FANUC机器人带变量参数AR偏移程序
/PROG OFFS
/ATTR
COMMENT = "";
PROG_SIZE = 372;
CREATE = DATE 20-08-20 TIME 15:30:54;
MODIFIED = DATE 23-05-11 TIME 19:29:14;
FILE_NAME = POS_SEND;
VERSION = 0;
LINE_COUNT = 9;
MEMORY_SIZE = 708;
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,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
/MN
1: R[2:OFF]=AR[1] ;
2: PR[R[2]]=LPOS ;
3: PR[R[2]]=PR[R[2]]-PR[R[2]] ;
4: PR[R[2],1]=AR[2] ;
5: PR[R[2],2]=AR[3] ;
6: PR[R[2],3]=AR[4] ;
7: PR[R[2],4]=AR[5] ;
8: PR[R[2],5]=AR[6] ;
9: PR[R[2],6]=AR[7] ;
/POS
/END
/PROG PICKPALLT
/ATTR
OWNER = MNEDITOR;
COMMENT = "CAR1";
PROG_SIZE = 688;
CREATE = DATE 23-05-17 TIME 14:57:14;
MODIFIED = DATE 26-01-26 TIME 17:02:50;
FILE_NAME = PICKPART;
VERSION = 0;
LINE_COUNT = 20;
MEMORY_SIZE = 1128;
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,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
/MN
1: LOCK PREG ;
2: CALL OFFS(298,0,0,200,0,0,0) ;
3: ;
4:L PR[1] 2000mm/sec FINE Offset,PR[1] GO[1:0:ACKSTYNO]=1 ;
5: ;
6:L PR[200] 3000mm/sec FINE Offset,PR[298] GO[3:0:FAULTNO]=200 ;
7: CALL OFFS(298,0,0,50,0,0,0) ;
8:L PR[200] 3000mm/sec CNT20 Offset,PR[298] GO[3:0:FAULTNO]=200 ;
9: CALL OFFS(298,0,0,(-5),0,0,0) ;
10:L PR[200] 3000mm/sec FINE Offset,PR[298] GO[3:0:FAULTNO]=200 ;
11: ;
12: CALL PICK_PALET ;
13: ;
14: CALL OFFS(298,0,0,200,0,0,0) ;
15: ;
16:L PR[200] 3000mm/sec FINE Offset,PR[298] GO[3:0:FAULTNO]=200 ;
17: ;
18: LBL[10:GoHome] ;
19:L PR[5] 3000mm/sec FINE GO[3:0:FAULTNO]=5 ;
20: ;
/POS
/END