机械手自动化程序20170915

库卡机械手程序实例七轴运动与机台作业完成

1、 主程序 main &ACCESS RVP1 &REL 1

&PARAM DISKPATH = KRC:\\R1\\Program DEF Pro_main( ) INT l

;FOLD INI;%{PE} ;FOLD BASISTECH INI

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI

;Make your modifications here

;ENDFOLD (USER INI)

GLOBAL INTERRUPT DECL 4 WHEN $IN[10]==FALSE DO Itrpt1 () GLOBAL INTERRUPT DECL 5 WHEN $IN[11]==FALSE DO Itrpt1 ()

INTERRUPT DECL 6 WHEN $IN[9]==TRUE DO Itrpt1 ()；地轨异常进入中断 INTERRUPT ON 6；开地轨监视中断6 IF NOT Gripper_ChkStatus(1,\Gripper_SetStatus(1,\ Part0InLeft = FALSE Part2InLeft = FALSE ENDIF

IF NOT Gripper_ChkStatus(2,\Gripper_SetStatus(2,\ Part1InRight = FALSE ENDIF

FOR l = 1 TO 14 $OUT[l] = FALSE

ENDFOR；此循环语句在初始化时把所有端口清零复位。

IF $IN[5] THEN

Machine1_OnlyDrop = TRUE

Machine2_OnlyDrop = TRUE；机台1有首件信号时，机台1与机台2第一次响应只放标志位置1 ELSE

Machine1_OnlyDrop = FALSE Machine2_OnlyDrop = FALSE ENDIF

$FLAG[8]=FALSE；FLAG[8]是干什么用的？ ;ENDFOLD (INI)；初始化完成

$OV_PRO=70；限定系统运行速度

;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $BWDSTART=FALSE

1

库卡机械手程序实例七轴运动与机台作业完成

PDAT_ACT=PDEFAULT FDAT_ACT=FHOME

BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD

IF $IN_HOME THEN $OUT[5]=FALSE $OUT[8]=FALSE $OUT[11]=FALSE ENDIF

LOOP

WAIT SEC 0.05

IF $IN[1] AND NOT Part0InLeft ANDGripper_ChkStatus(3,\ THENToPick_Search() ENDIF

IF Part0InLeft AND ($IN[3] OR Machine1_OnlyDrop) AND Gripper_ChkStatus(1,\AND Gripper_ChkStatus(2,\Machine1() ENDIF

IF Part1InRight AND ($IN[6] OR Machine2_OnlyDrop) AND Gripper_ChkStatus(2,\AND Gripper_ChkStatus(1,\Machine2() ENDIF

IF Part2InLeft AND ($IN[8] OR Machine3_OnlyDrop) AND Gripper_ChkStatus(1,\Machine3() ENDIF ENDLOOP END

DEF Itrpt1 () HALT BRAKE END

2、 取料程序（采用中断的方法自动探料，完成取料作业） &ACCESS RVO2 &REL 1

&PARAM DISKPATH = KRC:\\R1\\Program DEF ToPick_Search( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )；单独用了一个系统中断？ INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI)

2

库卡机械手程序实例七轴运动与机台作业完成

;FOLD USER INI

;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI)

INTERRUPT DECL 1 WHEN $IN[10]==TRUE DO FOUND() SevenAxis_Run(1) GOTO MARK

;FOLD PTP P1 CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT2

$BWDSTART=FALSE PDAT_ACT=PPDAT2 FDAT_ACT=FP1

BAS(#PTP_PARAMS,100) PTP XP1 C_DIS ;ENDFOLD

;FOLD PTP P3 CONT Vel=100 % PDAT8 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:C_DIS, 5:100, 7:PDAT8

$BWDSTART=FALSE PDAT_ACT=PPDAT8 FDAT_ACT=FP3

BAS(#PTP_PARAMS,100) PTP XP3 C_DIS ;ENDFOLD

;FOLD LIN P2 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:2, 7:CPDAT2

$BWDSTART=FALSE LDAT_ACT=LCPDAT2 FDAT_ACT=FP2

BAS(#CP_PARAMS,2) LIN XP2 C_DIS C_DIS ;ENDFOLD

;FOLD LIN P1 Vel=0.05 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.05, 7:CPDAT1

$BWDSTART=FALSE LDAT_ACT=LCPDAT1 FDAT_ACT=FP1

BAS(#CP_PARAMS,0.05) LIN XP1 ;ENDFOLD

;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

$BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME

BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD mark:

3

库卡机械手程序实例七轴运动与机台作业完成

Search()

INTERRUPT OFF 1 WAIT SEC 0 XP4=$POS_ACT

;FOLD LIN P4 CONT Vel=2 m/s CPDAT10 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:C_DIS C_DIS, 5:2, 7:CPDAT10

$BWDSTART=FALSE LDAT_ACT=LCPDAT10 FDAT_ACT=FP4

BAS(#CP_PARAMS,2) LIN XP4 C_DIS C_DIS ;ENDFOLD

Gripper_SetStatus(1,\LIN_REL{Z 15} LIN_REL{Z -17}

Gripper_SetStatus(1,\Part0InLeft = TRUE WAIT SEC 0 XP0=$POS_ACT

XP0.Z=XP0.Z+25；看一下寻料程序到底是怎么运转的！ ;FOLD LIN P0 CONT Vel=0.025 m/s CPDAT8 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P0, 3:C_DIS C_DIS, 5:0.025, 7:CPDAT8

$BWDSTART=FALSE LDAT_ACT=LCPDAT8 FDAT_ACT=FP0

BAS(#CP_PARAMS,0.025) LIN XP0 C_DIS C_DIS ;ENDFOLD

WAIT SEC 0

IF NOT $IN[10] THEN GOTO mark

ENDIF

;FOLD LIN P1 CONT Vel=2 m/s CPDAT7 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:C_DIS C_DIS, 5:2, 7:CPDAT7

$BWDSTART=FALSE LDAT_ACT=LCPDAT7 FDAT_ACT=FP1

BAS(#CP_PARAMS,2) LIN XP1 C_DIS C_DIS ;ENDFOLD END

DEF Search( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI)

4

库卡机械手程序实例七轴运动与机台作业完成

;FOLD USER INI

;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) INTERRUPT ON 1

;FOLD PTP P1 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT6

$BWDSTART=FALSE PDAT_ACT=PPDAT6 FDAT_ACT=FP1

BAS(#PTP_PARAMS,100) PTP XP1 C_DIS ;ENDFOLD

$OUT[16]=TRUE

;FOLD LIN P3 CONT Vel=2 m/s CPDAT11 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:C_DIS C_DIS, 5:2, 7:CPDAT11

$BWDSTART=FALSE LDAT_ACT=LCPDAT11 FDAT_ACT=FP3

BAS(#CP_PARAMS,2) LIN XP3 C_DIS C_DIS ;ENDFOLD

;FOLD LIN P2 CONT Vel=0.05 m/s CPDAT5 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:0.05, 7:CPDAT5

$BWDSTART=FALSE LDAT_ACT=LCPDAT5 FDAT_ACT=FP2

BAS(#CP_PARAMS,0.05) LIN XP2 C_DIS C_DIS ;ENDFOLD

;FOLD LIN P1 Vel=0.02 m/s CPDAT6 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.02, 7:CPDAT6

$BWDSTART=FALSE LDAT_ACT=LCPDAT6 FDAT_ACT=FP1

BAS(#CP_PARAMS,0.02) LIN XP1 ;ENDFOLD WAIT SEC 0 END

DEF FOUND() BRAKE

LIN $POS_INT ;rise a little RESUME END

3、 机台1取放料程序（完成机台1取放料动作与信号交互） &ACCESS RVO2

5

库卡机械手程序实例七轴运动与机台作业完成

ENDIF

;FOLD PTP P4 CONT Vel=100 % PDAT7 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:C_DIS, 5:100, 7:PDAT7

$BWDSTART=FALSE PDAT_ACT=PPDAT7 FDAT_ACT=FP4

BAS(#PTP_PARAMS,100) PTP XP4 C_DIS ;ENDFOLD

;FOLD PTP P5 CONT Vel=100 % PDAT14 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT14

$BWDSTART=FALSE PDAT_ACT=PPDAT14 FDAT_ACT=FP5

BAS(#PTP_PARAMS,100) PTP XP5 C_DIS ;ENDFOLD

;FOLD PTP P6 CONT Vel=100 % PDAT9 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT9

$BWDSTART=FALSE PDAT_ACT=PPDAT9 FDAT_ACT=FP6

BAS(#PTP_PARAMS,100) PTP XP6 C_DIS ;ENDFOLD

;FOLD LIN P7 Vel=0.25 m/s CPDAT7 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT7

$BWDSTART=FALSE LDAT_ACT=LCPDAT7 FDAT_ACT=FP7

BAS(#CP_PARAMS,0.25) LIN XP7 ;ENDFOLD

Gripper_SetStatus(2,\

;FOLD PTP P6 CONT Vel=100 % PDAT11 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT11

$BWDSTART=FALSE PDAT_ACT=PPDAT11 FDAT_ACT=FP6

BAS(#PTP_PARAMS,100) PTP XP6 C_DIS ;ENDFOLD

;FOLD PTP P8 CONT Vel=100 % PDAT12 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P8, 3:C_DIS, 5:100, 7:PDAT12

$BWDSTART=FALSE PDAT_ACT=PPDAT12 FDAT_ACT=FP8

11

库卡机械手程序实例七轴运动与机台作业完成

BAS(#PTP_PARAMS,100) PTP XP8 C_DIS ;ENDFOLD ELSE

;FOLD PTP P5 CONT Vel=100 % PDAT13 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT13

$BWDSTART=FALSE PDAT_ACT=PPDAT13 FDAT_ACT=FP5

BAS(#PTP_PARAMS,100) PTP XP5 C_DIS ;ENDFOLD

;FOLD PTP P6 CONT Vel=100 % PDAT1 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P6, 3:C_DIS, 5:100, 7:PDAT1

$BWDSTART=FALSE PDAT_ACT=PPDAT1 FDAT_ACT=FP6

BAS(#PTP_PARAMS,100) PTP XP6 C_DIS ;ENDFOLD

;FOLD LIN P7 Vel=0.25 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P7, 3:, 5:0.25, 7:CPDAT1

$BWDSTART=FALSE LDAT_ACT=LCPDAT1 FDAT_ACT=FP7

BAS(#CP_PARAMS,0.25) LIN XP7 ;ENDFOLD

Gripper_SetStatus(2,\

;FOLD LIN P6 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P6, 3:C_DIS C_DIS, 5:2, 7:CPDAT2

$BWDSTART=FALSE LDAT_ACT=LCPDAT2 FDAT_ACT=FP6

BAS(#CP_PARAMS,2) LIN XP6 C_DIS C_DIS ;ENDFOLD

;FOLD PTP P8 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P8, 3:C_DIS, 5:100, 7:PDAT6

$BWDSTART=FALSE PDAT_ACT=PPDAT6 FDAT_ACT=FP8

BAS(#PTP_PARAMS,100) PTP XP8 C_DIS ;ENDFOLD

Machine_Start(2)

;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:,

12

库卡机械手程序实例七轴运动与机台作业完成

5:100, 7:DEFAULT

$BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME

BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD ENDIF

IF Machine2_OnlyDrop THEN Machine2_OnlyDrop = FALSE ENDIF

Machine_Start(2) END

5、 机台3取放料程序（完成机台3取放料动作与信号交互） &ACCESS RVP1 &REL 6

DEF Machine3( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI

;Make your modifications here ;ENDFOLD (USER INI) WAIT FOR $FLAG[1] $FLAG[8]=TRUE ;ENDFOLD (INI)

PTP $POS_ACT SevenAxis_Run(3)

;FOLD OUT 11 '' State=TRUE ;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:11, 3:, 5:TRUE, 6:

$OUT[11]=TRUE ;ENDFOLD

;FOLD PTP P1 CONT Vel=100 % PDAT6 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:100, 7:PDAT6

$BWDSTART=FALSE PDAT_ACT=PPDAT6 FDAT_ACT=FP1

BAS(#PTP_PARAMS,100) PTP XP1 C_DIS ;ENDFOLD

;FOLD PTP P2 CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:C_DIS, 5:100, 7:PDAT2

$BWDSTART=FALSE

13

库卡机械手程序实例七轴运动与机台作业完成

PDAT_ACT=PPDAT2 FDAT_ACT=FP2

BAS(#PTP_PARAMS,100) PTP XP2 C_DIS ;ENDFOLD

;FOLD LIN P3 Vel=0.25 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:0.25, 7:CPDAT1

$BWDSTART=FALSE LDAT_ACT=LCPDAT1 FDAT_ACT=FP3

BAS(#CP_PARAMS,0.25) LIN XP3 ;ENDFOLD

Gripper_SetStatus(1,\

;FOLD LIN P2 CONT Vel=2 m/s CPDAT2 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS C_DIS, 5:2, 7:CPDAT2

$BWDSTART=FALSE LDAT_ACT=LCPDAT2 FDAT_ACT=FP2

BAS(#CP_PARAMS,2) LIN XP2 C_DIS C_DIS ;ENDFOLD

;FOLD PTP P4 CONT Vel=100 % PDAT3 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:C_DIS, 5:100, 7:PDAT3

$BWDSTART=FALSE PDAT_ACT=PPDAT3 FDAT_ACT=FP4

BAS(#PTP_PARAMS,100) PTP XP4 C_DIS ;ENDFOLD

;FOLD PTP P5 CONT Vel=100 % PDAT5 Tool[1] Base[0];%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:C_DIS, 5:100, 7:PDAT5

$BWDSTART=FALSE PDAT_ACT=PPDAT5 FDAT_ACT=FP5

BAS(#PTP_PARAMS,100) PTP XP5 C_DIS ;ENDFOLD

Machine_Start(3)

;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

$BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME

BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD

$TIMER_STOP[1]=FALSE

14

库卡机械手程序实例七轴运动与机台作业完成

IF $TIMER[1]>0 THEN

$TIMER_STOP[1]=TRUE ENDIF

IF Machine3_OnlyDrop THEN Machine3_OnlyDrop = FALSE ENDIF

Count_Part=Count_Part+1 IF Count_Part>=40 THEN Count_Part=0 SevenAxis_Run(4) WAIT SEC 0.1 ENDIF END

6、 地轨运动程序（完成与地轨信号交互及运动交互） &ACCESS RV2 &REL 8

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\vorgabe DEF SevenAxis_Run(Num:IN) INT Num SWITCH Num CASE 1

;FOLD PULSE 1 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:1, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[1], TRUE,1) ;ENDFOLD

;FOLD PULSE 14 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:14, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[14], TRUE,1) ;ENDFOLD

WAIT FOR $IN[2] $OUT[1] = FALSE $OUT[14] = FALSE CASE 2

;FOLD PULSE 2 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:2, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[2], TRUE,1) ;ENDFOLD

;FOLD PULSE 14 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:14, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[14], TRUE,1) ;ENDFOLD

WAIT SEC 0.5 WAIT FOR $IN[2] $OUT[2] = FALSE $OUT[14] = FALSE CASE 3

;FOLD PULSE 3 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:3, 3:, 5:TRUE,

15

库卡机械手程序实例七轴运动与机台作业完成

6:, 8:1

PULSE($OUT[3], TRUE,1) ;ENDFOLD

;FOLD PULSE 14 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:14, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[14], TRUE,1) ;ENDFOLD

WAIT SEC 0.5 WAIT FOR $IN[2] $OUT[3] = FALSE $OUT[14] = FALSE CASE 4

;FOLD PULSE 4 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:4, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[4], TRUE,1) ;ENDFOLD

;FOLD PULSE 14 '' State=TRUE Time=1 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:14, 3:, 5:TRUE, 6:, 8:1

PULSE($OUT[14], TRUE,1) ;ENDFOLD

WAIT SEC 0.5 WAIT FOR $IN[2] $OUT[4] = FALSE $OUT[14] = FALSE DEFAULT MsgQuit(\ENDSWITCH END

7、 机台启动控制程序（完成机台启动，取消工作中信号给开始加工信号） &ACCESS RV2 &REL 3

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\ExpertVorgabe DEF Machine_Start(Num:IN) INT Num SWITCH Num CASE 1

;FOLD OUT 5 '' State=FALSE ;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:5, 3:, 5:FALSE, 6:

$OUT[5]=FALSE ;ENDFOLD

;FOLD PULSE 6 '' State=TRUE Time=0.5 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:6, 3:, 5:TRUE, 6:, 8:0.5

PULSE($OUT[6], TRUE,0.5) ;ENDFOLD CASE 2

;FOLD OUT 8 '' State=FALSE ;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:8, 3:, 5:FALSE, 6:

$OUT[8]=FALSE ;ENDFOLD

16

库卡机械手程序实例七轴运动与机台作业完成

;FOLD PULSE 9 '' State=TRUE Time=0.5 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:9, 3:, 5:TRUE, 6:, 8:0.5

PULSE($OUT[9], TRUE,0.5) ;ENDFOLD CASE 3

;FOLD OUT 11 '' State=FALSE ;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:11, 3:, 5:FALSE, 6:

$OUT[11]=FALSE ;ENDFOLD

;FOLD PULSE 12 '' State=TRUE Time=0.5 sec;%{PE}%R 8.3.40,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:12, 3:, 5:TRUE, 6:, 8:0.5

PULSE($OUT[12], TRUE,0.5) ;ENDFOLD DEFAULT MsgQuit(\ENDSWITCH END

8、 手爪控制程序（完成对手爪的控制）

手爪1控制点位为OUT[16]，对应检测为IN[10]，对应中断4 手爪2控制点位为OUT[15]，对应检测为IN[11]，对应中断5 &ACCESS RV2 &REL 50

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\vorgabe DEF Gripper_SetStatus(Num:IN,Status:IN) INT Num CHAR Status SWITCH Num CASE 1

SWITCH Status CASE \

IF NOT $T1 THEN INTERRUPT OFF 4 ENDIF

$OUT[16] = FALSE WAIT SEC 0.3

WAIT FOR NOT $IN[10] Part0InLeft = FALSE Part2InLeft = FALSE CASE \

IF NOT $T1 THEN INTERRUPT ON 4 ENDIF

$OUT[16] = TRUE WAIT SEC 0.5 WAIT FOR $IN[10] DEFAULT

MsgQuit(\ ENDSWITCH

17

库卡机械手程序实例七轴运动与机台作业完成

CASE 2

SWITCH Status CASE \

IF NOT $T1 THEN INTERRUPT OFF 5 ENDIF

INTERRUPT OFF 89 $OUT[15] = FALSE WAIT SEC 0.3

WAIT FOR NOT $IN[11] Part1InRight = FALSE CASE \

IF NOT $T1 THEN INTERRUPT ON 5 ENDIF

$OUT[15] = TRUE WAIT SEC 0.5 WAIT FOR $IN[11] Part1InRight = TRUE DEFAULT

MsgQuit(\ ENDSWITCH DEFAULT

MsgQuit(\ENDSWITCH END

9、 手爪真空检测（完成对掉料状况的检测） &ACCESS RV2 &REL 10

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\FunctionVorgabe DEFFCT BOOL Gripper_ChkStatus(Num:IN,Status:IN) INT Num CHAR Status SWITCH Num CASE 1

SWITCH Status CASE \

IF NOT $OUT[16] AND NOT $IN[10] THEN RETURN TRUE ELSE

RETURN FALSE ENDIF CASE \

IF $OUT[16] AND $IN[10] THEN RETURN TRUE ELSE

RETURN FALSE

18

库卡机械手程序实例七轴运动与机台作业完成

ENDIF DEFAULT

MsgQuit(\ RETURN FALSE ENDSWITCH CASE 2

SWITCH Status CASE \

IF NOT $OUT[15] AND NOT $IN[11] THEN RETURN TRUE ELSE

RETURN FALSE ENDIF CASE \

IF $OUT[15] AND $IN[11] THEN RETURN TRUE ELSE

RETURN FALSE ENDIF DEFAULT

MsgQuit(\ RETURN FALSE ENDSWITCH CASE 3

SWITCH Status CASE \

IF NOT $OUT[15] AND NOT $OUT[16] AND NOT $IN[10] AND NOT $IN[11] THEN RETURN TRUE ELSE

RETURN FALSE ENDIF CASE \

IF $OUT[15] AND $OUT[16] AND $IN[10] AND $IN[11] THEN RETURN TRUE ELSE

RETURN FALSE ENDIF DEFAULT

MsgQuit(\ RETURN FALSE ENDSWITCH DEFAULT

MsgQuit(\ RETURN FALSE ENDSWITCH ENDFCT

10、 装夹检测子程序（完成对每台机的装夹检测与装夹异常信号交互）

19

库卡机械手程序实例七轴运动与机台作业完成

11、 后台监视程序（对安全姿态信号自动触发等后台程序进行配置） &ACCESS R

&COMMENT HandlerOnRobotFault DEF IR_STOPM ( )

;-----------------------------------

; Error Handling Robot Controller ; Switch OFF and Switch ON processes ; KRC Version >= V5.5

;----------------------------------- ;FOLD DECLARATIONS ;FOLD USER DECL ; Please insert user defined declarations ;ENDFOLD (USER DECL) ;FOLD BASISTECH DECL BOOL ApplicationRunFlag DECL CHAR ID[3] ;ENDFOLD (BASISTECH DECL) ;ENDFOLD (DECLARATIONS) ;FOLD BASISTECH INIT INTERRUPT OFF 3

STOPM_FLAG=TRUE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt ID[]=\

If ($STOPMESS==TRUE) THEN BRAKE

;ENDFOLD (BASISTECH INIT) ;FOLD USER STOP

;Make your modifications here ;ENDFOLD (USER STOP) ;FOLD BASISTECH STOP

P00 (#EXT_ERR,#PGNO_GET,ID[],128 ) ApplicationRunFlag=FALSE IF (Appl_Run>0) THEN

IF $OUT[Appl_Run] THEN ApplicationRunFlag=TRUE

$OUT[Appl_Run]=FALSE ENDIF ENDIF REPEAT

POWER=SYNC() HALT

UNTIL (($STOPMESS==FALSE) AND ($POWER_FAIL==FALSE)) ;ENDFOLD (BASISTECH STOP) ;FOLD BASISTECH RESTART

P00 (#EXT_ERR,#PGNO_GET,ID[],0 ) IF (ApplicationRunFlag==TRUE) THEN IF (Appl_Run>0) THEN $OUT[Appl_Run]=TRUE ENDIF ENDIF

20

库卡机械手程序实例七轴运动与机台作业完成

;ENDFOLD (BASISTECH RESTART) ;FOLD USER RESTART

;Make your modifications here ;ENDFOLD (USER RESTART)

;FOLD BASISTECH REACTIVATE Endif INTERRUPT ON 3 STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt

;ENDFOLD (BASISTECH REACTIVATE) END

21

库卡机械手程序实例七轴运动与机台作业完成

;ENDFOLD (BASISTECH RESTART) ;FOLD USER RESTART

;Make your modifications here ;ENDFOLD (USER RESTART)

;FOLD BASISTECH REACTIVATE Endif INTERRUPT ON 3 STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt

;ENDFOLD (BASISTECH REACTIVATE) END

21

本文来源：https://www.bwwdw.com/article/e7ra.html