Bosch Rexroth IndraMotion MLC 10VRS Die Ersten Schritte Seite 76

74/143 Bosch Rexroth AG
Erste Schritte - Robot-Control mit MLC
;
; Programmbeschreibung:...
; *****************************************************************************
PROGRAM Prog1
; declarations
Def Point: P0, P1, P2, P3, P4, P5, P6
BEGIN
; program
Kin01.V_PTP = 0.4
Kin01.A = 1000
Kin01.V = 1200
;LOOP:
;JUMP LOOP
MOVE TO P0
Kin01.V = 400
WAIT 3
REPEAT 4 TIMES
MOVE TO P1
MOVE TO P2
MOVE TO P3
MOVE VIA P4, P5 TO P6
WAIT 3
REPEAT_END
PROGRAM_END
Listing des SPS-Programms (Kine‐
PROGRAM Kinematik
VAR
fbPower
bPower
fbHome
bHome
fbAddToGroup : ARRAY[1..3] OF MC_AddAxisToGroup;
bAddTo
fbRemFromGroup : ARRAY[1..3] OF MC_RemAxisFromGroup;
bRemove
fbGroupReset
bGroupReset
fbPrgSelect
bPrgSelect
fbPrgStart
bPrgStart
fbPrgStop
bPrgStop
strProg
END_VAR
(* example program for kinematics *)
(* set power for all real kinematics axes *)
fbPower[1]( Enable := bPower[1],
fbPower[2]( Enable := bPower[2],
fbPower[3]( Enable := bPower[3],
(* homing for all real kinematics axes *)
fbHome[1]( Execute := bHome[1],
fbHome[2]( Execute := bHome[2],
fbHome[3]( Execute := bHome[3],
(* add all axes to group *)
fbAddToGroup[1]( Execute := bAddTo[1],
fbAddToGroup[2]( Execute := bAddTo[2],
fbAddToGroup[3]( Execute := bAddTo[3],
(* remove all axes from group *)
fbRemFromGroup[1]( Execute := bRemove[1],
fbRemFromGroup[2]( Execute := bRemove[2],
fbRemFromGroup[3]( Execute := bRemove[3],
(* select program *)
fbPrgSelect( Execute := bPrgSelect,
; velocity for point to point movement
; acceleration
; velocity
; move to P0
; velocity
; wait for 3 seconds
; move to P1
; move to P2
; move to P3
; move via to P6
; wait for 3 seconds
matik)
Programm:
: ARRAY[1..3] OF MC_Power;
: ARRAY[1..3] OF BOOL;
: ARRAY[1..3] OF MB_Home;
: ARRAY[1..3] OF BOOL;
: ARRAY[1..3] OF BOOL;
: ARRAY[1..3] OF BOOL;
: MC_GroupReset;
: BOOL;
: MB_IRDProgSelect;
: BOOL;
: MB_IRDProgStart;
: BOOL;
: MB_IRDProgStop;
: BOOL;
: STRING(8) := 'Prog1';
Axis := Axis1 );
Axis := Axis2 );
Axis := Axis3 );
Axis := Axis1 );
Axis := Axis2 );
Axis := Axis3 );
Axis := Axis1,
Axis := Axis2,
Axis := Axis3,
IRDProgName := strProg,
DOK-IM*MLC-F*STEP**V10-AP02-DE-P
Rexroth IndraMotion MLC 10VRS Die ersten Schritte
AxisGroup := Kin01 );
AxisGroup := Kin01 );
AxisGroup := Kin01 );
Axis := Axis1, AxisGroup := Kin01 );
Axis := Axis2, AxisGroup := Kin01 );
Axis := Axis3, AxisGroup := Kin01 );
AxisGroup := Kin01 );