菱机器人程序

'//////////////定义输入////////////DefIoin0=Bit,0DefIoin1=Bit,1DefIoin3=Bit,3DefIoin4=Bit,4DefIoin5=Bit,5DefIoin6=Bit,6DefIoin7=Bit,7DefIoin8=Bit,8DefIoin9=Bit,9DefIoin10=Bit,10DefIoin11=Bit,11DefIoin12=Bit,12DefIoin13=Bit,13DefIoin14=Bit,14DefIoin15=Bit,15'///////////////定义/输出//////////DefIoout0=Bit,0DefIoout1=Bit,1DefIoout3=Bit,3DefIoout4=Bit,4DefIoout5=Bit,5DefIoout6=Bit,6DefIoout7=Bit,7DefIoout8=Bit,8DefIoout9=Bit,9DefIoout10=Bit,10DefIoout11=Bit,11DefIoout12=Bit,12DefIoout13=Bit,13DefIoout14=Bit,14DefIoout15=Bit,15'//////////////定义变量//////////////'定义安全点'定义托盘点DefJntjydDefPlt1,p11,p17,p71,p77,4,4,1j1=(+,,+,+,+,+jyd=(+,,+,+,+,p0=(+,+,+,+,+,+(0,0)p200=(+,+,+,+,+,+(0,0)p201=(+,+,+,+,+,+(0,0)p202=(+,+,+,+,+,+(0,0)p203=(+,+,+,+,+,+(0,0)p204=(+,+,+,+,+,+(0,0)'////////////托盘点//////////////p12=p11p21=p11p22=p11=+12=+12=+12=+12p15=(Plt1,3)p16=p15p25=p15p26=p15=+12=+12=+12=+12p31=(Plt1,8)p32=p31p41=p31p42=p31=+12=+12=+12=+12p35=(Plt1,6)p36=p35p45=p35p46=p35=+12=+12=+12=+12p51=(Plt1,9)p52=p51p61=p51p62=p51=+12=+12=+12=+12p55=(Plt1,11)p56=p55p65=p55p66=p55=+12=+12=+12=+12p75=(Plt1,14)'判断3个夹具是否在原位'程序fw'判断1夹具是否在原位'夹具1复位'判断夹具2是否在原位'夹具2复位'判断夹具3是否在原位'夹具3复位'一次装机'二次装机p76=p75p85=p75p86=p75=+12=+12=+12=+12p72=p71p81=p71p82=p71=+12=+12=+12=+12'///////////////判断/////////////IfM_In(9)=1AndM_In(10)=0ThenIfM_In(11)=0AndM_In(13)=0ThenGoSub*fwEndIfEndIfIfM_In(9)=1AndM_In(10)=1ThenIfM_In(11)=0AndM_In(13)=0ThenGoSub*fw1EndIfEndIfIfM_In(9)=1AndM_In(10)=0ThenIfM_In(11)=1AndM_In(13)=0ThenGoSub*fw2EndIfEndIfIfM_In(9)=1AndM_In(10)=0ThenIfM_In(11)=0AndM_In(13)=1ThenGoSub*fw3EndIfEndIfIfM_05#>3Thenout14=1M_05#=0EndIfIfM_In(6)=1AndM_05#=0ThenGoSub*ks1EndIfIfM_In(6)=1AndM_05#=1ThenGoSub*ks2EndIfIfM_In(6)=1AndM_05#=2ThenGoSub*ks3EndIfIfM_In(6)=1AndM_05#=3ThenGoSub*ks4EndIfEnd'////////////////复位程序////////////*fwOvrd80j1=J_Curr'三次装机'四次装机'程序复位Movj1'将输出信号6-13的8个Movjydout5=1m_outb(6)=0位关闭M_00#=0M_05#=0M_01#=0Return'/////////////////////////////////////'//////////////////复位1/////////////////////*fw1Ovrd70j1=J_CurrMovj1Movjydout12=0out13=0Movp1Movp23ovrd50Spd400Mvsp20-p204Mvsp20Dlyout11=1DlyMvsp20+p203out11=0GoSub*fw4Return'///////////////////////////'///////////////////////复位2////////////*fw2Ovrd70j1=J_CurrMovj1Movjydout12=0out13=0ovrd50Movp40+p201Spd400Mvsp40Dlyout11=1DlyMvsp40+p203out11=0GoSub*fw4Return'///////////////////////////'/////////////////复位3////////////////*fw3Ovrd70j1=J_CurrMovj1Movjydout12=1out13=0Movp5out12=0ovrd51Movp2Spd600Mvsp33Mvsp30+p200Mvsp30Dlyout11=1DlyMvsp30+p203out11=0M_05#=M_05#+1IfM_In(6)=0ThenGoTo*fw4Return'//////////////////////////////'///////////////////正常复位//////////*fw4Ovrd50j1=J_CurrMovj1Movjydout11=0out12=0out13=0out15=0out7=0out6=0out14=0Return'///////////////////取夹具1///////////*jj1WaitM_In(10)=0WaitM_In(11)=0WaitM_In(13)=0Ovrd50Movp20+p201Spd700Movp20+p203Spd300out11=1Mvsp20Dlyout11=0DlyMvsp20+p200p23=P_CurrMvsp23-p204p23=P_CurrMvsp23+p201p23=P_CurrReturn'///////////////////取夹具2//////////*jj2Spd400WaitM_In(10)=0WaitM_In(11)=0WaitM_In(13)=0Mvsp40+p203out11=1Mvsp40Dlyout11=0DlySpd600Mvsp40+p201Mvsp210+p203Spd400Mvsp210out13=1Mvsp221Mvrp221,p220,p219Mvsp218Mvrp218,p217,p216Mvsp215Mvrp215,p214,p213Mvsp212Mvrp212,p211,p210out13=0out6=1Spd600Mvsp210+p201out6=0Mvsp40+p201Spd400Mvsp40Dlyout11=1DlyMvsp40+p203out6=1Dlyout6=0Return'///////////////////取夹具3//////////////////*jj3WaitM_In(10)=0WaitM_In(11)=0WaitM_In(13)=0Spd400Mvsp30+p203out11=1Spd300Mvsp30Dlyout11=0DlySpd400Mvsp30+p200p33=P_CurrMvsp33-p202p33=P_CurrMvsp33+p201Return'///////////////////去取盖//////////////////*qgOvrd50Movp5Movp5Movp7WaitM_In(7)=1out12=1out13=0Movp8+p0out12=0Spd200Mvsp8Dlyout13=1Dlyout15=1Dly'判断颜色白色盖'/////////////////入仓库///////////////////IfM_In(8)=1ThenGoTo*ck2ElseGoTo*ck1Return*ck2'//////////////////////////////////////////////GoSub*jgOvrd40Movp231+p201Spd200IfM_In(15)=1AndM_00#>3Thenout10=1WaitM_Out(10)=0M_00#=0EndIfIfM_00#=0Then'第一层IfM_In(15)=1ThenMovp6EndIfWaitM_In(15)=0Movp231+p201Spd200Mvsp231EndIfIfM_In(15)=1AndM_00#=1ThenMvsp231+p0EndIfIfM_In(15)=1AndM_00#=2ThenMvsp231+p203EndIfIfM_In(15)=1AndM_00#=3ThenMvsp231+p203+p0EndIfDlyout13=0out12=1Mvsp231+p201out8=1GoSub*fw3out8=0M_00#=M_00#+1Return*ck1'///////////////////////////////////////////////GoSub*jgOvrd40Movp240+p201Spd200IfM_In(14)=1AndM_01#>3Thenout9=1WaitM_Out(9)=0M_01#=0EndIfIfM_01#=0Then'第一层IfM_In(14)=1ThenMovp6EndIfWaitM_In(14)=0Movp240+p201'第二层'第三层'第四层'入库完成黑色盖Spd200Mvsp240EndIfIfM_In(14)=1AndM_01#=Mvsp240+p0EndIfIfM_In(14)=1AndM_01#=Mvsp240+p203EndIfIfM_In(14)=1AndM_01#=Mvsp240+p203+p0EndIfDlyout13=0out12=1Mvsp240+p201out8=1GoSub*fw3out8=0M_01#=M_01#+Return'////////////////////*jgMvsp8+p203Ovrd50Movp7Movp6Movp9Movp10+p0Spd200Mvsp10Dlyout7=1Dlyout7=0Mvsp10+p0Ovrd50Movp9Movp6Return'//////////////////////////*ks1out5=0out6=0out7=0out8=01Then'第二层2Then'第三层3Then'第四层1去加盖//////////////////////一次装机//////////////////////////out14=0'入库完成装1和2键////////////////////////////装3和*键/////////////////////out15=0GoSub*jj1'/////////////////////Ovrd50Movp3Ovrd70Movp11+p0Spd200Mvsp11out12=1out13=1DlyOvrd70Mvsp11+p0Movp3Movp104+p0Spd200Mvsp104Dlyout13=0Mvsp104+p0Mvsp103+p0Mvsp103Dlyout12=0Ovrd70Mvsp103+p0Movp3'///////////////////////Movp15+p0Spd200Mvsp15out12=1out13=1DlyOvrd70Mvsp15+p0Movp3Movp105+p0Spd200Mvsp105Dlyout12=0Mvsp105+p0Mvsp106+p0Mvsp106装4和5键///////////////装6和0键/////////////////////Dlyout13=0Ovrd70Mvsp106+p0Movp3'///////////////////////////Movp31+p0Spd200Mvsp31out12=1out13=1DlyOvrd70Mvsp31+p0Movp3Movp108+p0Spd200Mvsp108Dlyout13=0Mvsp108+p0Mvsp107+p0Mvsp107Dlyout12=0Ovrd70Mvsp107+p0Movp3'///////////////////////Movp35+p0Spd200Mvsp35out12=1out13=1DlyOvrd70Mvsp35+p0Movp3Movp109+p0Spd200Mvsp109Dlyout12=0Mvsp109+p0Mvsp110+p0Mvsp110Dlyout13=0Ovrd70Mvsp110+p0Movp3'///////////////////////////装7和8键///////////////Movp51+p0Spd200Mvsp51out12=1out13=1DlyOvrd70Mvsp51+p0Movp3Movp112+p0Spd200Mvsp112Dlyout13=0Mvsp112+p0Mvsp111+p0Mvsp111Dlyout12=0Ovrd70Mvsp111+p0Movp3'/////////////////////////////装9键//////////////////Movp55+p0Spd200Mvsp55out12=1DlyOvrd70Mvsp55+p0Movp3Movp113+p0Spd200Mvsp113Dlyout12=0Ovrd70Mvsp113+p0Movp3'//////////////////#和接听键////////////////Movp71+p0Spd200Mvsp71out12=1out13=1DlyOvrd70Mvsp71+p0Movp3Movp114+p0Spd200Mvsp114Dlyout12=0Mvsp114+p0Mvsp100+p0Mvsp100Dlyout13=0Ovrd70Mvsp100+p0Movp3'//////////////////////装挂机键//////////////////Movp75+p0Spd200Mvsp75out12=1DlyOvrd70Mvsp75+p0Movp3Movp102+p0Spd200Mvsp102Dlyout12=0Ovrd70Mvsp102+p0Movp3'/////////////////////////装方向键/////////////////Movp50+p0Spd200Mvsp50out12=1DlyOvrd70Mvsp50+p0Movp3Movp101+p0Spd200Mvsp101Dlyout12=0Ovrd70Mvsp101+p203out6=1'/////////////////////////Ovrd50Movp23Spd450Mvsp20-p204out6=0Spd400Mvsp20Dlyout11=1DlyMvsp20+p203out6=1Dlyout6=0GoSub*jj2GoSub*jj3GoSub*qgReturn'//////////////////////////*ks2out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1'/////////////////////Ovrd50Movp3Ovrd70Movp12+p0Spd200Mvsp12out12=1放回夹具1////////////二次装机//////////////////////////装1和2键////////////////////////////out13=1DlyOvrd70Mvsp12+p0Movp3Movp104+p0Spd200Mvsp104Dlyout13=0Mvsp104+p0Mvsp103+p0Mvsp103Dlyout12=0Ovrd70Mvsp103+p0Movp3'///////////////////////装3和*键/////////////////////Movp16+p0Spd200Mvsp16out12=1out13=1DlyOvrd70Mvsp16+p0Movp3Movp105+p0Spd200Mvsp105Dlyout12=0Mvsp105+p0Mvsp106+p0Mvsp106Dlyout13=0Ovrd70Mvsp106+p0Movp3'///////////////////////////装4和5键///////////////Movp32+p0Spd200Mvsp32out12=1out13=1DlyOvrd70Mvsp32+p0Movp3Movp108+p0Spd200Mvsp108Dlyout13=0Mvsp108+p0Mvsp107+p0Mvsp107Dlyout12=0Ovrd70Mvsp107+p0Movp3'///////////////////////装6和0键/////////////////////Movp36+p0Spd200Mvsp36out12=1out13=1DlyOvrd70Mvsp36+p0Movp3Movp109+p0Spd200Mvsp109Dlyout12=0Mvsp109+p0Mvsp110+p0Mvsp110Dlyout13=0Ovrd70Mvsp110+p0Movp3'///////////////////////////装7和8键///////////////Movp52+p0Spd200Mvsp52out12=1out13=1DlyOvrd70Mvsp52+p0Movp3Movp112+p0Spd200Mvsp112Dlyout13=0Mvsp112+p0Mvsp111+p0Mvsp111Dlyout12=0Ovrd70Mvsp111+p0Movp3'/////////////////////////////装9键//////////////////Movp56+p0Spd200Mvsp56out12=1DlyOvrd70Mvsp56+p0Movp3Movp113+p0Spd200Mvsp113Dlyout12=0Ovrd70Mvsp113+p0Movp3'//////////////////#和接听键////////////////Movp72+p0Spd200Mvsp72out12=1out13=1DlyOvrd70Mvsp72+p0Movp3Movp114+p0Spd200Mvsp114Dlyout12=0Mvsp114+p0Mvsp100+p0Mvsp100Dlyout13=0Ovrd70Mvsp100+p0Movp3'//////////////////////Movp76+p0Spd200Mvsp76out12=1DlyOvrd70Mvsp76+p0Movp3Movp102+p0Spd200Mvsp102Dlyout12=0Ovrd70Mvsp102+p0Movp3'/////////////////////////Movp60+p0Spd200Mvsp60out12=1DlyOvrd70Mvsp60+p0Movp3Movp101+p0Spd200Mvsp101Dlyout12=0Ovrd70装挂机键//////////////////装方向键/////////////////Mvsp101+p203out6=1'/////////////////////////Ovrd50Movp23Spd450Mvsp20-p204out6=0Spd400Mvsp20Dlyout11=1DlyMvsp20+p203out6=1Dlyout6=0GoSub*jj2GoSub*jj3GoSub*qgReturn'//////////////////////////*ks3out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1'/////////////////////Ovrd50Movp3Ovrd70Movp21+p0Spd200Mvsp21out12=1out13=1DlyOvrd70Mvsp21+p0Movp3Movp104+p0Spd200Mvsp104Dlyout13=0放回夹具1////////////三次装机//////////////////////////装1和2键////////////////////////////Mvsp104+p0Mvsp103+p0Mvsp103Dlyout12=0Ovrd70Mvsp103+p0Movp3'///////////////////////装3和*键/////////////////////Movp25+p0Spd200Mvsp25out12=1out13=1DlyOvrd70Mvsp25+p0Movp3Movp105+p0Spd200Mvsp105Dlyout12=0Mvsp105+p0Mvsp106+p0Mvsp106Dlyout13=0Ovrd70Mvsp106+p0Movp3'///////////////////////////装4和5键///////////////Movp41+p0Spd200Mvsp41out12=1out13=1DlyOvrd70Mvsp41+p0Movp3Movp108+p0Spd200Mvsp108Dlyout13=0Mvsp108+p0Mvsp107+p0Mvsp107Dlyout12=0Ovrd70Mvsp107+p0Movp3'///////////////////////装6和0键/////////////////////Movp45+p0Spd200Mvsp45out12=1out13=1DlyOvrd70Mvsp45+p0Movp3Movp109+p0Spd200Mvsp109Dlyout12=0Mvsp109+p0Mvsp110+p0Mvsp110Dlyout13=0Ovrd70Mvsp110+p0Movp3'///////////////////////////装7和8键///////////////Movp61+p0Spd200Mvsp61out12=1out13=1DlyOvrd70Mvsp61+p0Movp3Movp112+p0Spd200Mvsp112Dlyout13=0Mvsp112+p0Mvsp111+p0Mvsp111Dlyout12=0Ovrd70Mvsp111+p0Movp3'/////////////////////////////装9键//////////////////Movp65+p0Spd200Mvsp65out12=1DlyOvrd70Mvsp65+p0Movp3Movp113+p0Spd200Mvsp113Dlyout12=0Ovrd70Mvsp113+p0Movp3'//////////////////#和接听键////////////////Movp81+p0Spd200Mvsp81out12=1out13=1DlyOvrd70Mvsp81+p0Movp3Movp114+p0Spd200Mvsp114Dlyout12=0Mvsp114+p0Mvsp100+p0Mvsp100Dlyout13=0Ovrd70Mvsp100+p0Movp3'//////////////////////Movp85+p0Spd200Mvsp85out12=1DlyOvrd70Mvsp85+p0Movp3Movp102+p0Spd200Mvsp102Dlyout12=0Ovrd70Mvsp102+p0Movp3'/////////////////////////Movp70+p0Spd200Mvsp70out12=1DlyOvrd70Mvsp70+p0Movp3Movp101+p0Spd200Mvsp101Dlyout12=0Ovrd70Mvsp101+p203out6=1'/////////////////////////Ovrd50Movp23Spd450Mvsp20-p204out6=0Spd400Mvsp20Dlyout11=1装挂机键//////////////////装方向键/////////////////放回夹具1////////////DlyMvsp20+p203out6=1Dlyout6=0GoSub*jj2GoSub*jj3GoSub*qgReturn'//////////////////////////*ks4out5=0out6=0out7=0out8=0out14=0out15=0GoSub*jj1'/////////////////////Ovrd50Movp3Ovrd70Movp22+p0Spd200Mvsp22out12=1out13=1DlyOvrd70Mvsp22+p0Movp3Movp104+p0Spd200Mvsp104Dlyout13=0Mvsp104+p0Mvsp103+p0Mvsp103Dlyout12=0Ovrd70Mvsp103+p0Movp3'///////////////////////Movp26+p0四次装机//////////////////////////装1和2键////////////////////////////装3和*键/////////////////////Spd200Mvsp26out12=1out13=1DlyOvrd70Mvsp26+p0Movp3Movp105+p0Spd200Mvsp105Dlyout12=0Mvsp105+p0Mvsp106+p0Mvsp106Dlyout13=0Ovrd70Mvsp106+p0Movp3'///////////////////////////装4和5键///////////////Movp42+p0Spd200Mvsp42out12=1out13=1DlyOvrd70Mvsp42+p0Movp3Movp108+p0Spd200Mvsp108Dlyout13=0Mvsp108+p0Mvsp107+p0Mvsp107Dlyout12=0Ovrd70Mvsp107+p0Movp3'///////////////////////装6和0键/////////////////////Movp46+p0Spd200Mvsp46out12=1out13=1DlyOvrd70Mvsp46+p0Movp3Movp109+p0Spd200Mvsp109Dlyout12=0Mvsp109+p0Mvsp110+p0Mvsp110Dlyout13=0Ovrd70Mvsp110+p0Movp3'///////////////////////////装7和8键///////////////Movp62+p0Spd200Mvsp62out12=1out13=1DlyOvrd70Mvsp62+p0Movp3Movp112+p0Spd200Mvsp112Dlyout13=0Mvsp112+p0Mvsp111+p0Mvsp111Dlyout12=0Ovrd70Mvsp111+p0Movp3'/////////////////////////////装9键//////////////////Movp66+p0Spd200Mvsp66out12=1DlyOvrd70Mvsp66+p0Movp3Movp113+p0Spd200Mvsp113Dlyout12=0Ovrd70Mvsp113+p0Movp3'//////////////////#和接听键////////////////Movp82+p0Spd200Mvsp82out12=1out13=1DlyOvrd70Mvsp82+p0Movp3Movp114+p0Spd200Mvsp114Dlyout12=0Mvsp114+p0Mvsp100+p0Mvsp100Dlyout13=0Ovrd70Mvsp100+p0Movp3'//////////////////////装挂机键//////////////////Movp86+p0Spd200Mvsp86out12=1DlyOvrd70Mvsp86+p0Movp3Movp102+p0Spd200Mvsp102Dlyout12=0Ovrd70Mvsp102+p0Movp3'////////////////////////装方向键/////////////////Movp80+p0Spd200Mvsp80out12=1DlyOvrd70Mvsp80+p0Movp3Movp101+p0Spd200Mvsp101Dlyout12=0Ovrd70Mvsp101+p203out14=1out6=1'/////////////////////////放回夹具1////////////Ovrd50Movp23Spd450Mvsp20-p204out14=0out6=0Spd400Mvsp20Dlyout11=1DlyMvsp20+p203out6=1Dlyout6=0GoSub*jj2GoSub*jj3GoSub*qgReturnp0=,,,,,(0,0)p1=,,,,,(7,)p2=,,,,,(7,0)p3=,,,,,(7,)p5=,,,,,(7,0)p6=,,,,,(7,0)p7=,,,,,(7,0)p8=,,,,,(7,0)p9=,,,,,(7,0)p10=,,,,,(7,0)p11=,,,,,(7,)p12=,,,,,,,(7,)p15=,,,,,,,(7,)p16=,,,,,,,(7,)p17=,,,,,(7,)p20=,,,,,(7,)p21=,,,,,,,(7,)p22=,,,,,,,(7,)p23=,,,,,,,(7,)p25=,,,,,,,(7,)p26=,,,,,,,(7,)p30=,,,,,(7,0)p31=,,,,,,,(7,)p32=,,,,,,,(7,)p33=,,,,,,,(7,0)p35=,,,,,,,(7,)p36=,,,,,,,(7,)p40=,,,,,(7,0)p41=,,,,,,,(7,)p42=,,,,,,,(7,)p45=,,,,,,,(7,)p46=,,,,,,,(7,)p50=,,,,,(7,)p51=,,,,,,,(7,)p52=,,,,,,,(7,)p55=,,,,,,,(7,)p56=,,,,,,,(7,)p60=,,,,,(7,)p61=,,,,,,,(7,)p62=,,,,,,,(7,)p65=,,,,,,,(7,)p66=,,,,,,,(7,)p70=,,,,,(7,)p71=,,,,,(7,)p72=,,,,,,,(7,)p75=,,,,,,,(7,)p76=,,,,,,,(7,)p77=,,,,,(7,)p80=,,,,,(7,)p81=,,,,,,,(7,)p82=,,,,,,,(7,)p85=,,,,,,,(7,)p86=,,,,,,,(7,)p100=,,,,,(7,)p101=,,,,,(7,)p102=,,,,,(7,)p103=,,,,,(7,)p104=,,,,,(7,)p105=,,,,,(7,)p106=,,,,,(7,)p107=,,,,,(7,)p108=,,,,,(7,)p109=,,,,,(7,)p110=,,,,,(7,)p111=,,,,,(7,)p112=,,,,,(7,)p113=,,,,,(7,)p114=,,,,,(7,)p200=,,,,,(0,0)p201=,,,,,(0,0)p202=,,,,,(0,0)p203=,,,,,(0,0)p204=,,,,,(0,0)p210=,,,,,(7,)p211=,,,,,(7,)p212=,,,,,(7,)p213=,,,,,(7,)p214=,,,,,(7,)p215=,,,,,(7,)p216=,,,,,(7,)p217=,,,,,(7,)p218=,,,,,(7,)p219=,,,,,(7,)p220=,,,,,(7,)p221=,,,,,(7,)p231=,,,,,(7,0)p240=,,,,,(7,0)j1=,,,,,jyd=,,,,,