安川搬运机器人搬运程序编写：

/J0B

//NAME GAIBIANLIANG20130428FAR

//POS

///NPOS 27,0,0,8, 0,0

///T0OL 0

///POSTYPE PULSE

///PULSE

00000-1698,- 104297, -43992, 0, - 38674, -98917

C00001-211961, 41775, 54111, -436, -11684, -99185

C00002=211975, 34972, 27492, -986, 5112, -98863

00003=211975, 34830, 26710, -893, 5645, -98917

C00004=1698. -104297, -43992, 0, -38674, -98917

C00005-211961, 41775, 54111, -436, -11684, -99185

C00006-211975, 34972, 27492, -986, 5112, -98863

00007=211975, 34830, 26710, -893, 5645, -98917

C00008-211159, -40548, -30329, 0, -4831, -100036

(00009-47710, -2943, 15688, 12574, -14749, -106677

C00010-211975, 34830, 26710, -893, 5645, -98917

C00011=211159, -40548, -30329, 0, -4831, -100036

C00012=47710, -2943, 15688, 12574, -14749, -106677

C00013-55918, 54959, -46429, -57583, 87764, -84828 .

C00014=111, -111933, -85836, - 179, -10092, -98810

C00015-111, -111932, -85835, -179, -10090, -98810

C00016=- -124138, 515, -97454, 111833, 109299, -238580

C00017=- -99847, 27313, -71212, 94788, 98153,- 234728

C00018--98108, 31708, -66436, 93820. 97002, -234729

C00019=- -98213, 32704, -64556, 94358, 96517, -235238

C00020=- -98213, 10084, . 32221, 128992, 74224, -265996

C00021=- -34232, -36669, -63615, 79559, 33158, -243244

C00022=51431, -37956, -99835, -28200, 60650, -94988

C00023-38705, 70421, 16696, -17771, -116612, -113168

C00024=45455, 74110, 6350, -17505, -102596, -116044

C00025=44963, 68394, 16281, -17470, -114337, -117283

C00026=109. -111934, -85833,- 179, -10088, -98811

///POSTYPE base

///RECTAN

///RCONF 0,0,0,0,0,0, 0, 0,0,0,0,0,0,0,0,0, 0,0, 0,0,0,0, 0, 0

P00001-0.000, 0.000, 215.000, 0.0000, 0.0000, 0.0000

///POSTYPE_ ROBOT

P00002=0. 000, 0.000, 215. 000, 0. 0000, 0.0000, 0. 0000

///POSTYPE base

P00003-0.000, 0.000, 6.000, 0.0000, 0. 0000, 0.0000

P00004=0. 000, 0.000, 200. 000, 0. 0000, 0.0000, 0. 0000

P0001 1 =0.000, 0. 000, -729. 000, 0.0000, 0.0000, 0.0000

///POSTYPE ROBOT

P00012=0. 000, 0. 000, -645. 000, 0.0000, 0.0000, 0.0000

///POSTYPE base

P00015=0. 000, 0. 000, -1200. 000, 0.0000, 0.000, 0.0000

P00016=0. 000, 0. 000, 0. 000, 0.000, 0. 0000, 0. 0000

//INST

///DATE 2013/04/28 12:29

//ATTR SC, RW

///GROUP1 RB1

NOP

*T START

WAIT IGH#(1)=8

PULSE 0OGH+(1) 8 T=0. 50

*SIDE_ SEL

JUXP NEAR IP. IN*(6)=ON

JLYIP *FAR IF IN+(27)=0N 

JMP *SIDE_ SEL

*NEAR

PULSE 0GH#(1) 11 T=O. 50 

WAIT IGH#(1)=11

*INISEL

JUMP *NEAR INI IF_ IN#(6)=ON

JLVP *A10 IP IN#(7)=ON

JUMIP *INISEL

*NEAR_ _INI

SET B001

SLB P001 P001

SUB P002 P002

SUB P0O3 P003

SLB P004 P004

SET D001 215000

SET D002 21 5000

SET D003 6000

004

00000

SETE P001 (3) D001

SETE P002 (3) D002

SETE P003 (3) D003

SETE P004 (3) D004

SLB P011 P011

SLB P012 P012

SLB P015 P015

SUB P016 P016

MOVJ 00000 VJ=25. 00

MOWJ C00001

00001 VI=25 00

MOWJ C00002 VJ=25. 00

*A00

SLUB P011 P003

GETE D011 P011 (3)

SLB D011 D003

JLVIP *打START IF D011<-780000

SFTON P011 BF

MOVL C00003 V=50. 0

SFTOF

JLMP *A00 IF IN#(5)=0N

JUMP *A11. END

*A10

MOVJ 000041 V]=25. 00

MOVJ C00005 Vj-25. 00

MOWJ C00006 VJ-25. 00

*A11

GETE D011 P011 (3)

SUB D011 D001_

JLXP *A12 IF D011<-780000

SLB P015 P004

SLB P011 P00 ;

SFTON P011 BF

MOWL C00007 V=100. 0

SFTOF

JUIP *A11. END

*A11 END

PULSE 0GH#(1) 7 T=1. 00

WAIT IGH+(1)-3

MOVL C00008 V=100. 0

MOVJ C00009 VJ=25. 00

JUXP *打_ END

*A12

GETE_ D012 P012 (3)

SLB D012 D002

JLMP *T START IF D012<-780000

SUB P015 P001

SLB P012 PO02

SFTON P012 RF

SFTON P011 BF

MOVL _C00010 V=100. 0.

SFTOF

SFTOF

*A12_ END

PLSE 0GH#(1) 7 T=1. 00

WAIT IGH#(1)-3

MOVIL C00011 V=100.0

MOVJ C00012 VJ=25. 00

JUMP *T END

*T_ END

PLLSE 0OGH#(1) 5 T=0. 50

WAIT ICH(1)=5

MOVJ C00013 VJ=25. 00 PL=0

PLLSE OGH#(1) 6 T=0. 50

WAIT IGH4(1)-6

MOWJ C00014 VJ=25.00

JUXP *LABEL1

*KONGTIAO

WAIT IGH#(1)=8

PLLSE 0OGH#(1) 8 T=0. 50

NOWJ C00015 VJ=25. 00

MOVL C00016 V=300.0

PLLSE OGH#(1) 10 T=0. 50 

WAIT IGH#(1)=10

MOVL C00017 V=300. 0

MOVL C00018 V=300.0 PL=0

PLLSE 0GH#(1) 11 T=0. 50

WAIT IGH#(1)=11

*END3

MOVL C00019 V=300.0 PL=0

MOVJ C00020 VJ-25. 0

MOVJ C00021 Vj=25 00

PLSE 0GH#(1) 13

WAIT IGH(1)=13

MOWJ C00022 VJ=25. 00

MOV C00023 VJ-25. 00

MOVJ C00024 Vj=25. 00 PL=0

PLLSE 0CH#(1) 12 T=0. 50

WAIT I

MOVJ C00025 VJ-25. 00

MOVJ C00026 VJ=25. 00

*LABEL1

RET

END

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