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K7: Kinematische Kette
5.4 Beispiel
Programmcode
; ----------------------------------------------------------
; Kinematisches Element: Schalter 3/1
; ----------------------------------------------------------
N550 $NK_TYPE[KIE_CNTR] = "SWITCH"
N560 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 1"
N570 $NK_NEXT[KIE_CNTR] = "HEAD 1"
N580 $NK_PARALLE[KIE_CNTR] = "DOCKING_POINT 2"
;
N590 $NK_SWITCH_INDEX[KIE_CNTR] = 3
N600 $NK_SWITCH_POS[KIE_CNTR] = 1
N610 KIE_CNTR = KIE_CNTR + 1
;
; ----------------------------------------------------------
; Kinematisches Element: Schalter 3/2
; ----------------------------------------------------------
N620 $NK_TYPE[KIE_CNTR] = "SWITCH"
N630 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 2"
N640 $NK_NEXT[KIE_CNTR] = "HEAD 2"
N650 $NK_PARALLE[KIE_CNTR] = "DOCKING_POINT 3"
;
N660 $NK_SWITCH_INDEX[KIE_CNTR] = 3
N670 $NK_SWITCH_POS[KIE_CNTR] = 2
N680 KIE_CNTR = KIE_CNTR + 1
;
; ----------------------------------------------------------
; Kinematisches Element: Schalter 3/3
; ----------------------------------------------------------
N690 $NK_TYPE[KIE_CNTR] = "SWITCH"
N700 $NK_NAME[KIE_CNTR] = "DOCKING_POINT 3"
N710 $NK_NEXT[KIE_CNTR] = "HEAD 3"
N720 $NK_PARALLE[KIE_CNTR] = ""
N730 $NK_SWITCH_INDEX[KIE_CNTR] = 3
N740 $NK_SWITCH_POS[KIE_CNTR] = 3
N750 KIE_CNTR = KIE_CNTR + 1
;
; ----------------------------------------------------------
; Kinematisches Element: OFFSET: HEAD 1
; ----------------------------------------------------------
N760 $NK_TYPE[KIE_CNTR] = "OFFSET"
N770 $NK_NAME[KIE_CNTR] = "HEAD 1"
N780 $NK_NEXT[KIE_CNTR] = ""
;
N790 $NK_OFF_DIR[KIE_CNTR,0] = 100.
N800 $NK_OFF_DIR[KIE_CNTR,1] = -30.
N810 KIE_CNTR = KIE_CNTR + 1
;
; ----------------------------------------------------------
; Kinematisches Element: OFFSET: HEAD 2
; ----------------------------------------------------------
N820 $NK_TYPE[KIE_CNTR] = "OFFSET"
N830 $NK_NAME[KIE_CNTR] = "HEAD 2"
N840 $NK_NEXT[KIE_CNTR] = ""
;
N850 $NK_OFF_DIR[KIE_CNTR,2] = -230.
N860 KIE_CNTR = KIE_CNTR + 1
;
262
; Index 3
; Schalterstellung 1
; Index 3
; Schalterstellung 2
; Index 3
; Schalterstellung 3
; X-Richtung
; Y-Richtung
; Z-Richtung
Funktionshandbuch, 12/2017, 6FC5397-2BP40-6AA1
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