ENGEL机械手程序求救.doc

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2018-11-24 发布于河南
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ENGEL机械手程序求救.doc

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ENGEL机械手程序求救

ENGEL机械手程序求救回帖内容： ?一下??的程序应该符合的要求。?????????????????????????? ? 1 Set?????????? FIRST CYCLE????? (Marker? 41) on?????? 1 ? 2? G3?? Gripper 3????? OFF??????? ? 3? G4?? Gripper 4????? OFF??????? ? ?13? Deposit grid????????????????????????????????????? ?14 Jump when???? SUCKER S3 PART?? (Input. 280)? =?????? 0 to?? PICKUP ?15 Jump always????? to Label?? AFTPIC ?? ??18 *** MOVE TO DEPOSITAREA??????????? *** ?19 Move????????????? X=? 850.0 mm? Y=??? 0.0 mm? Z= 3305.0 mm ????????????????????? C=?? 0.00 dg ????????????????????? V=??? 100 % ?20 Label??????????????? PICKUP ?21 Wait until??? ACTUAL Z_POS???? (Act.???? 2)?? ?? 2000 ?22? G3?? Gripper 3????? ON START?? ?23 *** PICKUP FROM TABLE????????????? *** ?24 Start program???? 6 as sub-program????? ?25 Label??????????????? AFTPIC ?26? G3?? Gripper 3????? OFF START? ?27 *** MOVE TO IMM??????????????????? *** ?28 Move????????????? X=? 341.0 mm? Y=??? 0.0 mm? Z= 3305.0 mm ????????????????????? C=? up????????????????????? V=??? 100 % ?29 Label???????????????? START ?30 *** STARTPOSITION????????????????? *** ?31 Wmove???????????? X=? 850.0 mm? Y=??? 0.0 mm? Z=? 150.0 mm ????????????????????? C=?? 0.00 dg ????????????????????? V=??? 100 % ?32? SG1? Suction/GripperOFF??????? ?33? SG2? Suction/GripperOFF??????? ??????? ?37 Jump when???? FIRST CYCLE????? (Marker? 41)? =?????? 1 to??? FIRST ?38 *** TAKEOFF FROM MOLD????????????? *** ?39? Wait for part???????????????????????????????????? ?40 *** BEFORE TAKEOFF???????????????? *** ?41 Move????????????? X=? 850.0 mm? Y=? 600.0 mm? Z=? 150.0 mm ????????????????????? C=?? 0.00 dg ????????????????????? V=??? 100 % ?42 *** TAKEOFFPOSITION??????????????? *** ?43 Wmove???????????? X= 1000.0 mm? Y=? 600.0 mm? Z=? 150.0 mm ????????????????????? C=?? 0.00 dg ????????????????????? V=??? 100 % ?44? Ejector???????????? FWD??????? ?45? SG1? Suction/GripperON START?? ?46? SG2? Suction/GripperON START?? ?47 Waiting time??????????? 0.2 ?48? SG1? Suction/GripperON????????