五、FANUC机器人焊接——清枪站清枪程序
2013-08-05 19:54阅读：
1.清枪站清枪程序的现场编写，根据现场具体情况具体处理：
2.清枪站程序结构：（程序编写一定要轻柔）
/PROG
A_QINGQ
/ATTR
OWNER = SHIFT;
COMMENT = '';
PROG_SIZE = 1637;
CREATE = DATE 13-04-11
TIME 19:01:40;
MODIFIED = DATE 13-06-08
TIME 17:57:52;
FILE_NAME = A_QING;
VERSION = 0;
LINE_COUNT = 36;
MEMORY_SIZE = 2097;
PROTECT = READ;
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
ARC Welding Equipment : 1,*,*,*,*;
/MN
1: !****JIA_SI_SONG****
;
2:J P[1] 40% CNT100
;
3:J P[2] 35% CNT100
;
4:J P[3] 30% CNT100
;
5:J P[14] 10% FINE
;
6: JMP LBL[2] ;
程序选择跳转
7: LBL[1]
;
8: PAUSE ;
9: LBL[2]
;
10: !****CLEAN_GUN****
;
11:L P[4] 100mm/sec FINE
;
12: DO[1]=ON ;
铰刀旋转并升起，清渣
13: WAIT 6.00(sec) ;
清渣6s
14: DO[1]=OFF ;
铰刀停止旋转并降落
15: WAIT 1.50(sec)
;
16: IF (DI[3]=ON),JMP LBL[1] ;
防止气缸憋死时，机器人抬枪，对焊枪造成损害
17:J P[6] 10% FINE
;
18: ;
19:J P[5] 20% CNT100
;
20: DO[6]=OFF ;
打开夹丝信号
21:J P[8] 10% FINE
;
22: DO[34]=ON ;
送丝2s，停止
23: WAIT 2.00(sec)
;
24: DO[34]=OFF ;
25: !****WIRE_LONG_18mm**** ;
焊丝干伸长18mm
26:L P[9] 100mm/sec FINE
;
27: DO[2]=ON ;
剪丝信号打开
28: WAIT
.10(sec) ;
29: ;
30: !****JIA_SI_JIN****
;
31: DO[6]=ON ;
焊丝夹紧
32:L P[13] 80mm/sec FINE
;
33: DO[2]=OFF ;
剪丝信号关闭
34:J P[10] 20% CNT100
;
35:J P[11] 35% CNT100
;
36: ;
/POS
P[1]{
GP1:
UF : 0, UT : 1,
J1= -90.298 deg, J2= 89.426 deg, J3=
-89.498 deg,
J4= .694 deg, J5= 43.953 deg,
J6= -1.232 deg,
E1= -700.000 mm, E2= 140.000 mm, E3=
-500.000 mm
};
P[2]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -954.605 mm, Y = -545.131 mm, Z =
251.568 mm,
W = 179.929 deg, P = .984 deg, R =
-91.321 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[3]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1087.085 mm, Y = -559.530 mm, Z =
579.887 mm,
W = 179.929 deg, P = .984 deg, R =
-91.321 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[4]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1092.146 mm, Y = -558.767 mm, Z =
697.437 mm,
W = -179.981 deg, P = -1.853 deg, R =
-93.631 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[5]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1001.254 mm, Y = -545.527 mm, Z =
553.813 mm,
W = 179.981 deg, P = -1.260 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[6]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1093.414 mm, Y = -548.262 mm, Z =
633.014 mm,
W = 179.981 deg, P = -1.260 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[8]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -996.332 mm, Y = -558.241 mm, Z =
695.000 mm,
W = 179.827 deg, P = 1.111 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[9]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1018.898 mm, Y = -557.649 mm, Z =
695.000 mm,
W = 179.827 deg, P = 1.111 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[10]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1007.132 mm, Y = -588.472 mm, Z =
625.895 mm,
W = 179.933 deg, P = .489 deg, R =
-91.318 deg,
E1= -699.999 mm, E2= 1027.036 mm, E3=
-499.998 mm
};
P[11]{
GP1:
UF : 0, UT : 1,
J1= -90.000 deg, J2= 90.000 deg, J3=
-90.000 deg,
J4= 0.000 deg, J5= 45.000 deg, J6=
0.000 deg,
E1= -700.000 mm, E2= 140.000 mm, E3=
-500.000 mm
};
P[13]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1018.898 mm, Y = -579.341 mm, Z =
640.248 mm,
W = 179.827 deg, P = 1.111 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
P[14]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -1093.414 mm, Y = -548.262 mm, Z =
633.014 mm,
W = 179.981 deg, P = -1.260 deg, R =
-93.697 deg,
E1= -700.000 mm, E2= 1027.041 mm, E3=
-500.000 mm
};
/END
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