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KUKA程序寫法案例分享
換搶盤抓抓手程序：
DEF Q1_PICKGRPPER( )             :程序名稱
INI             ：系統初始化
 
PTP HOME  Vel= 100 % DEFAULT               ：HOME 原點
OUT 272 'Grip2_Bracket_Open' State=TRUE       ：輸出272抓手2防塵蓋打開信號為真
OUT 271 'Grip2_Bracket_Cls' State=FALSE       ：輸出271抓手2防塵蓋關閉信號為假
WAIT FOR ( IN 272 'Grip2_Bracket_Opened' )    ：等待抓手2防塵蓋打開到位輸入信
號272
WAIT FOR ( NOT IN 263 'ATC_Face' )            ：等待換搶盤面接觸輸入信號263為非
WAIT FOR ( IN 265 'Grip2_In_Place' )          ：等待抓手2在位輸入信號265
PTP P4 CONT Vel=100 % PDAT2 Tool[0] Base[0]
PTP P3 CONT Vel=50 % PDAT1 Tool[0] Base[0]
LIN P2 CONT Vel=0.2 m/s CPDAT2 Tool[0] Base[0]
LIN P1 Vel=0.1 m/s CPDAT1 Tool[0] Base[0]
WAIT FOR ( IN 263 'ATC_Face' )       ：等待換搶盤面接觸輸入信號263
OUT 261 'ATC_LOCK' State=TRUE        ：輸出換搶盤鎖緊信號261為真
OUT 262 'ATC_UNLOCK' State=FALSE     ：輸出換搶盤松開信號262為假
 
WAIT FOR ( IN 261 'ATC_Locked' )    ：等待換搶盤鎖緊到位輸入信號261
RET=IOCTL("PNIO-CTRL",50,3)          ：恢復與抓手閥島的通訊指令
WAIT Time=1 sec                ：等待1S
Harder2=true                   ：將Harder2置位為真
LIN P6 Vel=0.2 m/s CPDAT4 Tool[3]:GRIPPER2 Base[0]
LIN P5 CONT Vel=0.2 m/s CPDAT3 Tool[3]:GRIPPER2 Base[0]
WAIT FOR ( NOT IN 265 'Grip2_In_Place' )   ： 等待抓手2在位輸入信號265為假
LIN P8 CONT Vel=1 m/s CPDAT6 Tool[3]:GRIPPER2 Base[0]
LIN P7 CONT Vel=1 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]
PTP P9 CONT Vel=100 % PDAT4 Tool[3]:GRIPPER2 Base[0]
 
END
 
換搶盤放抓手程序
DEF Q1_PUTGRPPER( )   :程序名稱
INI         ：系統初始化
OUT 271 'Grip2_Bracket_Cls' State=FALSE  
OUT 272 'Grip2_Bracket_Open' State=TRUE  
WAIT FOR ( IN 272 'Grip2_Bracket_Opened' )
WAIT  FOR  (  IN  269  'Grip1_Bracket_Closed' ) ：等待抓手2防塵蓋打開到位輸入信號269
 
PTP P7 CONT Vel=100 % PDAT3 Tool[3]:GRIPPER2 Base[0]
PTP P3 CONT Vel=100 % PDAT1 Tool[3]:GRIPPER2 Base[0]
LIN P2 CONT Vel=0.2 m/s CPDAT2 Tool[3]:GRIPPER2 Base[0]
LIN P1 Vel=0.1 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]
WAIT FOR ( IN 265 'Grip2_In_Place' )
Harder2=false    ：將Harder2置位為假
 
Repeat            ：循環指令
RET=IOCTL("PNIO-CTRL",60,3)     ：斷開與抓手閥島的通訊指令
until (RET==0)   ：循環結束指令
WAIT FOR ( IN 263 'ATC_Face' )
OUT 261 'ATC_LOCK' State=FALSE  
OUT 262 'ATC_UNLOCK' State=TRUE  
WAIT FOR ( IN 262 'ATC_Unlocked' )
WAIT Time=1 sec
LIN P4 Vel=0.1 m/s CPDAT3 Tool[0] Base[0]
WAIT FOR ( NOT IN 263 'ATC_Face' )
LIN P5 CONT Vel=0.5 m/s CPDAT4 Tool[0] Base[0]
PTP P6 CONT Vel=100 % PDAT2 Tool[0] Base[0]
PTP P8 CONT Vel=100 % PDAT4 Tool[0] Base[0]
 
PTP HOME  Vel= 100 % DEFAULT
OUT 271 'Grip2_Bracket_Cls' State=TRUE  
OUT 272 'Grip2_Bracket_Open' State=FALSE  
WAIT FOR ( IN 271 'Grip2_Bracket_Closed' )
OUT 271 'Grip2_Bracket_Cls' State=FALSE  
 
END
 
抓手抓件程序：
DEF Q1_Pick_part( )
INI
$CYCFLAG[11]=$IN[357] OR $IN[359]     ：定義循環旗標
INTERRUPT DECL 101 WHEN $CYCFLAG[11] DO INT_101()  ：中斷聲明
INTERRUPT Off 101     ：關中斷101
 
PTP P1 Vel=100 % PDAT1 Tool[3]:GRIPPER2 Base[0]
OUT 349 'Vac1_ON' State=FALSE    ：輸出真空信號249為假
UnClamp1     ：抓手夾具打開
$ADVANCE=0
OUT 348 'unclamp' State=TRUE CONT    ：輸出抓手打開信號348為真
OUT 347 'clamp' State=FALSE CONT     ：輸出抓手夾緊信號347為假
$TIMER_STOP[6]=TRUE
$TIMER[6]=-10000
$TIMER_STOP[6]=FALSE
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[351] ) AND ( $IN[349] ))  
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[355] ) AND ( $IN[353] ))  
IF $TIMER_FLAG[6]==TRUE THEN
   $TIMER_STOP[6]=TRUE
   $OUT[76]=TRUE   :輸出抓手報警信號76為真
   MsgQuit("Check If All Clamps Are Opened!", "Grip")
   HALT
   WAIT FOR  (  NOT $IN[351] ) AND ( $IN[349] ) ：等待抓手打開到位輸入信號349
   WAIT FOR  (  NOT $IN[355] ) AND ( $IN[353] ) ：等待抓手打開到位輸入信號353
   $OUT[76]=FALSE    ：輸出抓手報警信號76為假
ENDIF
$ADVANCE=3
 
PinShift1   ：抓手定位銷伸出
$ADVANCE=0
OUT 346 'pin_unshift' State= FALSE CONT  ：輸出定位銷縮回信號346為假
OUT 345 'pin_shift' State= TRUE CONT      ：輸出定位銷伸出信號345為真
$TIMER_STOP[6]=TRUE
$TIMER[6]=-10000
$TIMER_STOP[6]=FALSE
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[345] ) AND ( $IN[347] ))  
IF $TIMER_FLAG[6]==TRUE THEN
   $TIMER_STOP[6]=TRUE
   $OUT[76]=TRUE    ：輸出抓手報警信號76為真
   MsgQuit("Check If All Clamps Are Opened!", "Grip")
   HALT
   WAIT FOR  (  NOT $IN[345] ) AND ( $IN[347] )   ：等待抓手定位銷伸出到位輸入
信號347
   $OUT[76]=FALSE
ENDIF
$ADVANCE=3
 
WAIT FOR ( IN 34 'Entry OK 2' )    ：等待允許進入抓件信號34
OUT 42 'Jig Non-Interference 2' State=FALSE    ：輸出夾具干涉信號42為假，發送
干涉
WAIT FOR ( IN 34 'Entry OK 2' )    ：等待允許進入抓件信號34
PTP P2 CONT Vel=100 % PDAT2 Tool[3]:GRIPPER2 Base[0]
PTP P3 CONT Vel=100 % PDAT3 Tool[3]:GRIPPER2 Base[0]
PTP P4 CONT Vel=100 % PDAT4 Tool[3]:GRIPPER2 Base[0]
 
FIRST:    ：跳轉指針
$OV_PRO=30    ：改變速度的系統變量
INTERRUPT ON 101   ：開中斷101
$ADVANCE=0    ：改變預讀指針的系統變量
PTP P6 CONT Vel=100 % PDAT9 Tool[3]:GRIPPER2 Base[0]
$OV_PRO=10   ：改變速度的系統變量
SEARCH()      ：調用子程序
INTERRUPT OFF 101     ：關中斷101
NOpartcheck     ：判斷料框是否有件的邏輯集合
WAIT FOR ( IN 1025 'Always ON' AND IN 357 'part_check1' )  ：等待板件檢測到
位信號
OUT 349 'Vac1_ON' State=TRUE    ：輸出真空信號349為真
WAIT Time=1 sec    ：等待1S
Clamp1   ：抓手夾具夾緊
$ADVANCE=0
OUT 347 'clamp' State=TRUE CONT
OUT 348 'unclamp' State=FALSE CONT
$TIMER_STOP[6]=TRUE
$TIMER[6]=-10000
$TIMER_STOP[6]=FALSE
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[349] ) AND ( $IN[351] ))  
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[353] ) AND ( $IN[355] ))  
IF $TIMER_FLAG[6]==TRUE THEN
   $TIMER_STOP[6]=TRUE
   $OUT[76]=TRUE
   MsgQuit("Check If All Clamps Are Opened!", "Grip")
   HALT
   WAIT FOR  (  NOT $IN[349] ) AND ( $IN[351] )  
   WAIT FOR  (  NOT $IN[353] ) AND ( $IN[355] )  
   $OUT[76]=FALSE
ENDIF
$ADVANCE=3
$OV_PRO=30
LIN P7 CONT Vel=0.2 m/s CPDAT7 Tool[3]:GRIPPER2 Base[0]
LIN P8 CONT Vel=0.2 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]
LIN P9 CONT Vel=1 m/s CPDAT6 Tool[1]:GRIPPER1 Base[0]
$ADVANCE=3
$OV_PRO=20
PTP P11 CONT Vel=100 % PDAT5 Tool[1]:GRIPPER1 Base[0]
PTP P12 CONT Vel=100 % PDAT6 Tool[1]:GRIPPER1 Base[0]
 
PULSE 37 'Job Complete 5' State=TRUE Time=1 sec    ：發送一個2S的完成信號37
脈沖
OUT 42 'Jig Non-Interference 2' State=TRUE      ：輸出干涉信號42為真，清除干涉
 
END
 
 
DEF SEARCH()  ：定義局部子程序SEARCH()
$ADVANCE=0
 
LIN P7 Vel=0.5 m/s CPDAT8 Tool[3]:GRIPPER2 Base[0]
LIN P13 Vel=0.5 m/s CPDAT10 Tool[3]:GRIPPER2 Base[0]
 
END
 
DEF INT_101()   ： 定義局部子程序INT_101 ()
 
Brake F     ：系統停止指令
Resume       ：系統中斷運行指令
END
 
抓手放件程序：
DEF Q1_PUT_PART( )
INI
PTP p1 CONT Vel=100 % PDAT2 Tool[3]:GRIPPER2 Base[0]
Inzone    ：工作允許進入
$ADVANCE=0
WAIT FOR ( IN 33 'Entry OK 1' ) CONT       ：等待允許進入放件信號33
OUT 41 'Jig Non-Interference 1' State=FALSE CONT    ：發干涉信號
WAIT FOR ( IN 33 'Entry OK 1' ) CONT       ：等待允許進入放件信號33
$ADVANCE=3
In_mb70rh_1    ：發送機器人與機器人之間的干涉區信號 
$ADVANCE=0
WAIT FOR ( IN 57 'Robot Clear Zone 1' ) CONT  ：等待機器人干涉信號57
OUT 57 'Robot Clear Zone 1' State=FALSE CONT ：輸出機器人干涉信號57為假發干涉
WAIT FOR ( IN 57 'Robot Clear Zone 1' ) CONT  ：等待機器人干涉信號57
$ADVANCE=3
PTP p4 CONT Vel=100 % PDAT3 Tool[3]:GRIPPER2 Base[0]
PTP p5 CONT Vel=100 % PDAT4 Tool[3]:GRIPPER2 Base[0]
UnClamp1    ：抓手夾具打開
$ADVANCE=0
OUT 348 'unclamp' State=TRUE CONT
OUT 347 'clamp' State=FALSE CONT
$TIMER_STOP[6]=TRUE
$TIMER[6]=-10000
$TIMER_STOP[6]=FALSE
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[351] ) AND ( $IN[349] ))  
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[355] ) AND ( $IN[353] ))  
IF $TIMER_FLAG[6]==TRUE THEN
   $TIMER_STOP[6]=TRUE
   $OUT[76]=TRUE
   MsgQuit("Check If All Clamps Are Opened!", "Grip")
   HALT
   WAIT FOR  (  NOT $IN[351] ) AND ( $IN[349] )  
   WAIT FOR  (  NOT $IN[355] ) AND ( $IN[353] )  
   $OUT[76]=FALSE
ENDIF
$ADVANCE=3
LIN p6 CONT Vel=0.5 m/s CPDAT7 Tool[3]:GRIPPER2 Base[0]
LIN p7 CONT Vel=0.2 m/s CPDAT6 Tool[3]:GRIPPER2 Base[0]
LIN p14 CONT Vel=0.1 m/s CPDAT8 Tool[3]:GRIPPER2 Base[0]
LIN p8 Vel=0.1 m/s CPDAT5 Tool[3]:GRIPPER2 Base[0]
 
AGA:
MsgDialog(PCAnswer,"Part check ok?","TIPD",,,,,,,"NO","YES")
IF PCAnswer==2 then
  GOTO AGA
ENDIF
IF PCAnswer==1 then
  GOTO NEXT
ENDIF
 
NEXT:
OUT_mb70rh_1  ：清除機器人與機器人之間的干涉區信號
$ADVANCE=0
OUT 57 'Robot Clear Zone 1' State=TRUE CONT
$ADVANCE=3
OUT 349 'Vac1_ON' State=FALSE  
Outzone
$ADVANCE=0
OUT 49 'Robot action request 1' State=TRUE   ：輸出機器人請求信號49為真
WAIT FOR ( IN 49 'Action complete 1' )       ：等到請求應答完成輸入信號
OUT 49 'Robot action request 1' State=FALSE   ：輸出機器人請求信號49為假
$ADVANCE=3
PinUnShift1
$ADVANCE=0
OUT 346 'pin_unshift' State=TRUE CONT
OUT 345 'pin_shift' State=FALSE CONT
$TIMER_STOP[6]=TRUE
$TIMER[6]=-10000
$TIMER_STOP[6]=FALSE
WAIT FOR  ( $TIMER_FLAG[6]==TRUE ) OR ((  NOT $IN[347] ) AND ( $IN[345] ))  
IF $TIMER_FLAG[6]==TRUE THEN
   $TIMER_STOP[6]=TRUE
   $OUT[76]=TRUE
   MsgQuit("Check If All Clamps Are Opened!", "Grip")
   HALT
   WAIT FOR  (  NOT $IN[347] ) AND ( $IN[345] )  
   $OUT[76]=FALSE
ENDIF
$ADVANCE=3
In_mb70rh_1   ：發送機器人與機器人之間的干涉區信號
$ADVANCE=0
WAIT FOR ( IN 57 'Robot Clear Zone 1' ) CONT
OUT 57 'Robot Clear Zone 1' State=FALSE CONT
WAIT FOR (IN 57 'Robot Clear Zone 1' ) CONT
$ADVANCE=3
LIN p9 CONT Vel=0.2 m/s CPDAT2 Tool[3]:GRIPPER2 Base[0]
WAIT FOR ( NOT IN 357 '' AND NOT IN 359 '' )
LIN p10 CONT Vel=1 m/s CPDAT3 Tool[3]:GRIPPER2 Base[0]
LIN p11 CONT Vel=2 m/s CPDAT4 Tool[3]:GRIPPER2 Base[0]
PTP p12 CONT Vel=100 % PDAT9 Tool[3]:GRIPPER2 Base[0]
PULSE 38 'Job Complete 6' State=TRUE Time=1 sec
OUT_mb70rh_1   ：清除機器人與機器人之間的干涉區信號 
$ADVANCE=0
OUT 57 'Robot Clear Zone 1' State=TRUE CONT
$ADVANCE=3
PTP p13 CONT Vel=100 % PDAT10 Tool[3]:GRIPPER2 Base[0]
 
END
 
換搶盤抓槍程序：
DEF PickGun1( )  
INI
OUT 268 'Gun1_Bracket_Open' State=TRUE CONT
OUT 267 'Gun1_Bracket_Cls' State=FALSE CONT
WAIT FOR ( IN 268 'Gun1_Bracket_Opened' ) CONT
WAIT FOR ( IN 264 'Gun1_In_Place' ) CONT
WAIT FOR ( NOT IN 263 'ATC_Face' )
 
PTP HOME  Vel= 100 % DEFAULT
 
PTP P4 CONT Vel=100 % PDAT1 Tool[0] Base[0]
PTP P8 CONT Vel=100 % PDAT4 Tool[0] Base[0]
LIN P3 Vel=0.2 m/s CPDAT3 Tool[0] Base[0]
LIN P2 CONT Vel=0.1 m/s CPDAT2 Tool[0] Base[0]
LIN P1 Vel=0.1 m/s CPDAT1 Tool[0] Base[0]
WAIT FOR ( IN 263 'ATC_Face' )
OUT 261 'ATC_LOCK' State=TRUE  
OUT 262 'ATC_UNLOCK' State=FALSE  
WAIT FOR ( IN 261 'ATC_Locked' )
ServoGun Couple=1   ：焊鉗耦合指令
OUT 406 'RESET_FAULT_WITH_WF' State=TRUE  ：輸出復位焊機報警信號406為真
WAIT Time=1 sec
WAIT FOR ( NOT IN 406 'WELDING_FAULT' )    ：等待焊機報警俗輸入信號406為非
OUT 406 'RESET_FAULT_WITH_WF' State=FALSE    ：輸出復位焊機報警信號406為假
WAIT FOR ( IN 257 'WaterFlow_OK' )     ：等待輸入水信號257
WGUN1=TRUE     ：將WGUN1置位為真
LIN P9 Vel=0.1 m/s CPDAT6 Tool[2]:GUN Base[0]
LIN P5 Vel=0.1 m/s CPDAT4 Tool[2]:GUN Base[0]
LIN P6 CONT Vel=2 m/s CPDAT5 Tool[2]:GUN Base[0]
PTP P7 CONT Vel=100 % PDAT3 Tool[2]:GUN Base[0]
 
END
 
換搶盤放槍程序：
DEF PutGun1( )
INI
 
OUT 268 'Gun1_Bracket_Open' State=TRUE CONT
OUT 267 'Gun1_Bracket_Cls' State=FALSE CONT
WAIT FOR ( IN 268 'Gun1_Bracket_Opened' ) CONT
WAIT FOR ( NOT IN 264 'Gun1_In_Place' )
PTP P1 CONT Vel=100 % PDAT1 Tool[2]:GUN Base[0]
 
PTP P5 CONT Vel=100 % PDAT2 Tool[2]:GUN Base[0]
LIN P4 CONT Vel=1 m/s CPDAT3 Tool[2]:GUN Base[0]
LIN P3 Vel=0.1 m/s CPDAT2 Tool[2]:GUN Base[0]
LIN P9 Vel=0.1 m/s CPDAT8 Tool[2]:GUN Base[0]
LIN P2 Vel=0.1 m/s CPDAT7 Tool[2]:GUN Base[0]
WGUN1=false
WAIT FOR ( IN 263 'ATC_Face' )
ServoGun Decouple=1   ：焊鉗脫開指令
OUT 262 'ATC_UNLOCK' State=TRUE  
OUT 261 'ATC_LOCK' State=FALSE  
WAIT FOR ( IN 262 'ATC_Unlocked' )
WAIT Time=1 sec
LIN P6 Vel=0.1 m/s CPDAT4 Tool[0] Base[0]
WAIT FOR ( NOT IN 263 'ATC_Face' )
LIN P7 CONT Vel=0.5 m/s CPDAT5 Tool[0] Base[0]
LIN P8 CONT Vel=2 m/s CPDAT6 Tool[0] Base[0]
PTP P10 CONT Vel=100 % PDAT4 Tool[0] Base[0]
OUT 267 'Gun1_Bracket_Cls' State=TRUE  
OUT 268 'Gun1_Bracket_Open' State=FALSE  
WAIT FOR ( IN 267 'Gun1_Bracket_Closed' )
OUT 267 'Gun1_Bracket_Cls' State=FALSE  
PTP HOME  Vel= 100 % DEFAULT
 
END
 
 
焊接程序： 
DEF Q1( )
INI
 INI()  ：信號初始化子程序
PTP HOME  Vel= 100 % DEFAULT
Inzone     ：工作進入允許信號處理
$ADVANCE=0
WAIT FOR ( IN 33 'Entry OK 1' ) CONT    ：等待焊接進入允許信號33
OUT 41 'Jig Non-Interference 1' State=FALSE CONT ：發送干涉信號
WAIT FOR ( IN 33 'Entry OK 1' ) CONT    ：等待焊接進入允許信號33
$ADVANCE=3
PTP P1 CONT Vel=100 % PDAT1 Tool[1]:GUN1 Base[0]
PTP P2 CONT Vel=100 % PDAT2 Tool[1]:GUN1 Base[0]
PTP P3 CONT Vel=100 % PDAT3 Tool[1]:GUN1 Base[0]
PTP  SG1  Vel=100  %  PDAT4  ProgNr=1  ServoGun=1  Cont=CLS  OPN  Part=2  mm  Force=2.5
kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP  SG2  Vel=100  %  PDAT5  ProgNr=1  ServoGun=1  Cont=CLS  OPN  Part=2  mm  Force=2.2
kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP  SG3  Vel=100  %  PDAT6  ProgNr=1  ServoGun=1  Cont=CLS  OPN  Part=2  mm  Force=2.2
kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P34 CONT Vel=100 % PDAT56 Tool[1]:GUN1 Base[0]
PTP  SG4  Vel=100  %  PDAT7  ProgNr=1  ServoGun=1  Cont=CLS  OPN  Part=2  mm  Force=2.2
kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P4 CONT Vel=100 % PDAT8 Tool[1]:GUN1 Base[0]
PTP P5 CONT Vel=100 % PDAT9 Tool[1]:GUN1 Base[0]
PTP P6 CONT Vel=100 % PDAT10 Tool[1]:GUN1 Base[0]
PTP P7 CONT Vel=100 % PDAT11 Tool[1]:GUN1 Base[0]
PTP P8 CONT Vel=100 % PDAT12 Tool[1]:GUN1 Base[0]
PTP P9 CONT Vel=100 % PDAT13 Tool[1]:GUN1 Base[0]
PTP SG5 Vel=100 % PDAT14 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG6 Vel=100 % PDAT15 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG7 Vel=100 % PDAT16 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P26 CONT Vel=100 % PDAT48 Tool[1]:GUN1 Base[0]
PTP P27 CONT Vel=100 % PDAT49 Tool[1]:GUN1 Base[0]
PTP P28 CONT Vel=100 % PDAT50 Tool[1]:GUN1 Base[0]
PTP P29 CONT Vel=100 % PDAT51 Tool[1]:GUN1 Base[0]
PTP P31 CONT Vel=100 % PDAT53 Tool[1]:GUN1 Base[0]
PTP SG11 Vel=100 % PDAT22 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG12 Vel=100 % PDAT23 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P12 CONT Vel=100 % PDAT24 Tool[1]:GUN1 Base[0]
PTP SG13 Vel=100 % PDAT25 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG14 Vel=100 % PDAT26 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG15 Vel=100 % PDAT27 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG16 Vel=100 % PDAT28 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG17 Vel=100 % PDAT29 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P13 CONT Vel=100 % PDAT30 Tool[1]:GUN1 Base[0]
PTP SG18 Vel=100 % PDAT31 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG19 Vel=100 % PDAT32 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG20 Vel=100 % PDAT33 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP SG21 Vel=100 % PDAT34 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P14 CONT Vel=100 % PDAT35 Tool[1]:GUN1 Base[0]
PTP P15 CONT Vel=100 % PDAT36 Tool[1]:GUN1 Base[0]
PTP P16 CONT Vel=100 % PDAT37 Tool[1]:GUN1 Base[0]
PTP P17 CONT Vel=100 % PDAT38 Tool[1]:GUN1 Base[0]
PTP P32 CONT Vel=100 % PDAT54 Tool[1]:GUN1 Base[0]
PTP P18 CONT Vel=100 % PDAT39 Tool[1]:GUN1 Base[0]
PTP P19 CONT Vel=100 % PDAT40 Tool[1]:GUN1 Base[0]
PTP SG22 Vel=100 % PDAT41 ProgNr=1 ServoGun=1 Cont=CLS OPN Part=2.5 mm
Force=2.5 kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
PTP P20 CONT Vel=100 % PDAT42 Tool[1]:GUN1 Base[0]
PTP P35 CONT Vel=100 % PDAT57 Tool[1]:GUN1 Base[0]
 
>>>>>>>>>>>>>>>><<<<<<<<<<<< 
 
PTP P22 CONT Vel=100 % PDAT44 Tool[1]:GUN1 Base[0]
PTP P48 CONT Vel=100 % PDAT72 Tool[1]:GUN1 Base[0]
Outzone       ：工位完成信號處理
$ADVANCE=0
OUT 41 'Jig Non-Interference 1' State=TRUE CONT    ：清除干涉信號
PULSE 34 'Job Complete 2' State=TRUE CONT Time=2 sec    ：輸出一個2S的脈沖完
成信號
$ADVANCE=3
PTP P33 CONT Vel=100 % PDAT55 Tool[1]:GUN1 Base[0
PTP P24 CONT Vel=100 % PDAT46 Tool[1]:GUN1 Base[0
TIP      ：修磨及更換電極帽的計數處理
;*Tip dress or change****************
   TipD=TipD+1         ：修磨計數
IF (TipD>=10) THEN    ：修磨的判斷
    TipdressReq=TRUE
    TipC=TipC+1     ：更換電極帽計數
    TipD=0
ENDIF
IF (TipC>=10) THEN    ：更換電極帽的判斷
   TipchangeReq=TRUE
   TipC=0
ENDIF
IF Tipdressreq OR Tipchangereq then    ：對修磨程序調用的判斷
TIPDRESS()     ：調用修磨程序
ENDIF
PTP HOME  Vel= 100 % DEFAULT
 
END 
 
修磨程序：
DEF TIPDRESS( )
INI
 
PTP HOME  Vel= 100 % DEFAULT
OUT 26 'Tip Dress Running' State=TRUE    ：輸出焊鉗修磨信號26
OUT 408 'CHK_WELD' State=FALSE      ：輸出焊機是否通電信號408為假，切斷焊接電源
PTP P1 CONT Vel=100 % PDAT1 Tool[1]:GUN1 Base[0]
PTP P2 CONT Vel=100 % PDAT2 Tool[1]:GUN1 Base[0]
PTP P3 CONT Vel=100 % PDAT3 Tool[1]:GUN1 Base[0]
PTP P4 CONT Vel=100 % PDAT4 Tool[1]:GUN1 Base[0]
 
Tipchange     ：更換電極帽部分
IF (TipchangeReq==true) then
OUT 257 'W.A.Unit_Sol_ON' State=FALSE       ：輸出斷水信號257為假，斷水
WAIT FOR ( NOT IN 257 'WaterFlow_OK' )      ：等待水壓信號257沒有輸入
OUT 27 'Tip Change Position' State=TRUE     ：輸出焊鉗在電極帽更換位置信號為真
AG:   ：跳轉指針
MsgDialog(TipAnswer,"Tip change complete?","TIPD",,,,,,,"NO","YES")
IF (TipAnswer==1) then
PULSE 28 'Tip Change Complete' State=TRUE Time=2 sec   ：輸出脈沖為2S的電極
帽更換完成信號
ENDIF
IF (TipAnswer==2) then
    GOTO AG
 ENDIF    
INIT ServoGun=1 New    ：電極初始化
OUT 27 'Tip Change Position' State=FALSE   ：輸出焊鉗在電極帽更換位置信號為假
OUT 257 'W.A.Unit_Sol_ON' State=TRUE    ：輸出斷水信號257為真，通水
 
WAIT FOR ( IN 257 'WaterFlow_OK' )  ：等待水壓信號257有輸入
TipchangeReq=FALSE    ：將TipchangeReq置零
ENDIF
PTP P5 CONT Vel=100 % PDAT5 Tool[1]:GUN1 Base[0]
PTP P9 Vel=100 % PDAT10 Tool[1]:GUN1 Base[0]
PTP P6 Vel=100 % PDAT7 Tool[1]:GUN1 Base[0]
OUT 408 'CHK_WELD' State=FALSE   ：輸出焊機是否通電信號408為假，切斷焊接電源
OUT 258 'TipdresserON/OFF' State=TRUE   ：輸出修磨器旋轉信號為真
WAIT FOR ( NOT IN 408 'CHK_WELD' )   ：等待焊機焊接電源是否切斷信號
PTP SG1 Vel=100 % PDAT6 TipDress ProgNr=1 ServoGun=1 Part=3.8 mm Force=1.5
kN ApproxDist=5 mm SpotOffset=0 mm Tool[1]:GUN1 Base[0]
OUT 258 'TipdresserON/OFF' State=FALSE   ：輸出修磨器旋轉信號為假
PTP P7 Vel=100 % PDAT8 Tool[1]:GUN1 Base[0]
PTP P8 Vel=100 % PDAT9 Tool[1]:GUN1 Base[0]
INIT ServoGun=1 Same    ：電極周期性初始化
PTP P10 Vel=100 % PDAT11 Tool[1]:GUN1 Base[0]
PTP P11 Vel=100 % PDAT12 Tool[1]:GUN1 Base[0]
PTP P12 Vel=100 % PDAT13 Tool[1]:GUN1 Base[0]
OUT 26 'Tip Dress Running' State=FALSE    ：輸出焊鉗修磨信號26為假
OUT 408 'CHK_WELD' State=TRUE   ：輸出焊機通電信號，給焊槍通電
TipDressReq=FALSE  將TipDressReq置零
PTP P13 Vel=100 % PDAT14 Tool[1]:GUN1 Base[0]
PTP HOME  Vel= 100 % DEFAULT
END