三菱机器人程序(2).pdf

////////////// 定义输入 //////////// Def Io in0=Bit, 0 Def Io in1=Bit, 1 Def Io in3=Bit, 3 Def Io in4=Bit, 4 Def Io in5=Bit, 5 Def Io in6=Bit, 6 Def Io in7=Bit, 7 Def Io in8=Bit, 8 Def Io in9=Bit, 9 Def Io in10=Bit, 10 Def Io in11=Bit, 11 Def Io in12=Bit, 12 Def Io in13=Bit, 13 Def Io in14=Bit, 14 Def Io in15=Bit, 15 /////////////// 定义 / 输出 ////////// Def Io out0=Bit, 0 Def Io out1=Bit, 1 Def Io out3=Bit, 3 Def Io out4=Bit, 4 Def Io out5=Bit, 5 Def Io out6=Bit, 6 Def Io out7=Bit, 7 Def Io out8=Bit, 8 Def Io out9=Bit, 9 Def Io out10=Bit, 10 Def Io out11=Bit, 11 Def Io out12=Bit, 12 Def Io out13=Bit, 13 Def Io out14=Bit, 14 Def Io out15=Bit, 15 ////////////// 定义变量 ////////////// Def Jnt jyd 定义 安全点 Def Plt 1,p11,p17,p71,p77, 4 ,4 , 1 定义托盘点 j1=(+ 1.11 ,- 60.00 ,+ 145.00 ,+ 0.00 ,+ 0.00 ,+ 86.61 ) jyd=(+ 0.00 ,- 60.00 ,+ 145.00 ,+ 0.00 ,+ 0.00 ,- 90.00 ) p0=(+ 0.00 ,+ 0.00 ,+ 20.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0 ) p200=(+ 0.00 ,+ 0.00 ,+ 5.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0) p201=(+ 0.00 ,+ 0.00 ,+ 150.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0 ) p202=(+ 0.00 ,+ 135.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0 ) p203=(+ 0.00 ,+ 0.00 ,+ 60.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0 ) p204=(+ 0.00 ,+ 20.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 ,+ 0.00 )( 0 ,0 ) //////////// 托盘点 ////////////// p12=p11 p21=p11 p22=p11 p12.Y=p11.Y+ 12 p21.X=p11.X+ 12 p22.X=p11.X+ 12 p22.Y=p11.Y+