Bosch Rexroth IndraMotion MLC 10VRS Die Ersten Schritte Seite 87

DOK-IM*MLC-F*STEP**V10-AP02-DE-P
Rexroth IndraMotion MLC 10VRS Die ersten Schritte
MOVE VIA PlaceDep
MOVE VIA PlaceDepAsyn
SYNCHRON_END B2
IF bSyncReq_B2 = TRUE
SYNC B2 >= MOD_VAL_B2
END
RETURN
SUB_END
;--------------------------------------------------------------------------------------
SUBROUTINE Init()
VAR:
POINT:
Base
JC_POINT: ; joint coordinate point definition
@Base ; point to setup the startpoint of the belt area
BEGIN
Home = (0,0,-700,0,0,0)
V = 1000
A = 1000
R = 50
AFACTOR = 1
DFACTOR = 1
BLOCK_SLOPE
belt_kind(C_BELT_NO_1, C_BK_PTP)
belt_kind(C_BELT_NO_2, C_BK_PTP)
rTotalLength = 600
rBeginLength = 550
Base = (-300,0,-650,0,0,0)
@Base = JC(Base)
belt_area(C_BELT_NO_1,
@Base,
rTotalLength,
rBeginLength)
Base = (-300, 100, -650, 0, 0, 0)
@Base = JC(Base)
belt_area(C_BELT_NO_2,
@Base,
rTotalLength,
rBeginLength)
SYNC B1, bStop_i = FALSE
SYNC B2, bStop_i = FALSE
MOVE TO Home
RETURN
SUB_END
THEN BEGIN ; use 'SYNC' only if B1 > MOD_VAL_B1 otherwise it will
; avoid blending
; belt modulo (subtraction)
; define point 'Home'
; define path velocity
; define path acceleration
; define maximum blending radius (mm)
; define factor for acceleration (factor for A)
; define factor for deceleration (factor for A)
; define kind of slope for blending
; define belt kind for pick belt
; define belt kind for place belt
; define length of working area over the belt
; define latest position within the working area,
; where the synchronization movement has to be started
; set point Base in world coordinates to define base
; of the pick belt
; convert point Base to joint coordinates and copy to
; @Base
; execute special function to setup the working area
; of the pick belt
; set point Base in world coordinates to define base
; of the place belt
; convert point Base to joint coordinates and copy to
; @Base
; execute special function to setup the working area
; of the place belt
; set belt counter to 0
; set belt counter to 0
; move to home position (point 'Home')
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Erste Schritte - Robot-Control mit MLC
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