KUKA程序解读内容

DEFDNL_5LFD080ROB01()工位主程序;*DefaultsrcTemplateforKuka-Krc-Volvo;*Created01/10/2012bySiemensPLM;*;*Study:FrontDoorL;*Program:DNL_5SchFrontDoorLkr240r2700_prime_s;*GenerationDate:05/01/2013at10:01:54;*Robot:LFD080ROB01(kr240r2700_prime_s);*User:Administrator;*TecnomatixSoftware:ProcessSimulateoneMServer13;*Olp:Kuka-Krc-Volvo0.0;*Rcs:krc8.2_r01;*Controller:v8.2(KRC4)CTime(TRUE,1)计时（计时器1，置位为TRUE）CollisionDetectBEGIN(TorqSequence1)碰撞检测开启MovInitAll()初始化所有Inittool(GrippGP01a)抓手初始化Inittool(StatdoserSG01A)Inittool(StatDoserSG01B)DNL_5SchDefault()生产程序CollisionDetectEND(TorqSequence1,25)碰撞检测关闭CTime(FALSE,1)计时器（结束计时1，置位为false）END循环结束GLOBALDEFDNL_5SchDefault()全局程序步序WaitSignal(AllocateStation);1进入大区域，信号：1WaitSignal(AllocateST01a);3等待ST01条件满足抓件，信号：3WaitSignal(AllocateZone1);21进入干涉区1，信号21DNL_5Get080ST01()机器人去ST01抓件WaitSignal(ReleaseZone1);22释放干涉区1，信号22WaitSignal(ReleaseST01a);4释放ST01，信号4WaitSignal(RequestSeala);33请求进入涂胶，信号23DNL_5Seal080SG01a()080涂胶胶枪ADNL_5Seal080SG01b()080涂胶胶枪BDNL_5SealChk080FGH01()照相检测GlueingCheck(#DNL_5)涂胶抽检WaitSignal(FinishSeala);34释放涂胶完成，信号34WaitSignal(AllocateST01b);5进入涂胶枪B，信号5WaitSignal(AllocateZone2);23进入干涉区2，信号23WaitSignal(AllocateZone9);61进入干涉区9，信号61DNL_5Put090ST01()090ST01放件程序WaitSignal(ReleaseZone9);62释放干涉区9，信号62WaitSignal(ReleaseZone2);24释放干涉区2，信号24WaitSignal(ReleaseST01b);6释放ST01B，信号24WaitSignal(ReleaseStation);2离开大区域，信号：2WaitSignal(WoekIsDone);31释放信号，工作完成，31ENDDEFDNL_5Get080ST01()抓080ST01MovSetAcc(100)加速时间100m/sGripperCheckNoPart(#PartPresent1)抓手没有检测到板件GripperCls(#Sequence1,)抓手阀1夹紧GripperCheckClo(#Sequence1)抓手阀1检测信号GripperOpn(#Sequence4,)抓手阀4打开GripperCheckOpn(#Sequence4)抓手阀4打开检测信号VacuumSupervisionOff(#VacPresent1)吸盘1检测关闭（删了也可以）VacuumSupervisionOff(#VacPresent2)吸盘2检测关闭MovA(HomeGrippGP01a,Exact,100)原点位置MovL(ToInGetFixtST01_20,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovL(ToInGetFixtST01_10,fine,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovLFrame(InGetFixtST01,0.5,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovP(ingetfixst01,Exact,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovP运动类型：运动类型(轨迹方向和过渡点编号，运动模式（coares、exact、fine），速度（0%-100%），工具坐标系，车型坐标系MovL运动类型：运动类型(轨迹方向和过渡点编号，运动模式（coares、exact、fine），速度（0m/s-2m/s），工具坐标系，车型坐标系GripperCheckPart(#PartPresent1)抓手检测板件信号WaitSignal(RequestPickPart);9等待抓件信号，9Vacuum_On(#Vacuum1,)吸盘1，吸气打开Vacuum_On(#Vacuum2,)吸盘2，吸气打开GripperCls(#Sequence4,)抓手阀4夹紧GripperCheckClo(#Sequence4)抓手阀4夹紧检测VacuumSupervisionOn(#VacPresent1)吸盘1，检测开启VacuumSupervisionOn(#VacPresent2)吸盘2，检测开启WaitSignal(FinishPickPart);10MovL(FrInGetFixtST01_10,fine,0.15,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovL(FrInGetFixtST01_20,fine,0.3,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtST01_30,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtST01_40,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtST01_50,Coarse,100,GrippGP01a,DNL_5FixtST01,DNL_5GrippGP01aLoadA)MovA(HomeGrippGP01a,Exact,100)END所有的轨迹做了删减！！！！大致解释如下MovP运动类型：运动类型(轨迹方向和过渡点编号，运动模式（coares、exact、fine），速度（0%-100%），工具坐标系，车型坐标系MovL运动类型：DEFDNL_5Put080PC01()放件到080检测台MovSetAcc(25)加速度25M/sGripperCheckPart(#PartPresent1)抓手检测到工件MovA(HomeGrippGP01a,Exact,100)MovP(ToInPutDeskPC01_30,Coarse,100,GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA)MovP(ToInPutDeskPC01_20,Coarse,100,GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA)MovP(ToInPutDeskPC01_10,Coarse,100,GrippGP01a,DNL_5DeskPC01,DNL_5GrippGP01aLoadA)GripperSupervisionOff(#PartPresent1)抓手检测关MovLFrame(InPutDeskPC01,0.5,GrippGP01a,DNL_5DeskST01,DNL_5GrippGP01aLoadA)VacuumSupervisionOff(#VacPresent1)吸盘1，检测关VacuumSupervisionOff(#VacPresent2)吸盘2，检测关Vacuum_Blow(#Vacuum1,,10)吸盘1，吹气，10SVacuum_Blow(#Vacuum2,,10)吸盘2，吹气，10SGripperOpn(#Sequence1,)抓手阀1打开GripperCheckOpn(#Sequence1)抓手阀1检测打开GripperOpn(#Sequence4,)抓手阀4打开GripperCheckOpn(#Sequence4)抓手阀4检测打开WaitSignal(AllocateGlueingCheck_Put);39等待涂胶检测结束，信号39MovL(FrInPutDeskPC01_10,Coarse,1,GrippGP01a,DNL_5DeskPC01)GripperCheckNoPart(#PartPresent1)抓手检测信号1没有检测到板件Vacuum_Off(#Vacuum1,#NoCheck)吸盘1，关Vacuum_Off(#Vacuum2,#NoCheck)吸盘2，关MovP(FrInPutDeskPC01_20,Coarse,100,GrippGP01a,DNL_5DeskPC01)MovP(FrInPutDeskPC01_30,Coarse,100,GrippGP01a,DNL_5DeskPC01)MovP(FrInPutDeskPC01_40,Coarse,100,GrippGP01a,DNL_5DeskPC01)MovA(HomeGrippGP01a,Exact,100)ENDDEFDNL_5Get080PC01_OK()080抓检测台上合格的板件MovSetAcc(25)加速度25M/sMovA(HomeGrippGP01a,Exact,100)GripperCheckNoPart(#PartPresent1)抓手板件传感器1，没有检测到板件GripperOpn(#Sequence1,)抓手阀1，打开GripperCheckOpn(#Sequence1)抓手阀1，检测打开GripperOpn(#Sequence4,)抓手阀4，打开GripperCheckOpn(#Sequence4)抓手阀4，检测打开MovP(ToInGetFixtPC01_110,Coarse,100,GrippGP01a,ROB)MovP(ToInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_10,Coarse,100,GrippGP01a,DNL_5FixtPC01)GripperCls(#Sequence1,)抓手阀1，关闭GripperCheckClo(#Sequence1)抓手阀1，检测关闭MovLFrame(InGetFixtPC01,0.5,GrippGP01a,DNL_5FixtPC01)GripperSupervisionOff(#PartPresent1)抓手板件传感器，检测关GripperCheckPart(#PartPresent1)抓手板件传感器1，检测到板件Vacuum_On(#Vacuum1,)吸盘1，吸气VacuumSupervisionOn(#VacPresent1)吸盘1，检测开启Vacuum_On(#Vacuum2,)吸盘2，吸气VacuumSupervisionOn(#VacPresent2)吸盘2，检测开启GripperCls(#Sequence4,)抓手阀4，关闭GripperCheckClo(#Sequence4)抓手阀4，检测关闭WaitSignal(AllocateGlueingCheck_Get);79MovL(FrInGetFixtPC01_10,Coarse,1,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_80,Coarse,100,GrippGP01a,ROB,DNL_5GrippGP01aLoadA)MovA(HomeGrippGP01a,Exact,100)ENDDEFDNL_5Get080PC01_NOK()080抓检测台上不合格的板件MovSetAcc(25)加速度25M/sMovA(HomeGrippGP01a,Exact,100)GripperCheckNoPart(#PartPresent1)抓手板件传感器1，没有检测到板件GripperOpn(#Sequence1,)抓手阀1，打开GripperCheckOpn(#Sequence1)抓手阀1，检测打开GripperOpn(#Sequence4,)抓手阀4，打开GripperCheckOpn(#Sequence4)抓手阀4，检测打开MovP(ToInGetFixtPC01_110,Coarse,100,GrippGP01a,ROB)MovP(ToInGetFixtPC01_100,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_90,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_80,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_70,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_60,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_50,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_40,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01)MovP(ToInGetFixtPC01_10,Coarse,100,GrippGP01a,DNL_5FixtPC01)GripperCls(#Sequence1,)抓手阀1，关闭GripperCheckClo(#Sequence1)抓手阀1，检测关闭MovLFrame(InGetFixtPC01,0.5,GrippGP01a,DNL_5FixtPC01)GripperSupervisionOn(#PartPresent1)抓手板件传感器1，检测开GripperCheckPart(#PartPresent1)抓手板件传感器1，检测到板件Vacuum_On(#Vacuum1,)吸盘1，吸气VacuumSupervisionOn(#VacPresent1)吸盘1，检测开启Vacuum_On(#Vacuum2,)吸盘2，吸气VacuumSupervisionOn(#VacPresent2)吸盘2，检测开启GripperCls(#Sequence4,)GripperCheckClo(#Sequence4)抓手阀4，关闭WaitSignal(AllocateGlueingCheck_Get);79等待涂胶检查MovL(FrInGetFixtPC01_10,Coarse,1,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_20,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_30,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_40,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_50,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_60,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_70,Coarse,100,GrippGP01a,DNL_5FixtPC01,DNL_5GrippGP01aLoadA)MovP(FrInGetFixtPC01_80,Coarse,100,GrippGP01a,ROB,DNL_5GrippGP01aLoadA)MovA(HomeGrippGP01a,Exact,100)ENDDEFDNL_5SealChk080FGH01()080涂胶检测判断MovSetAcc(25)MovA(HomeGrippGP01a,Coarse,100)MovP(ToSealChkPos01_20,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(ToSealChkPos01_10,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(SealChkPos01,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)WaitSignal(AllocateSealCheck_Pos01);15WaitSignal(ReleaseSealCheck_Pos01);16MovP(ToSealChkPos02_20,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(ToSealChkPos02_10,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(SealChkPos02,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)WaitSignal(AllocateSealCheck_Pos02);17WaitSignal(ReleaseSealCheck_Pos02);18MovP(FrSealChkPos02_10,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(FrSealChkPos02_20,Coarse,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(FrSealChkPos02_30,Fine,100,SealChkFGH01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovA(HomeGrippGP01a,Coarse,100)ENDDEFGlueingCheck(GlueingCheckTypeIn:IN)DECLGlueingCheckTypeGlueingCheckTypeInDECLBOOLGlueCheckGluecheck=TRUEREPEAT跳出SWITCHGlueingCheckTypeIn选择涂胶检测类型CASE#DNL_5SWITCHDirectionFromPlc(PLCGlueingCheck);5选择要不要检查（抽检按钮）CASERequestGlueingCheck;1抽检请求1O_GlueMeasureNOK=FALSEWaitSignal(AllocateGlueingCheckPut);37检查完成后放件DNL_5Put080PC01()WaitSignal(ReleaseGlueingCheck_Put);40WaitSignal(ReleaseGlueingCheckPut);38SWITCHDirectionFromPlc(PLCGlueingCheck);5选择涂胶合格与否的方向CASEOK_Validation;3涂胶合格WaitSignal(AllocateGlueingCheckGet);69进入抓件区域，信号69DNL_5Get080PC01_OK()调用080检测台，涂胶OK的程序WaitSignal(ReleaseGlueingCheck_Get);80WaitSignal(ReleaseGlueingCheckGet);70离开抓件区域，信号70RETURN跳出CASENOK_Rework;4涂胶不合格WaitSignal(AllocateGlueingCheckGet);69进入抓件区域，信号69DNL_5Get080PC01_NOK()调用080检测台，涂胶不合格的程序WaitSignal(ReleaseGlueingCheck_Get);80WaitSignal(ReleaseGlueingCheckGet);70离开抓件区域，信号70DNL_5Seal080SG01a()重新调用涂胶枪A、B、拍照DNL_5Seal080SG01b()DNL_5SealChk080FGH01()DEFAULT否则iResult=MsgSend(mNoPrg,#NoAlarm)输出显示没有程序，没有报警LOOPSetErrorToPlc(True)iResult=MsgSend(mNoContinue,#NoAlarm)HALTENDLOOPENDSWITCHCASENotGlueingCheck;2Gluecheck=FALSE不激活涂胶抽检RETURN跳出DEFAULT否则iResult=MsgSend(mNoPrg,#NoAlarm)LOOPSetErrorToPlc(True)iResult=MsgSend(mNoContinue,#NoAlarm)HALTENDLOOPENDSWITCHDEFAULTiResult=MsgSend(mNoPrg,#NoAlarm)LOOPSetErrorToPlc(True)iResult=MsgSend(mNoContinue,#NoAlarm)HALTENDLOOPENDSWITCHUNTILGlueCheck==FALSE直到，涂胶检查OKENDDEFSealCheck()WAITSEC1.5;O_GlueMeasureNOK=TRUEENDDEFDNL_5RRD050ROB01()工位名称;*DefaultsrcTemplateforKuka-Krc-Volvo;*Created01/10/2012bySiemensPLM;*Study:RearDoorR;*Program:DNL_5SchRearDoorRkr210r2700_extra_s;*GenerationDate:07/01/2013at16:54:57;*Robot:RRD050ROB01.(kr210r2700_extra_s);*User:AdministratorCTime(TRUE,1)计时（开始，计时器1）CollisionDetectBEGIN(TorqSequence1)碰撞检测启动MovInitAll()全部初始化INITEqualizingMedium初始化焊枪平衡Inittool(GunWS01a)初始化工具DNL_5SchDefault()生产程序调用CollisionDetectEND(TorqSequence1,25)碰撞检测关闭CTime(FALSE,1)计时（结束，计时器1）END结束GLOBALDEFDNL_5SchDefault()全局生产程序调用WaitSignal(AllocateStation);1等待进入生产（大区域）信号：1SWITCHDirectionFromPLC(RRD);1选择等待PLC发ABCASEA_Side;1A面生产程序1WaitSignal(RequestWelda);3等待进入A面焊接区域，信号：3WaitSignal(AllocateZone5);41等待进入干涉区5，信号：41WaitSignal(AllocateZone8);47等待进入干涉区8，信号：47WaitSignal(AllocateZone9);61等待进入干涉区9，信号：61DNL_5Weld050JG01_A()调用DNL_5Weld050JG01_A()焊接程序WaitSignal(ReleaseZone5);42等待释放干涉区5，信号：42WaitSignal(ReleaseZone8);48等待释放干涉区8，信号：48WaitSignal(ReleaseZone9);62等待释放干涉区9，信号：62WaitSignal(FinishWelda);4等待释放A面焊接区域，信号：3CASEB_Side;2B面生产程序2WaitSignal(RequestWelda);3等待进入B面焊接区域，信号：3WaitSignal(AllocateZone5);41等待进入干涉区5，信号：41WaitSignal(AllocateZone8);47等待进入干涉区8，信号：47WaitSignal(AllocateZone9);61等待进入干涉区9，信号：61DNL_5Weld050JG01_B()调用DNL_5Weld050JG01_A()焊