法兰克焊接机器人编程入门_Fanuc焊接机器人编程实例

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[