- TIMER[1]=RESET
- TIMER[1]=START
- UTOOL_NUM=1 [工具坐标系1]
- UFRAME_NUM=1 [用户坐标系1]
- OVERRIDE=50% [速度50%]
- D0[101]=OFF [机器人抓手关闭状态]
- WAIT DI[105]=ON [回原点信号]
- WAIT DI[101]=ON [机器人抓手原位磁性开关]
- J P[1] 50% FINE [机器人原点位置]
- WAIT DI[101]=ON
- DO[103]=ON [回原点完成]
- LBL[1] [标签1]
- R[1]=0 [Y轴方向计数清零]
- PR[1]=LPOS [当前位置的直角坐标值]
- PR[1,1]=0 [清零X轴位置数值]
- PR[1,2]=0 [清零Y轴位置数值]
- PR[1,3]=0 [清零Z轴位置数值]
- PR[1,4]=0 [清零A轴位置数值]
- PR[1,5]=0 [清零B轴位置数值]
- PR[1,6]=0 [清零C轴位置数值]
- LBL[2] [标签2]
- R[2]=0 [X轴方向计数清零]
- LBL[3] [标签3]
FANUC机器人抓取程序案例
![](https://img-home.csdnimg.cn/images/20240711042549.png)