1、威猛机械手主程式和归 0 程式1.1 主程式 RO-Programm:000 X: VMAX = 60%001 Y: VMAX = 60% 設定各軸基本速度002 Z: VMAX = 60%003004 START: 循環開始 (Label “START“)005006 WAIT MLD-CLS = ON 關等待模止信號 007 PERMIT: MLD-CL! = OFF 禁止關模動作008009 C: 90 C軸翻轉至 90度 010 Z: 2000.0 等待位置011 X: 300.0012 C: 0013014 Y: VMAX = 100% 模內取出速度015 X: VMAX = 80%
2、016017 PERMIT: EJ-FWD = OFF 禁止頂針動作018 PERMIT: EJ-BACK = OFF019020 WAIT MLD-CLS = OFF021 WAIT MLD-OPN = ON 等待開模信號022023 VAC 1: ON 吸盤開024 * Y:600.0 進入模內區域025 PERMIT: EJ-FWD! = ON 頂針允許進026 X: 400.0027 WAIT PI-01 = ON 等待成品吸住028 PERMIT: EJ-BCK! = ON 頂針允許退029030 * X: 300.0 離開模內區域031 VAC 1: M-ON ATL: LOST
3、吸盤監視開始(指定路徑: LOST)032 Y: 0.0033034 PERMIT: MLD-CL! = ON 允許關模035 C: 90.0 C軸翻轉至 90度036 Y: VMAX = 30% 置放速度037 Z: VMAX = 60%038039 Z: 0.0040 Y: 1000.0041 VAC 1 = OFF 置放成品042 TIME = 0.5 S043044 Y: 0.0045046 JUMP START 跳至循環開始”START”047048 LOST: 成品監視失敗指定路徑049 X: 300.0 離開模內區域050 Y: 0.0051 C: 90 C軸翻轉 90度052
4、Z: 0.0053 X: 0.0054 VAC 1: OFF 吸盤關055 C: 0-1.2 歸零程式 RO-REF000 JUMP MOLD: MOLD A. 模內歸零時,跳至 MOLD處執行001 JUMP PLC: PLC A. 置放位置時,跳至 PLC處執行002 JUMP REF 直接跳至 REF003004 MOLD:005 X: 300.0006 Y: 0.0007 C: 90008 JUMP REF009010 PLC:011 Y: 0.0012 X: 0.0013 JUMP REF014015 REF:016 C: 90017 Z: 0.0 018 VAC 1: OFF019 TIME 0.3 S020 C: 0
