Bosch Rexroth IndraMotion MLC 10VRS Die Ersten Schritte Seite 86

84/143 Bosch Rexroth AG
Erste Schritte - Robot-Control mit MLC
JUMP LoopMain ; proceed with main loop
END
MOVE TO Home ; move to home position (point 'Home')
PROGRAM_END
;------------------------------------------------------------------------------------
SUBROUTINE PickB1()
BEGIN
SYNCHRON B1 ; start synchronisation to pick belt with next movement
MOVE VIA PickApp ; blending move via point 'PickApp' to synchronize to pick belt
MOVE TO Pick ; stopping move to point 'Pick' synchronous to pick belt
;------ * no blending from here * ------
WAIT 0.05
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
PickDep = Pick ; calculate intermediate point 'PickDep'
PickDep.Kz = Pick.Kz + 50
PickDepAsyn = POS ; calculate intermediate point 'PickDepAsyn' (from actual Pos.)
PickDepAsyn.Kz = Pick.Kz + 100
PickDepAsyn.kpk = 0
Place = xPlacePt_i
IF B1 > MOD_VAL_B1 THEN BEGIN
bSyncReq_B1 = TRUE
END
ELSE BEGIN
bSyncReq_B1 = FALSE
END
IF Place.kpl > B2 THEN BEGIN
Place.kpl = Place.kpl - MOD_VAL_B2
END
PlaceApp = Place
PlaceApp.Kz = Place.Kz + 100
PlaceDep = Place
PlaceDep.Kz = Place.Kz + 50
;------ * no blending till here * ------
MOVE VIA PickDep
MOVE VIA PickDepAsyn
SYNCHRON_END B1
IF bSyncReq_B1 = TRUE
SYNC B1 >= MOD_VAL_B1
END
RETURN
SUB_END
;--------------------------------------------------------------------------------------
SUBROUTINE PlaceB2()
BEGIN
SYNCHRON B2
MOVE VIA PlaceApp
MOVE TO Place
;------ * no blending from here * ------
WAIT 0.05
IF rVel_i > 0 THEN BEGIN
V = rVel_i
END
IF (rAccel_i > 0) THEN BEGIN
A = rAccel_i
END
PlaceDepAsyn = POS
PlaceDepAsyn.Kz = Place.Kz + 100
PlaceDepAsyn.kpl = 0
Pick = xPickPt_i
IF B2 > MOD_VAL_B2 THEN BEGIN
bSyncReq_B2 = TRUE
END
ELSE BEGIN
bSyncReq_B2 = FALSE
END
IF Pick.kpk > B1 THEN BEGIN
Pick.kpk = Pick.kpk - MOD_VAL_B1
END
PickApp = Pick ; calculate intermediate point 'PickApp' (with Kpk to synchronize)
PickApp.Kz = Pick.Kz + 100
PickDep = Pick
PickDep.Kz = Pick.Kz + 50
;------ * no blending till here * ------
; set belt value to zero to define synchronization position
; belt modulo has to be done
; modulo correction for the place position
; blending move via point 'PickDep' synchronous to pick belt
; blending move via point 'PickDepAsyn' to unsynchronize
THEN BEGIN
; belt modulo (subtraction)
; get commanded velocity from PLC
; get commanded acceleration from PLC
; calculate desynchronization point 'PlaceDepAsyn' depending
; on actual position
; get next pick position from PLC
; check if belt counter has to be modulated
; belt modulo has to be done
; modulo correction for the pick position
DOK-IM*MLC-F*STEP**V10-AP02-DE-P
Rexroth IndraMotion MLC 10VRS Die ersten Schritte