KUKA程序解读

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：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DEFDNL_5Seal080SG01a()080涂胶枪A涂胶程序MovSetAcc(100)加速度设为100m/SInittool(StatDoserSG01a)初始化胶枪aPrepareEquipment(StatDoserSG01a,DNL_5BD4132)激活胶枪MovA(HomeGrippGP01a,Exact,100)MovPMovL(ToDNL_5BD120264136_20,Fine,0.5,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovL(ToDNL_5BD120264136_10,Fine,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)GlueL(#On,DNL_5BD120264136_On,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)涂胶打开，开始涂胶轨迹GlueL(#Apply,DNL_5BD120264136_10,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)涂胶应用类似于过度点GlueL(#Off,DNL_5BD120264136_Off,DNL_5BD4136,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)涂胶关闭，开始涂胶轨迹MovL(FrDNL_5BD120261226_10,Fine,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovL(FrDNL_5BD120261226_20,Coarse,0.15,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovP(FrDNL_5BD120261226_30,Coarse,100,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)(FrDNL_5BD120261226_40,Coarse,100,StatDoserSG01a,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovA(HomeGrippGP01a,Exact,100)EndEquipment(StatDoserSG01a)ENDDEFDNL_5Seal080SG01b()080涂胶枪A涂胶程序MovSetAcc(100)加速度设为100m/SInittool(StatDoserSG01b)初始化胶枪BPrepareEquipment(StatDoserSG01b,DNL_5BD5562)激活胶枪BMovA(HomeGrippGP01a,Exact,100)MovP(ToDNL_5BD120475562_40,Fine,100,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA);MovP(ToDNL_5BD120475562_40,Fine,100,StatDoserSG01b,ROB,DNL_5GrippGP01aLoadA)MovP(ToDNL_5BD120475562_30,Coarse,100,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)(#Apply,DNL_5BD120475602_960,DNL_5BD5602,Coarse,0.15,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)GlueL(#Apply,DNL_5BD120475602_970,DNL_5BD5602,Coarse,0.15,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)GlueL(#Off,DNL_5BD120475602_Off,DNL_5BD5602,fine,0.15,StatDoserSG01b,DNL_5CarGP01a,DNL_5GrippGP01aLoadA)MovL(FrDNL_5BD120475602_10,Fine,0.15,StatDoserSG01b,DNL_5CarGP