Bosch REXROTH MLC 13VRS Robot-Control V2 Referenz-Anleitung Seite 9

DOK-MLC***-ROCO****V13-RE03-DE-P
Rexroth IndraMotion MLC 13VRS Robot-Control V2
ML_ROCO_NAME........................................................................................................................ 257
ML_ROCO_POINT ...................................................................................................................... 257
ML_ROCO_POINT_NAME........................................................................................................... 258
6 Kinematik-Interface.................................................................................................... 259
6.1 Kinematik-Interface, Einführung......................................................................................................... 259
6.2 ML_KinTech.library............................................................................................................................. 263
6.2.1 ML_KinTech.library, Einführung und Übersicht............................................................................... 263
6.2.2 Kinematik-Interface-Strukturen........................................................................................................ 264
Kinematik-Interface-Strukturen, Überblick.................................................................................... 264
MB_KINEMATICS_CONTROL_TYPE01 ..................................................................................... 264
MB_KINEMATICS_CONTROL_TYPE01, Übersicht.................................................................. 264
MB_KINEMATICS_CONTROL_TYPE01................................................................................... 265
MB_KINEMATICS_ADMINISTRATION..................................................................................... 265
MB_KINEMATICS_MODE_UNION........................................................................................... 269
MB_KINEMATICS_CONVEYOR_BELT.................................................................................... 270
MB_KINEMATICS_CONVEYOR_BELT_V1.............................................................................. 272
MB_KINEMATICS_RCL_POINT................................................................................................ 273
MB_KINEMATICS_RCL_PROG................................................................................................ 275
MB_KINEMATICS_SETUP........................................................................................................ 277
MB_KINEMATICS_COORDINATED......................................................................................... 280
MB_KINEMATICS_RCL............................................................................................................ 282
MB_KINEMATICS_STATUS_TYPE01......................................................................................... 282
MB_KINEMATICS_STATUS_TYPE01, Übersicht..................................................................... 282
MB_KINEMATICS_STATUS_TYPE01...................................................................................... 283
MB_KINEMATICS_ADMIN_STATUS........................................................................................ 283
MB_KINEMATICS_RCL_STATUS............................................................................................ 286
MB_KINEMATICS_DIAGNOSIS................................................................................................ 289
MB_KINEMATICS_SETUP_STATUS........................................................................................ 290
6.2.3 Kinematik-Interface Funktionsbausteine......................................................................................... 290
ML_KinematicsInitType01............................................................................................................ 290
ML_KinematicsInterfaceType01................................................................................................... 293
ML_KinJogV1............................................................................................................................... 295
ML_KinJog.................................................................................................................................... 297
6.2.4 Betriebsarten................................................................................................................................... 301
Überblick....................................................................................................................................... 301
Kinematik Bereit, Antriebe Bereit.................................................................................................. 301
Kinematik Bereit, Antriebe Halt..................................................................................................... 302
Kinematik Referenzieren.............................................................................................................. 302
Absolutes PTP Positionieren........................................................................................................ 303
Relatives PTP Positionieren......................................................................................................... 304
Absolutes Lineares Positionieren................................................................................................. 305
Relatives Lineares Positionieren.................................................................................................. 306
Absolutes Zirkulares Positionieren............................................................................................... 307
Relatives Zirkulares Positionieren................................................................................................ 308
Kinematik Stopp........................................................................................................................... 309
Bosch Rexroth AG VII/401
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