Bosch Rexroth IndraMotion MLC 13VRS Programmieranleitung Seite 117

DOK-MLC***-RCL*PRO*V13-AP01-DE-P
Rexroth IndraMotion MLC 13VRS RCL-Programmieranleitung
;;COMPILER = RCL3
;;INT = LINEAR
;;KINEMATICS: ( 1= Kin1)
;;Kin1.JC_NAMES = vAchse1,vAchse2,vAchse3,vAchse4,vAchse5,vAchse6
;;Kin1.WC_NAMES = kx,ky,kz,kc,kb1,kb2
PROGRAM halfFull
VAR:
SPC_FCT : 60 = setBlendMode
INTEGER : blMode
POINT : P1, P2, P3, P4
BEGIN
V=200 ; 0.2 m/s
A=1000 ; 1 m/s^2
R=1000 ; 1 meter = control calculates the max. blend radius
; because the moved distances will be lower then 1 meter
BLOCK_SLOPE ; has no effect because this is the default
setBlendMode( 0 ) ; has no effect because this is the default
; points for the rectangle
P1 = (-300, 0, -650, 0, 0, 0)
P2 = (-300, 200, -650, 0, 0, 0)
P3 = ( 300, 200, -650, 0, 0, 0)
P4 = ( 300, 0, -650, 0, 0, 0)
; no blending
MOVE LINEAR TO P1
MOVE LINEAR TO P2
MOVE LINEAR TO P3
MOVE LINEAR TO P4
; blending with half distances
MOVE LINEAR TO P1
MOVE LINEAR VIA P2
MOVE LINEAR TO P3
MOVE LINEAR TO P4
; blending with half distances
MOVE LINEAR TO P1
MOVE LINEAR VIA P2
MOVE LINEAR VIA P3
MOVE LINEAR TO P4
; blMode = 1
setBlendMode( 1 )
; no blending
MOVE LINEAR TO P1
MOVE LINEAR TO P2
MOVE LINEAR TO P3
MOVE LINEAR TO P4
; blending with complete distances of P1P2 and P2P3
MOVE LINEAR TO P1
MOVE LINEAR VIA P2
MOVE LINEAR TO P3
MOVE LINEAR TO P4
; blending with complete distance of P1P2
; and half distance of P2P3
; blending with half distance of P2P3
; and complete distance of P3P4
MOVE LINEAR TO P1
MOVE LINEAR VIA P2
MOVE LINEAR VIA P3
MOVE LINEAR TO P4
PROGRAM_END
Beispiel:
(VALUE INTEGER : blMode)
Bosch Rexroth AG 115/329
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