MPM001 "GRP1"
"----- TAICANG TECO ELECTRIC MAIN PROGRAM-----;
;
FMX T22500K; "馬達(dá)最高速度設(shè)定
IAC T500; "馬達(dá)加速時(shí)間設(shè)定
IDC T500; "馬達(dá)減速時(shí)間設(shè)定
INP [S]100 [X]100 [Y]100 [Z]100; "各軸允許最大誤差設(shè)定
;
"TENTION 2.1kg;
"230S 316rpm;
;
ABS; "絕對(duì)值坐標(biāo)
;
OB0016=0; "CORE CLAMP 1,2 HP "繞線夾具夾緊
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待(單步時(shí)有效)
IOW IB17==1; "CORE CLAMP 1 HP "確認(rèn)左邊夾具汽缸動(dòng)作到位
IOW IB19==1; "CORE CLAMP 2 HP "繞線右邊夾具汽缸動(dòng)作到位
EOX; "中間暫停等待(單步時(shí)有效)
;
TIM T030; "延時(shí)0.03秒
;
"===== CORE CLAMP CHEK =====
;
MSEE MPS190; "呼叫副程式(繞線夾具夾緊夾緊確認(rèn)程式)
EOX; "中間暫停等待(單步時(shí)有效)
;
"============================
;
PFORK 001,002; "同時(shí)動(dòng)作命令(001~002和002~003區(qū)間同步動(dòng)作)
;
001: MVS [X]19.000 [Y]-3.000 [Z]-22.500 [S]-325.000 F10000K PFN; "移動(dòng)命令
MVS [X]25.800 PFN; "移動(dòng)命令
MVS [Y]7.000 PFN; "移動(dòng)命令
MVS [X]24.500 [Z]-28.000 PFN; "移動(dòng)命令
;
PLN [X] [Y]; "繞圓平面設(shè)定
KCC [X]24.400 [Y]1.400 P[Z]0.5 L2.090 F8000K PFN; "繞圓動(dòng)作設(shè)定
EOX; "中間暫停等待
;
JOINTO 003; "同時(shí)動(dòng)作命令
;
002: OB0019=1; "NIPPER FRONT SLIDE FE ON "線夾向前伸出
IOW IB001C==1; "NIPPER FRONT SLIDE FE ON "線夾伸出到位確認(rèn)
IOW IB001D==0; "NIPPER FRONT SLIDE HP OFF "確認(rèn)線夾不在退回位置
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
;
JOINTO 003; "同時(shí)動(dòng)作命令
;
003: PJOINT; "同時(shí)動(dòng)作命令
;
;
PFORK 004,005; "同時(shí)動(dòng)作命令(004~005和005~006區(qū)間同步動(dòng)作)
;
004: MVS [X]15.000 [S]350.000 F10000K PFN; "移動(dòng)命令
MVS [Y]-15.000 [S]360.000 F10000K PFN; "移動(dòng)命令
MVS [Y]-21.000 F10000K PFN; "移動(dòng)命令
;
JOINTO 006; "同時(shí)動(dòng)作命令
;
005: OB0018=0; "WIRE CLAMP HP "線夾張開(kāi)(連鎖保護(hù)解鎖)
TIM T020; "延時(shí)0.02秒
EOX; "中間暫停等待
OB0012=1; "WIRE CLAMP FE "線夾張開(kāi)(張開(kāi)動(dòng)作)
TIM T020; "延時(shí)0.02秒
EOX; "中間暫停等待
;
OB0019=0; "NIPPER FRONT SLIDE HP ON "線夾退回動(dòng)作
IOW IB001D==1; "NIPPER FRONT SLIDE HP ON "線夾退回到位確認(rèn)
IOW IB001C==0; "NIPPER FRONT SLIDE FE OFF "確認(rèn)線夾不在伸出位置
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
;
JOINTO 006; "同時(shí)動(dòng)作命令
;
006: PJOINT; "同時(shí)動(dòng)作命令
;
;
MVS [X]26.000 [Y]-15.000 [Z]-26.000 [S]15.000 PFN; "移動(dòng)命令
MVS [X]38.000 [Z]-20.000 PFN; "移動(dòng)命令
;
OB001E=1; "CORE GUIDE FRONT FE ON "壓線塊(向前移動(dòng))
OB001F=0; "CORE GUIDE FRONT HP OFF "壓線塊向前(連鎖保護(hù)解鎖)
IOW IB026==1; "CORE GUIDE FRONT FE ON "壓線塊向前到位確認(rèn)
IOW IB027==0; "CORE GUIDE FRONT HP OFF "確認(rèn)壓線塊不在退回位置
EOX; "中間暫停等待
TIM T020; "延時(shí)0.02秒
;
OB001C=1; "CORE GUIDE U/D FE ON "壓線塊(下壓)
OB001D=0; "CORE GUIDE U/D HP OFF "壓線塊下壓(連鎖保護(hù)解鎖)
IOW IB024==1; "CORE GUIDE U/D FE ON "壓線塊下壓到位確認(rèn)
IOW IB025==0; "CORE GUIDE U/D HP OFF "確認(rèn)壓線塊不在上升位置
EOX; "中間暫停等待
TIM T020; "延時(shí)0.02秒
;
MSEE MPS200; "NOZZLE INVERSE ON "導(dǎo)針90度翻轉(zhuǎn)(水平)
EOX; "中間暫停等待
;
MVS [X]59.500 [Y]-15.000 [Z]-53.000 F8000K PFN; "WINDING START POSITION 繞線起繞X軸位置
MVS [Z]-86.700 PFN; "移動(dòng)命令
TIM T020; "延時(shí)0.02秒
;
OB001D=1; "CORE GUIDE U/D HP ON "壓線塊(上升)
OB001C=0; "CORE GUIDE U/D FE OFF "壓線塊上升(連鎖保護(hù)解鎖)
IOW IB025==1; "CORE GUIDE U/D HP ON "壓線塊上升到位確認(rèn)
IOW IB024==0; "CORE GUIDE U/D FE OFF "確認(rèn)壓線塊不在下壓位置
EOX; "中間暫停等待
TIM T020; "延時(shí)0.02秒
;
OB001F=1; "CORE GUIDE FRONT HP ON "壓線塊(向后移動(dòng))
OB001E=0; "CORE GUIDE FRONT FE OFF "壓線塊向后(連鎖保護(hù)解鎖)
IOW IB027==1; "CORE GUIDE FRONT HP ON "壓線塊向后到位確認(rèn)
IOW IB026==0; "CORE GUIDE FRONT FE OFF "確認(rèn)壓線塊不在向前位置
EOX; "中間暫停等待
TIM T020; "延時(shí)0.02秒
;
"##### 1 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS120; "1次繞線完成后跨槽移動(dòng)(共跨3次:第一次)
;
"##### 2 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS120; "1次繞線完成后跨槽移動(dòng)(共跨3次:第二次)
;
"##### 3 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS120; "1次繞線完成后跨槽移動(dòng)(共跨3次:第三次)
;
"##### 4 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
;
"===== U乣V =====;
MSEE MPS130; "1次4組繞線完成后跨槽至2次繞線槽(U TO V)
"===============;
;
;
"##### 5 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS121; "2次繞線完成后跨槽移動(dòng)(共跨3次:第一次)
;
"##### 6 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS121; "2次繞線完成后跨槽移動(dòng)(共跨3次:第二次)
;
"##### 7 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS121; "2次繞線完成后跨槽移動(dòng)(共跨3次:第三次)
;
"##### 8 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
;
"===== V乣W =====;
MSEE MPS131; "2次4組繞線完成后跨槽至3次繞線槽(V TO W)
"===============;
;
;
"##### 9 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS122; "3次繞線完成后跨槽移動(dòng)(共跨3次:第一次)
;
"##### 10 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS122; "3次繞線完成后跨槽移動(dòng)(共跨3次:第二次)
;
"##### 11 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MSEE MPS122; "3次繞線完成后跨槽移動(dòng)(共跨3次:第三次)
;
"##### 12 姫慄 #####;
MSEE MPS191; "TENSION DURM ON "張力減衰(ON:松)
EOX; "中間暫停等待
;
MSEE MPS151; "繞線動(dòng)作(繞線參數(shù)在MPS151里面設(shè)定)
;
MSEE MPS192; "TENSION DURM OFF "張力減衰(OFF:緊)
EOX; "中間暫停等待
"#################;
;
MVS [Z]-41.300 F10000K PFN; "移動(dòng)命令
;
MSEE MPS201; "NOZZLE INVERSE OFF "導(dǎo)針90度翻轉(zhuǎn)(垂直位置)
EOX; "中間暫停等待
;
OB0017=1; "TENTION "張力減衰(ON:松)
;
MVS [X]28.000 [Z]-28.000 F6000K; "移動(dòng)命令
;
INC; "相對(duì)值坐標(biāo)
MVS [S]25.000 F10000K PFN; "移動(dòng)命令
ABS; "絕對(duì)值坐標(biāo)
;
MVS [X]14.000; "移動(dòng)命令
;
INC; "相對(duì)值坐標(biāo)
MVS [S]-40.000 F10000K PFN;
ABS; "絕對(duì)值坐標(biāo)
;
MVS [Y]5.500 [Z]-28.500 [S]-327.000 PFN; "移動(dòng)命令
MVS [X]14.000 [Y]25.000 [Z]-34.000 PFN; "移動(dòng)命令
;
OB0019=1; "NIPPER FRONT SLIDE FE ON "線夾向前伸出
IOW IB001C==1; "NIPPER FRONT SLIDE FE ON "線夾伸出到位確認(rèn)
IOW IB001D==0; "NIPPER FRONT SLIDE HP OFF "確認(rèn)線夾不在退回位置
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
;
OB0018=1; "WIRE CLAMP ON "剪刀剪線
OB0012=0; "剪刀剪線(連鎖保護(hù)解鎖)
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
;
MVS [Z]-20.000 PFN; "移動(dòng)命令
;
OB0017=0; "TENTION "張力減衰(ON:松)
;
PFORK 007,008; "同時(shí)動(dòng)作命令(007~008和008~009區(qū)間同步動(dòng)作)
;
007: MVS [X]0.000 [Y]0.000 [Z]00.000 [S]360.000 PFN; "移動(dòng)命令
JOINTO 009; "同時(shí)動(dòng)作命令
;
008: OB0019=0; "NIPPER FRONT SLIDE HP ON "線夾退回動(dòng)作
IOW IB001D==1; "NIPPER FRONT SLIDE HP ON "線夾退回到位確認(rèn)
IOW IB001C==0; "NIPPER FRONT SLIDE FE OFF "確認(rèn)線夾不在伸出位置
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
;
JOINTO 009; "同時(shí)動(dòng)作命令
;
009: PJOINT; "同時(shí)動(dòng)作命令
;
OB0016=1; "CORE CLAMP 1,2 FE "繞線夾具放松
TIM T030; "延時(shí)0.03秒
EOX; "中間暫停等待
IOW IB17==1; "CORE CLAMP 1 HP "確認(rèn)左邊夾具汽缸動(dòng)作到位
IOW IB19==1; "CORE CLAMP 2 HP "繞線右邊夾具汽缸動(dòng)作到位
EOX; "中間暫停等待
;
END; "主程式結(jié)束命令