Bosch Rexroth IndraMotion MLC 12VRS Projektierungsanleitung Seite 210

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Achstypen und Achsbetriebsarten
TYPE ML_KINEMATICSDATA_SM :
STRUCT
uiCoordSum_i
uiUpdateCount_i
arPositionJointCoord_i
arPositionOriginalCoord_i
arPositionWorkpieceCoord_i :ML_ARR_COORDS;
strToolName_i
arToolCoord_i
strWorkpieceName_i
arWorkpieceCoord_i
Kin_OpMode_Auto
Kin_OpMode_Manual
Kin_JogCoord1
Kin_JogCoord2
Kin_StandStill
Kin_InPosition
Kin_BeltSynchron
Kin_Warning
Kin_Error
Kin_NotHomed
Kin_TrafoValuesInvalide
Kin_JogEnable
Kin_DriveOn
Kin_FeedEnabled
Kin_BlockEnabled
Kin_ErrorReaction
Kin_JogMode1
Kin_JogMode2
Kin_ProgSelected
Kin_ResetActive
Kin_ProgEnded
Kin_ProgStarted
Kin_ProgPaused
Kis_ErrorStop
Kis_Stopping
Kis_Incomplete
Kis_ProgrammedMotion
Kis_StandStill
Kis_ProgramSelected
Kis_Running
Kis_ManualMotion
Kis_ProgramPaused
arProgrEndPos_i :ARRAY[1..2]
wProgrEndPosType_i :WORD;
wIpoType_i
strQLLFileName_i :ML_ROCO_NAME;
dwQLLLnNumber_i :DWORD;
dwUserBits_i :DWORD;
adiUserDInt_i :ARRAY[1..4]
arUserReals_i :ARRAY[1..4]
stJogCmd_q
dwUserBits_q :DWORD;
adiUserDInt_q :ARRAY[1..4]
arUserReals_q :ARRAY[1..4]
arUserPoints_q :ARRAY[1..4]
END_STRUCT
END_TYPE
Programm:
:UINT; (* K-0-0007 -RD- Sum of coord. (number of axes) *)
:UINT; (* x-x-xxxx -RD- Odd=begin of updating, *)
(*Even= ready *)
:ML_ARR_COORDS; (* A-0-0100 -RD- Kin. pos. in joint coord. *)
:ML_ARR_COORDS; (* K-0-0100 -RD- Kin. pos. in carth. original coord. *)
(* K-0-0105 -RD- Kin. pos. in carth. workpiece coord. *)
:ML_ROCO_NAME; (* K-0-0140 -RD- Tool name *)
:ML_ARR_PLACEMENT; (* K-0-0106 -RD- Coordinate values of tool *)
:ML_ROCO_NAME; (* K-0-0141 -RD- Workpiece name *)
:ML_ARR_PLACEMENT; (* K-0-0107 -RD- Coordinate values of workpiece *)
:BIT; (* K-0-0021.00 -RD- Operating mode Automatic active *)
:BIT; (* K-0-0021.01 -RD- Operating mode Manual active *)
:BIT; (* K-0-0021.03 -RD- Jog Coordinate System *)
:BIT; (* K-0-0021.04 -RD- Jog Coordinate System *)
:BIT; (* K-0-0021.05 -RD- All axes in Stand Still *)
:BIT; (* K-0-0021.06 -RD- All axes in position *)
:BIT; (* K-0-0021.07 -RD- Belt synchron movement active *)
:BIT; (* K-0-0021.08 -RD- Warning *)
:BIT; (* K-0-0021.09 -RD- Error *)
:BIT; (* K-0-0021.10 -RD- Not all axes in reference *)
:BIT; (* K-0-0021.12 -RD- Not all axes in reference *)
:BIT; (* K-0-0021.13 -RD- Jog motion enabled *)
:BIT; (* K-0-0021.14 -RD- All axes drive on, torque on axis *)
:BIT; (* K-0-0021.15 -RD- Feed enabled *)
:BIT; (* K-0-0021.16 -RD- Block transfer enabled *)
:BIT; (* K-0-0021.17 -RD- Error reaction active *)
:BIT; (* K-0-0021.18 -RD- Jog Mode *)
:BIT; (* K-0-0021.19 -RD- Jog Mode *)
:BIT; (* K-0-0021.21 -RD- RCL program selected *)
:BIT; (* K-0-0021.23 -RD- Reset is active *)
:BIT; (* K-0-0021.24 -RD- RCL program ended *)
:BIT; (* K-0-0021.25 -RD- RCL program started *)
:BIT; (* K-0-0021.26 -RD- RCL program paused *)
:BIT; (* K-0-0022.00 -RD- State "Error" *)
:BIT; (* K-0-0022.01 -RD- State "Stopping" *)
:BIT; (* K-0-0022.03 -RD- State "Incomplete", not all axes grouped *)
:BIT; (* K-0-0022.05 -RD- State "Programmed Motion" *)
:BIT; (* K-0-0022.07 -RD- State "Stand Still" *)
:BIT; (* K-0-0022.08 -RD- State "Program Selected" *)
:BIT; (* K-0-0022.09 -RD- State "Program Running" *)
:BIT; (* K-0-0022.10 -RD- State "Manual Motion" *)
:BIT; (* K-0-0022.11 -RD- State "Program Paused" *)
OF ML_ARR_COORDS;
(* K-0-2202 -RD- Current active programmed pos. type*)
(* 0 = notvalid (e.g. non moving block active)
1 = arProgrEndPos_i in WC (world coordinates)
2 = arProgrEndPos_i in JC (joint coordinates) *)
:WORD; (* K-0-2203 -RD- current Interpolation Type*)
(* bit 0, 1:0=Nointerpolationactive
bit 0, 1 : 1 = Linear
bit 0, 1 : 2 = Circular
bit 2, 3 : Reserved
bit 4, 5 : 0 = No slope active
bit 4, 5 : 1 = Block slope
bit 4, 5 : 2 = Program slope *)
(* K-0-2204 -RD- Name of the current active QLL-file *)
(* K-0-2205 -RD- Current act. line number of act. QLL-file *)
(* -RD- User data, PLC inp. / RoCo outp. *)
OF DINT; (* -RD- User data, PLC inp. / RoCo outp. *)
OF REAL; (* -RD- User data, PLC inp. / RoCo outp. *)
:ML_KIN_JOG; (* x-x-xxxx -RW- Command interface for jog mode *)
(* -RW- User data, PLC outp. / RoCo inp. *)
OF DINT; (* -RW- User data, PLC outp. / RoCo inp. *)
OF REAL; (* -RW- User data, PLC outp. / RoCo inp. *)
OF ML_ARR_COORDS; (* -RW- User data, PLC outp. / RoCo inp. *)
DOK-MLC***-SYSTEM**V12-PR04-DE-P
Rexroth IndraMotion MLC 12VRS Systemübersicht
(* K-0-2200/2201 -RD- Current act. progr. pos.*)