Bosch Rexroth IndraMotion MLC 10VRS Die Ersten Schritte Seite 85

DOK-IM*MLC-F*STEP**V10-AP02-DE-P
Rexroth IndraMotion MLC 10VRS Die ersten Schritte
; - all movements between pick and place position (and vice versa) are blending
; because: - path calculation of all blending moves is done during belt -
; synchronous non blending movement (at point 'Pick' / 'Place')
; - check for modulo range of belt and modulo correction of point is
; done during belt synchronous non blending movement
; (at point 'Pick' / 'Place')
; - modulo correction of the belt is done during the non belt -
; synchronous movement
; *********************************************************************************
PROGRAM Pi_Pl_01
; *********************
; * DECLARATION *
; *********************
VAR:
INPUT POINT :
701 = xPickPt_i,
702 = xPlacePt_i
INPUT REAL :
201 = rVel_i,
202 = rAccel_i
INPUT BINARY :
1001 = bStop_i
OUTPUT BINARY :
1 = bFlag_q
CONST :
FALSE = 0,
TRUE = 1,
C_BELT_NO_1 = 1,
C_BELT_NO_2 = 2,
C_BK_PTP = 4,
MOD_VAL_B1 = 99000.0,
MOD_VAL_B2 = 99000.0
BELT:
500 + C_BELT_NO_1 = B1,
500 + C_BELT_NO_2 = B2
POINT :
Home,
PickApp,
Pick,
PickDep,
PickDepAsyn,
PlaceApp,
Place,
PlaceDep,
PlaceDepAsyn
REAL :
rTotalLength,
rBeginLength
BINARY :
bSyncReq_B1,
bSyncReq_B2
SPC_FCT :
21 = belt_kind(VALUE INTEGER
VALUE INTEGER
SPC_FCT :
53 = belt_area(VALUE INTEGER
JC_POINT
REAL
REAL
;----------------------------------------------------------------------------------
; **********************
; * IMPLEMENTATION *
; **********************
BEGIN
Init ; call subroutine 'Init'
WAIT 5 ; wait time in seconds before proceeding with program
IF rVel_i > 0 THEN BEGIN
V = rVel_i ; get commanded velocity from PLC
END
IF (rAccel_i > 0) THEN BEGIN
A = rAccel_i ; get commanded acceleration from PLC
END
Pick = xPickPt_i ; get first pick position from PLC
PickApp = Pick ; calculate intermediate point 'PickApp' (with Kpk to synchronize)
PickApp.Kz = Pick.Kz + 100
LoopMain: ; begin of main loop
PickB1 ; call subroutine 'PickB1'
PlaceB2 ; call subroutine 'PlaceB2'
If NOT bStop_i THEN BEGIN
; pick position at pick belt from PLC
; place position at place belt from PLC
; commanded velocity from PLC
; commanded acceleration from PLC
; asynchronous stop signal from PLC
; definitions
; belt kind PTP
; modulo value for pick belt (mm)
; modulo value for place belt (mm)
; define channel 501 as B1 (pick belt)
; define channel 502 as B2 (place belt)
; world coordinate point definition
; home position
; point above point Pick to synchronize to B1
; pick position
; point above point Pick to move synchronous to
; point above POS to unsynchronize from B1
; point above point Place to synchronize to B2
; place position
; point above point Place to move synchronous to
; point above POS to unsynchronize from B2
; variable to setup the belt area
; variable to setup the belt area
; special function to setup the belt kind
: belt_no ; number of belt to be configured
: kind_belt) ; number of belt kind (only value 4)
; special function to setup the belt area
: BeltNo ; number of belt to be configured
: @Base ; start pos. of working area on the belt
: rTotalLength ; max. reachable length in belt direction
: rBeginLength) ; latest pos. within the working area on
; the belt, where the synchronization
; move has to be started
; set z coordinate of intermediate point
; check for asynchronous stop signal from PLC
Bosch Rexroth AG
Erste Schritte - Robot-Control mit MLC
83/143