今天给大家分享的是特斯拉FANUC机器人视觉引导的程序备份，上海特斯拉除了使用发那科，其实还有库卡机器人，往后继续分享其它工艺备份，有需要完整备份的到可关注微信公众号：自动化项目实战，下面的代码是主程序的循环调用PNS0010 。
/PROG PNS0010/ATTROWNER = MNEDITOR;COMMENT = "Cycle";PROG_SIZE = 1443;CREATE = DATE 20-09-22 TIME 20:06:28;MODIFIED = DATE 22-06-07 TIME 08:49:42;FILE_NAME = ;VERSION = 0;LINE_COUNT = 62;MEMORY_SIZE = 1923;PROTECT = READ_WRITE;TCD: STACK_SIZE = 0,TASK_PRIORITY = 50,TIME_SLICE = 0,BUSY_LAMP_OFF = 0,ABORT_REQUEST = 0,PAUSE_REQUEST = 0;DEFAULT_GROUP = 1,*,*,*,*;CONTROL_CODE = 00000000 00000000;/APPLAUTO_SINGULARITY_HEADER;ENABLE_SINGULARITY_AVOIDANCE : TRUE;AUTOZONE_INTERFERENCE_AVOID;AUTOZONE_ENABLED : FALSE;AUTOZONE_SCHEDULE_NUMBER : 1;/MN1: !******************************** ;2: !Tesla Motors ;3: ! Line: RT ;4: ! Robot: R2000ic 125L ;5: ! Process: Rotor Auto Assemble ;6: ! Program: PNS0010 (Main) ;7: !******************************** ;8: ;9: !*********BEGIN PROGRAM********** ;10: ;11: LBL[1] ;12: ;13: IF (DI[33:Tryout Mode]) THEN ;14: OVERRIDE=R[73:SPEED OVERRIDE] ;15: LBL[90] ;16: R[3:Task]=0 ;17: R[3:Task]=GI[3:TASK SELECT] ;18: ;19: !Call Tasks ;20: SELECT R[3:Task]=0,JMP LBL[90] ;21: =1,CALL DRY_PICK_FR_TRAY ;22: =2,CALL DROP_ST ;23: =3,CALL PICK_ST ;24: =4,CALL DROP_TT ;25: =5,CALL PICK_TT ;26: =6,CALL DRY_PICK_TRAY ;27: =7,CALL DRY_DROP_TRAY ;28: ELSE,JMP LBL[90] ;29: ;30: IF DI[513]=ON,JMP LBL[99] ;31: JMP LBL[90] ;32: ;33: ELSE ;34: OVERRIDE=R[73:SPEED OVERRIDE] ;35: LBL[100] ;36: R[3:Task]=0 ;37: R[3:Task]=GI[3:TASK SELECT] ;38: ;39: !Call Tasks ;40: SELECT R[3:Task]=0,JMP LBL[100] ;41: =1,CALL PICK_FR_TRAY ;42: =2,CALL DROP_ST ;43: =3,CALL PICK_ST ;44: =4,CALL DROP_TT ;45: =5,CALL PICK_TT ;46: =6,CALL PICK_TRAY ;47: =7,CALL DROP_TRAY ;48: =99,JMP LBL[99] ;49: ELSE,JMP LBL[100] ;50: ;51: JMP LBL[100] ;52: ENDIF ;53: ;54: ;55: LBL[99] ;56: !Program Finish ;57: CALL HANDSHAKE(1,1) ;58: ;59: !Reset I/O ;60: CALL RESET_IO ;61: ;62: !**********END PROGRAM*********** ;/POS/END
