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Fanuc焊接机器人编程实例

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/PROG PIPE_2SS1CC
/ATTR
OWNER = MNEDITOR;
COMMENT = "START_STOP";
PROG_SIZE = 8121;
CREATE = DATE 10-11-25 TIME 14:22:04;
MODIFIED = DATE 10-11-25 TIME 16:33:18;
FILE_NAME = PIPE_2SS;
VERSION = 0;
LINE_COUNT = 358;
MEMORY_SIZE = 8745;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,1,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
ARC : TRUE ;
ARC Welding Equipment : 1,1,*,*,*;
/MN
1: CALL HOME_ROBOT1 ;
2: UFRAME_NUM=0 ;
3: UTOOL_NUM=1 ;
4: PR[GP1,2,3:11,1]=0 ;
5: PR[GP1:11,2]=0 ;
6: PR[GP1:11,3]=0 ;
7: PR[GP1:11,4]=0 ;
8: PR[GP1:11,5]=0 ;
9: PR[GP1:11,6]=0 ;
10: ;
11: R[12]=0 ;
12:J P[1] 100% CNT100 ;
13:J P[2] 100% CNT100 ;
14: !\\\\\\\\\\\\\\\\\\\ ;
15: !SEARCH POSITION 1 ;
16:J P[3] 30% FINE ;
17: !\\\\\\\\\\\\\\\\\\\ ;
18: ;
19: PR[GP1,2,3:11]=P[3] ;
20: LBL[1] ;
21: ;
22: !FIND JOINT ;
23:J PR[11] 30% FINE ;
24: Search Start [1] PR[40] ;
25:L PR[11] 200.0inch/min FINE Search[-Z] ;
26: Search End ;
27: R[12]=PR[GP1:40,1] ;
28: IF R[12]>3,JMP LBL[2] ;
29: PR[GP1:11,2]=PR[GP1:11,2]+3 ;
30: JMP LBL[1] ;
31: ;
32: !FIND EDGE 1 ;
33: LBL[2] ;
34: PR[GP1:11]=PR[GP1:32] ;
35: PR[GP1:11,2]=PR[GP1:11,2]+3 ;
36:J PR[11] 30% FINE ;
37: Search Start [1] PR[40] ;
38:L PR[11] 500.0inch/min FINE Search[Y] ;
39: Search End ;
40: R[11]=PR[GP1:32,2]-PR[GP1:11,2]-3 ;
41: R[11]=R[11]/2 ;
42: R[11]=R[11]+0 ;
43: PR[GP1:11,2]=PR[GP1:11,2]+R[11] ;
44:J PR[11] 30% FINE ;
45: Search Start [1] PR[40] ;
46:L PR[11] 500.0inch/min FINE Search[-Z] ;
47: Search End ;
48: PR[GP1:11,1]=PR[GP1:32,1]-15 ;
49: DO[109]=PULSE,1.0sec ;
50: R[2]=0 ;
51: PR[GP1,2,3:1,1]=0 ;
52: PR[GP1:1,2]=0 ;
53: PR[GP1:1,3]=0 ;
54: PR[GP1:1,4]=0 ;
55: PR[GP1:1,5]=0 ;
56: PR[GP1:1,6]=0 ;
57: ;
58: PR[20]=PR[11] ;
59: PR[GP2,3:20,1]=PR[20,1]+90 ;
60: PR[21]=PR[11] ;
61: PR[GP2,3:21,1]=PR[21,1]+180 ;
62: PR[22]=PR[11] ;
63: PR[GP2,3:22,1]=PR[22,1]+270 ;
64: PR[23]=PR[11] ;
65: PR[GP2,3:23,1]=PR[23,1]+360 ;
66: ;
67: PR[24]=PR[11] ;
68: PR[GP2,3:24,1]=PR[24,1]+15 ;
69: PR[25]=PR[11] ;
70: PR[GP2,3:25,1]=PR[25,1]+30 ;
71: ;
72: ;
73:J PR[11] 11% FINE Offset,PR[1] ;
74: WAIT R[150]=2 ;
75: R[180]=1 ;
76: WAIT .50(sec) ;
77: R[180]=0 ;
78: ;
79: Arc Start E1[2] ;
80: Arc Start E2[2] ;
81: Weave Sine[2.5Hz,3.0mm,0.070s,0.070s] ;
82: Track TAST[1] ;
83:C PR[20]
: PR[21] 23.0inch/min CNT100 COORD ;
84:C PR[22]
: PR[23] 23.0inch/m
in CNT100 COORD ;
85: Track End ;
86: LBL[55] ;
87: R[2]=R[2]+1 ;
88: IF R[2]=1,JMP LB

L[11] ;
89: IF R[2]=2,JMP LBL[12] ;
90: IF R[2]=3,JMP LBL[13] ;
91: IF R[2]=4,JMP LBL[14] ;
92: IF R[2]=5,JMP LBL[15] ;
93: IF R[2]=6,JMP LBL[16] ;
94: IF R[2]=7,JMP LBL[17] ;
95: IF R[2]=8,JMP LBL[18] ;
96: IF R[2]=9,JMP LBL[19] ;
97: IF R[2]=10,JMP LBL[20] ;
98: IF R[2]=11,JMP LBL[21] ;
99: IF R[2]>=12,JMP LBL[22] ;
100: LBL[11] ;
101: PR[GP1:1,1]=(-2) ;
102: PR[GP1:1,2]=(-4) ;
103: PR[GP1:1,6]=(-5) ;
104: PR[GP2,3:1,1]=360 ;
105: JMP LBL[91] ;
106: LBL[12] ;
107: PR[GP1:1,1]=(-5) ;
108: PR[GP1:1,2]=4 ;
109: PR[GP1:1,6]=5 ;
110: PR[GP2,3:1,1]=720 ;
111: JMP LBL[91] ;
112: LBL[13] ;
113: Arc End E1[2] ;
114: Arc End E2[2] ;
115: Track End ;
116: Weave End ;
117: CALL MASTER_2 ;
118: PR[GP1:1,1]=(-8) ;
119: PR[GP1:1,2]=(-7) ;
120: PR[GP1:1,6]=(-5) ;
121: PR[GP2,3:1,1]=(-5) ;
122: PR[GP2,3:11,1]=0 ;
123: PR[20]=PR[11] ;
124: PR[GP2,3:20,1]=PR[20,1]+90 ;
125: PR[21]=PR[11] ;
126: PR[GP2,3:21,1]=PR[21,1]+180 ;
127: PR[22]=PR[11] ;
128: PR[GP2,3:22,1]=PR[22,1]+270 ;
129: PR[23]=PR[11] ;
130: PR[GP2,3:23,1]=PR[23,1]+365 ;
131: ;
132:L PR[11] 200mm/sec FINE Offset,PR[1] COORD ;
133: WAIT R[151]=2 ;
134: R[181]=1 ;
135: WAIT .50(sec) ;
136: R[181]=0 ;
137: Arc Start E1[2] ;
138: Arc Start E2[2] ;
139: JMP LBL[92] ;
140: LBL[14] ;
141: Arc End E1[2] ;
142: Arc End E2[2] ;
143: Track End ;
144: Weave End ;
145: PR[GP1:1,1]=(-8) ;
146: PR[GP1:1,2]=7 ;
147: PR[GP1:1,6]=5 ;
148: PR[GP2,3:1,1]=360 ;
149:L PR[11] 200mm/sec FINE Offset,PR[1] COORD ;
150: WAIT R[152]=2 ;
151: R[182]=1 ;
152: WAIT .50(sec) ;
153: R[182]=0 ;
154: ;
155: Arc Start E1[2] ;
156: Arc Start E2[2] ;
157: ;
158: JMP LBL[92] ;
159: LBL[15] ;
160: Arc End E1[2] ;
161: Arc End E2[2] ;
162: Track End ;
163: Weave End ;
164: PR[GP1:1,1]=(-12) ;
165: PR[GP1:1,2]=(-9) ;
166: PR[GP1:1,6]=(-5) ;
167: PR[GP2,3:1,1]=720 ;
168:L PR[11] 200mm/sec FINE Offset,PR[1] COORD ;
169: WAIT R[153]=2 ;
170: R[183]=1 ;
171: WAIT .50(sec) ;
172: R[183]=0 ;
173: ;
174: Arc Start E1[2] ;
175: Arc Start E2[2] ;
176: ;
177: ;
178: JMP LBL[92] ;
179: LBL[16] ;
180: Arc End E1[2] ;
181: Arc End E2[2] ;
182: Track End ;
183: Weave End ;
184: CALL MASTER_2 ;
185: PR[GP1:1,1]=(-12) ;
186: PR[GP1:1,2]=0 ;
187: PR[GP1:1,6]=0 ;
188: PR[GP2,3:1,1]=(-5) ;
189: PR[GP2,3:11,1]=0 ;
190: PR[20]=PR[11] ;
191: PR[GP2,3:20,1]=PR[GP2:20,1]+90 ;
192: PR[21]=PR[11] ;
193: PR[GP2,3:21,1]=PR[GP2:21,1]+180 ;
194: PR[22]=PR[11] ;
195: PR[GP
2,3:22,1]=PR[GP2:22,1]+270 ;
196: PR[23]=PR[11] ;
197: PR[GP2,3:23,1]=PR[GP2:23,1]+365 ;
198:L PR[11] 200mm/sec FINE Offset,PR[1] COORD ;
199: WAIT R[

154]=2 ;
200: R[184]=1 ;
201: WAIT .50(sec) ;
202: R[184]=0 ;
203: ;
204: Arc Start E1[2] ;
205: Arc Start E2[2] ;
206: ;
207: JMP LBL[92] ;
208: LBL[17] ;
209: Arc End E1[2] ;
210: Arc End E2[2] ;
211: Track End ;
212: Weave End ;
213: PR[GP1:1,1]=(-12) ;
214: PR[GP1:1,2]=9 ;
215: PR[GP1:1,6]=5 ;
216: PR[GP2,3:1,1]=360 ;
217:L PR[11] 200mm/sec CNT100 Offset,PR[1] COORD ;
218: WAIT R[155]=2 ;
219: R[185]=1 ;
220: WAIT .50(sec) ;
221: R[185]=0 ;
222: ;
223: Arc Start E1[2] ;
224: Arc Start E2[2] ;
225: ;
226: JMP LBL[92] ;
227: LBL[18] ;
228: Arc End E1[2] ;
229: Arc End E2[2] ;
230: Track End ;
231: Weave End ;
232: PR[GP1:1,1]=(-16) ;
233: PR[GP1:1,2]=(-5) ;
234: PR[GP1:1,6]=0 ;
235: PR[GP2,3:1,1]=720 ;
236:L PR[11] 200mm/sec CNT100 Offset,PR[1] COORD ;
237: WAIT R[156]=2 ;
238: R[186]=1 ;
239: WAIT .50(sec) ;
240: R[186]=0 ;
241: ;
242: Arc Start E1[2] ;
243: Arc Start E2[2] ;
244: ;
245: JMP LBL[92] ;
246: LBL[19] ;
247: Arc End E1[2] ;
248: Arc End E2[2] ;
249: Track End ;
250: Weave End ;
251: CALL MASTER_2 ;
252: PR[GP1:1,1]=(-16) ;
253: PR[GP1:1,2]=(-12) ;
254: PR[GP1:1,6]=0 ;
255: PR[GP2,3:1,1]=(-5) ;
256: PR[GP2,3:11,1]=0 ;
257: PR[20]=PR[11] ;
258: PR[GP2,3:20,1]=PR[20,1]+90 ;
259: PR[21]=PR[11] ;
260: PR[GP2,3:21,1]=PR[21,1]+180 ;
261: PR[22]=PR[11] ;
262: PR[GP2,3:22,1]=PR[22,1]+270 ;
263: PR[23]=PR[11] ;
264: PR[GP2,3:23,1]=PR[23,1]+365 ;
265:L PR[11] 200mm/sec FINE Offset,PR[1] COORD ;
266: WAIT R[157]=2 ;
267: R[187]=1 ;
268: WAIT .50(sec) ;
269: R[187]=0 ;
270: Arc Start E1[2] ;
271: Arc Start E2[2] ;
272: ;
273: JMP LBL[92] ;
274: LBL[20] ;
275: Arc End E1[2] ;
276: Arc End E2[2] ;
277: Track End ;
278: Weave End ;
279: PR[GP1:1,1]=(-16) ;
280: PR[GP1:1,2]=12 ;
281: PR[GP1:1,6]=0 ;
282: PR[GP2,3:1,1]=360 ;
283:L PR[11] 200mm/sec CNT100 Offset,PR[1] COORD ;
284: WAIT R[158]=2 ;
285: R[188]=1 ;
286: WAIT .50(sec) ;
287: R[188]=0 ;
288: ;
289: Arc Start E1[2] ;
290: Arc Start E2[2] ;
291: ;
292: JMP LBL[92] ;
293: LBL[21] ;
294: Arc End E1[2] ;
295: Arc End E2[2] ;
296: Track End ;
297: Weave End ;
298: PR[GP1:1,1]=(-16) ;
299: PR[GP1:1,2]=5 ;
300: PR[GP1:1,6]=0 ;
301: PR[GP2,3:1,1]=720 ;
302:L PR[11] 200mm/sec CNT100 Offset,PR[1] COORD ;
303: WAIT R[159]=2 ;
304: R[189]=1 ;
305: WAIT .50(sec) ;
306: R[189]=0 ;
307: ;
308: Arc Start E1[2] ;
309: Arc Start E2[2]
;
310: ;
311: JMP LBL[92] ;
312: ;
313: LBL[91] ;
314: WAIT R[160]=2 ;
315: R[190]=1 ;
316: WAIT .50(sec) ;
317: R[190]=0 ;
318: ;
319: Arc Start E1[2] ;
320: Arc Start E2[2] ;
321: ;
322:

Track TAST[2] ;
323: Weave Sine[2.5Hz,2.0mm,0.070s,0.070s] ;
324:C PR[24] Offset,PR[1]
: PR[25] 30.0inch/min CNT100 COORD Offset,PR[1] ;
325: ;
326:C PR[20] Offset,PR[1]
: PR[21] 30.0inch/min CNT100 COORD Offset,PR[1] ;
327:C PR[22] Offset,PR[1]
: PR[23] 30.0inch/min CNT100 COORD Offset,PR[1] ;
328: ;
329: JMP LBL[55] ;
330: LBL[92] ;
331: WAIT R[161]=2 ;
332: R[191]=1 ;
333: WAIT .50(sec) ;
334: R[191]=0 ;
335: ;
336: Arc Start E1[2] ;
337: Arc Start E2[2] ;
338: ;
339: Track TAST[2] ;
340: Weave Sine[2.5Hz,2.0mm,0.070s,0.070s] ;
341: ;
342:C PR[20] Offset,PR[1]
: PR[21] 35.0inch/min CNT100 COORD Offset,PR[1] ;
343:C PR[22] Offset,PR[1]
: PR[23] 35.0inch/min CNT100 COORD Offset,PR[1] ;
344: ;
345: JMP LBL[55] ;
346: ;
347: LBL[22] ;
348: ;
349: ;
350: ;
351: Arc End E1[2] ;
352: Arc End E2[2] ;
353: Track End ;
354: Weave End ;
355: PAUSE ;
356: CALL MASTER_2 ;
357:J P[4] 50% CNT100 ;
358: CALL HOME_ROBOT1 ;
/POS
P[1]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U B, 0, 0, 0',
X = 254.511 mm, Y = 238.494 mm, Z = 878.487 mm,
W = -76.045 deg, P = -.056 deg, R = 91.754 deg
GP2:
UF : 0, UT : 1,
J1= .000 deg
};
P[2]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U B, 0, 0, 0',
X = 254.511 mm, Y = 238.494 mm, Z = 878.487 mm,
W = -76.045 deg, P = -.056 deg, R = 91.754 deg
GP2:
UF : 0, UT : 1,
J1= .000 deg
};
P[3]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U B, 0, 0, 0',
X = 288.207 mm, Y = 238.494 mm, Z = 878.487 mm,
W = -76.045 deg, P = -.056 deg, R = 91.754 deg
GP2:
UF : 0, UT : 1,
J1= .000 deg
};
P[4]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U B, 0, 0, 0',
X = 251.460 mm, Y = 251.193 mm, Z = 878.771 mm,
W = -76.064 deg, P = 2.269 deg, R = 92.724 deg
GP2:
UF : 0, UT : 1,
J1= 0.000 deg
};
/END


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