDSTART=FALSELDAT_ACT=LCPDAT3

38、FDAT_ACT=FP2BAS(#CP_PARAMS,0.05)LIN XP2 C_DIS C_DIS;ENDFOLDIF NOT $IN10 THEN GOTO markENDIF;FOLD PTP P4 CONT Vel=100 % PDAT7 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:C_DIS, 5:100, 7:PDAT7$BWDSTART=FALSEPDAT_ACT=PPDAT7FDAT_ACT=FP4BAS(#PTP_PARAMS,100)PTP XP4 C_DIS;ENDFOLD;

39、FOLD PTP P5 CONT Vel=100 % PDAT14 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT14$BWDSTART=FALSEPDAT_ACT=PPDAT14FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTP XP5 C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT9 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1

40、:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT9$BWDSTART=FALSEPDAT_ACT=PPDAT9FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD LIN P7 Vel=0.25 m/s CPDAT7 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT7$BWDSTART=FALSELDAT_ACT=LCPDAT7FDAT_ACT=FP7BAS(#CP_PARAMS,0.2

41、5)LIN XP7 ;ENDFOLDGripper_SetStatus(2,O);FOLD PTP P6 CONT Vel=100 % PDAT11 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT11$BWDSTART=FALSEPDAT_ACT=PPDAT11FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT12 Tool1 Base0;%P

42、E%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P8, 3:C_DIS, 5:100, 7:PDAT12$BWDSTART=FALSEPDAT_ACT=PPDAT12FDAT_ACT=FP8BAS(#PTP_PARAMS,100)PTP XP8 C_DIS;ENDFOLDELSE;FOLD PTP P5 CONT Vel=100 % PDAT13 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT13$BWDSTA

43、RT=FALSEPDAT_ACT=PPDAT13FDAT_ACT=FP5BAS(#PTP_PARAMS,100)PTP XP5 C_DIS;ENDFOLD;FOLD PTP P6 CONT Vel=100 % PDAT1 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT1$BWDSTART=FALSEPDAT_ACT=PPDAT1FDAT_ACT=FP6BAS(#PTP_PARAMS,100)PTP XP6 C_DIS;ENDFOLD;FOLD LIN P7 Ve

44、l=0.25 m/s CPDAT1 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT1$BWDSTART=FALSELDAT_ACT=LCPDAT1FDAT_ACT=FP7BAS(#CP_PARAMS,0.25)LIN XP7 ;ENDFOLDGripper_SetStatus(2,O);FOLD LIN P6 CONT Vel=2 m/s CPDAT2 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P6, 3:C_DIS C_DIS, 5:2, 7:CPDAT2$BWDSTART=FALSELDAT_ACT=LCPDAT2FDAT_ACT=FP6BAS(#CP_PARAMS,2)LIN XP6 C_DIS C_DIS;ENDFOLD;FOLD PTP P8 CONT Vel=100 % PDAT6 Tool1 Base0;%PE%R 8.3.40,%MKUKATPBASIS,