KUKA焊接机器人程序实例

;---------------------------------------------- ;-- Program : Seq_1 -- ;-- Comment : Spotwelding (13 points) -- ;-- Type : A2 types -- ;-- -- ;-- Station : 160 Stn 70 -- ;-- Robot : 70 R1 -- ;-- -- ;-- Tool : Gun 3 - WG 452 -- ;-- Base : Stn 70 -- ;---------------------------------------------- PTP HOME CONT Vel= 100 % DEFAULT autodock (3)

;weld sequence 1 weld_water=true

OUT 193 'Gun 3 Prestorke' State= FALSE

WAIT FOR ( IN 197 'Gun 3 - Prestroke opened' )

PTP xgh_5 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_7 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_8 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_9 CONT Vel= 100 % o Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n5 CONT Vel= 2 m/s o Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n6 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n7 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN xgh_35 c RETR CLS Gun= 3 Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN SP_51958 b SPOT Gun= 3 RETR CLS SDAT1 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN xgh_13 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN SP_51963 b SPOT Gun= 3 RETR CLS SDAT2 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN sp_51957 b SPOT Gun= 3 RETR OPN SDAT13 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n2 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n19 b RETR CLS Gun= 3 Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN SP_51956 b SPOT Gun= 3 RETR OPN SDAT11 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP n8 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP n9 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 ;WAIT CLAMP 1 OPEN

OUT 33 'task1 complete' State= TRUE WAIT FOR ( IN 34 'start task2' )

OUT 33 'task1 complete' State= FALSE

PTP n10 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP u_1 N RETR CLS Gun= 3 Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN sp_51955 b SPOT Gun= 3 RETR OPN SDAT10 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP n20 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN xgh_17 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_18 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_19 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_20 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN xgh_21 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN xgh_23 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN y_2 b RETR CLS Gun= 3 Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN sp_51950 b SPOT Gun= 3 RETR CLS SDAT5 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP y_3 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN sp_51953 b SPOT Gun= 3 RETR CLS SDAT6 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN sp_51954 b SPOT Gun= 3 RETR CLS SDAT7 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN xgh_24 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN sp_51949 b SPOT Gun= 3 RETR CLS SDAT8 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n14 CONT Vel= 2 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN xgh_25 CONT Vel= 2 m/s CPDAT71 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_26 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_27 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_28 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN n15 CONT Vel= 1 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN SP_51948 b SPOT Gun= 3 RETR CLS sp51936 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN y_5 CONT Vel= 1 m/s b Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN SP_51951 b SPOT Gun= 3 RETR CLS sp51939 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN SP_51952 b SPOT Gun= 3 RETR CLS sp51940 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP y_6 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70

LIN sp_51947 b SPOT Gun= 3 RETR OPN SDAT9 Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP xgh_30 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PULSE 313 'Open flap 3' State= TRUE Time= 1 sec PULSE 299 'Open flap 2' State= TRUE Time= 1 sec

PTP xgh_31 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP pp_5 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP pp_7 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP pp_8 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70

dress_gun(3)

weld_water=false

;weld sequence 1 end

;undock gun 3

PTP pp_9 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 DockTech.Dock_off Tool 3

PTP undock3_1 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70 PTP undock3_2 CONT Vel= 100 % N Tool[3]:Gun 3 - WG452 Base[1]:STN 70

PTP undock3_3 Vel= 100 % F Tool[3]:Gun 3 - WG452 Base[1]:STN 70 LIN In_1 CONT Vel= 0.2 m/s C Tool[3]:Gun 3 - WG452 Base[0] LIN Docking_pos Vel= 0.2 m/s C Tool[16]:DOCK PLATE Base[0]

DockTech.Disconnect Tool 3

LIN Docking_pos Vel= 0.1 m/s C Tool[16]:DOCK PLATE Base[0] LIN In_2 CONT Vel= 1 m/s C Tool[16]:DOCK PLATE Base[0]

WAIT FOR ( IN 315 'Tool present station 3' ) AND NOT ( IN 283 'Gun in head' ) LIN undock3_6 Vel= 1 m/s C Tool[16]:DOCK PLATE Base[0] PTP pp_12 CONT Vel= 100 % N Tool[16]:DOCK PLATE Base[0] OUT 111 'Select electrode 2' State= FALSE OUT 112 'Select electrode 4' State= FALSE

PTP pp_11 CONT Vel= 100 % N Tool[16]:DOCK PLATE Base[0] PULSE 314 'Close flap 3' State= TRUE Time= 0.1 sec DockTech.Check Tool 0 ;undock gun 3 end END