1: OVERRIDE=5% ;
2: UFRAME_NUM=0 ;
3: UTOOL_NUM=2 ;
4: CALL TOOL_OFF ;
5:J P[1:home] 30% FINE ;
6: FOR R[3]=0 TO 2 ;
7: FOR R[1]=0 TO 1 ;
8: FOR R[2]=0 TO 3 ;
9: PR[5:偏移]=LPOS-LPOS ;
10: PR[5,3:偏移]=(PR[5,3:偏移]-5*(R[1]*4+R[2]+R[3]*8)) ;
11: OFFSET CONDITION PR[5:偏移] ;
12:J P[2:取料过渡] 30% CNT30 Offset ;
13:L P[3:取料] 500mm/sec FINE Offset ;
14: CALL TOOL_ON ;
15:L P[2:取料过渡] 500mm/sec FINE ;
16: PR[5:偏移]=LPOS-LPOS ;
17: PR[5,1:偏移]=(PR[5,1:偏移]+55*R[2]) ;
18: PR[5,2:偏移]=(PR[5,2:偏移]+50*R[1]) ;
19: PR[5,3:偏移]=(PR[5,3:偏移]+5*R[3]) ;
20:J P[4:placeP1] 30% CNT30 Offset ;
21:L P[5:place] 500mm/sec FINE Offset ;
22: CALL TOOL_OFF ;
23:L P[4:placeP1] 500mm/sec CNT100 Offset ;
24: ENDFOR ;
25: ENDFOR ;
26: ENDFOR ;
27:J P[1:home] 30% FINE ;
发那科 偏移实现三维码垛
于 2024-06-21 15:07:15 首次发布