KUKA焊接机器人程序实例

DEFa2_1_ch()INI;----------------------------------------------;--Program:Seq_1--;--Comment:Spotwelding(13points)--;--Type:A2types--;----;--Station:160Stn70--;--Robot:70R1--;----;--Tool:Gun3-WG452--;--Base:Stn70--;----------------------------------------------PTPHOMECONTVel=100%DEFAULTautodock(3);weldsequence1weld_water=trueOUT193'Gun3Prestorke'State=FALSEWAITFOR(IN197'Gun3-Prestrokeopened')PTPxgh_5CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_7CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_8CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_9CONTVel=100%oTool[3]:Gun3-WG452Base[1]:STN70LINn5CONTVel=2m/soTool[3]:Gun3-WG452Base[1]:STN70LINn6CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINn7CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINxgh_35cRETRCLSGun=3Tool[3]:Gun3-WG452Base[1]:STN70LINSP_51958bSPOTGun=3RETRCLSSDAT1Tool[3]:Gun3-WG452Base[1]:STN70LINxgh_13CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINSP_51963bSPOTGun=3RETRCLSSDAT2Tool[3]:Gun3-WG452Base[1]:STN70LINsp_51957bSPOTGun=3RETROPNSDAT13Tool[3]:Gun3-WG452Base[1]:STN70LINn2CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINn19bRETRCLSGun=3Tool[3]:Gun3-WG452Base[1]:STN70LINSP_51956bSPOTGun=3RETROPNSDAT11Tool[3]:Gun3-WG452Base[1]:STN70PTPn8CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPn9CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70;WAITCLAMP1OPENOUT33'task1complete'State=TRUEWAITFOR(IN34'starttask2')OUT33'task1complete'State=FALSEPTPn10CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPu_1NRETRCLSGun=3Tool[3]:Gun3-WG452Base[1]:STN70LINsp_51955bSPOTGun=3RETROPNSDAT10Tool[3]:Gun3-WG452Base[1]:STN70PTPn20CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70LINxgh_17CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_18CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_19CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_20CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70LINxgh_21CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINxgh_23CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINy_2bRETRCLSGun=3Tool[3]:Gun3-WG452Base[1]:STN70LINsp_51950bSPOTGun=3RETRCLSSDAT5Tool[3]:Gun3-WG452Base[1]:STN70PTPy_3CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70LINsp_51953bSPOTGun=3RETRCLSSDAT6Tool[3]:Gun3-WG452Base[1]:STN70LINsp_51954bSPOTGun=3RETRCLSSDAT7Tool[3]:Gun3-WG452Base[1]:STN70LINxgh_24CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINsp_51949bSPOTGun=3RETRCLSSDAT8Tool[3]:Gun3-WG452Base[1]:STN70LINn14CONTVel=2m/sbTool[3]:Gun3-WG452Base[1]:STN70LINxgh_25CONTVel=2m/sCPDAT71Tool[3]:Gun3-WG452Base[1]:STN70PTPxgh_26CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_27CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPxgh_28CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70LINn15CONTVel=1m/sbTool[3]:Gun3-WG452Base[1]:STN70LINSP_51948bSPOTGun=3RETRCLSsp51936Tool[3]:Gun3-WG452Base[1]:STN70LINy_5CONTVel=1m/sbTool[3]:Gun3-WG452Base[1]:STN70LINSP_51951bSPOTGun=3RETRCLSsp51939Tool[3]:Gun3-WG452Base[1]:STN70LINSP_51952bSPOTGun=3RETRCLSsp51940Tool[3]:Gun3-WG452Base[1]:STN70PTPy_6CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70LINsp_51947bSPOTGun=3RETROPNSDAT9Tool[3]:Gun3-WG452Base[1]:STN70PTPxgh_30CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PULSE313'Openflap3'State=TRUETime=1secPULSE299'Openflap2'State=TRUETime=1secPTPxgh_31CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPpp_5CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPpp_7CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPpp_8CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70dress_gun(3)weld_water=false;weldsequence1end;undockgun3PTPpp_9CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70DockTech.Dock_offTool3PTPundock3_1CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPundock3_2CONTVel=100%NTool[3]:Gun3-WG452Base[1]:STN70PTPundock3_3Vel=100%FTool[3]:Gun3-WG452Base[1]:STN70LINIn_1CONTVel=0.2m/sCTool[3]:Gun3-WG452Base[0]LINDocking_posVel=0.2m/sCTool[16]:DOCKPLATEBase[0]DockTech.DisconnectTool3LINDocking_posVel=0.1m/sCTool[16]:DOCKPLATEBase[0]LINIn_2CONTVel=1m/sCTool[16]:DOCKPLATEBase[0]WAITFOR(IN315'Toolpresentstation3')ANDNOT(IN283'Guninhead')LINundock3_6Vel=1m/sCTool[16]:DOCKPLATEBase[0]PTPpp_12CONTVel=100%NTool[16]:DOCKPLATEBase[0]OUT111'Selectelectrode2'State=FALSEOUT112'Selectelectrode4'State=FALSEPTPpp_11CONTVel=100%NTool[16]:DOCKPLATEBase[0]PULSE314'Closeflap3'State=TRUETime=0.1secDockTech.CheckTool0;undockgun3endEND