库卡KUKA机器人资料mp2-automatic-external-en

SystemstructureHostcomputerPLCsRobotsControlsystemcomponents(robotsandperiphery)ControlstheentiresystemandsavesdataExecuteapplicationprograms01/20061mp2_automatic_external_en.pptTheentirerobotprocess,e.g.motionenable,faultacknowledgement,programstart,iscontrolledbythePLCInformationaboutoperatingandfaultstatesaretransmittedtothePLCSystemstructure:KRC-SPSCELL.SRCPLCSignalexchangeOrganizationprogramforselectingthemotionprogramsAutomaticExternal:

OperatingmodeinwhichahostcomputerorPLCassumescontroloftherobotsystem.TT01/20062mp2_automatic_external_en.pptConfiguringtheinterfaceThesignalsoftheAutomaticExternalinterfacemustbeassignedphysicalinputsandoutputsoftherobotcontroller.01/20063mp2_automatic_external_en.pptAutomaticExternalinputsVarI/OFunctionaldescriptionVariablenameVariableInputInputnumberorvariablevalue01/20064mp2_automatic_external_en.pptAutomaticExternaloutputs-StartconditionFunctionaldescriptionFunctionnameOutputnumber01/20065mp2_automatic_external_en.ppt$NEAR_POSRETThesignal$NEAR_POSRETcanbeusedtodeterminewhetherornottherobotissituatedwithinasphereaboutthepositionsavedin$POS_RET*).

Theradiusofthespherecanbesetinthefile$CUSTOM.DATusingthesystemvariable$NEARPATHTOL.*)$POS_RET:

Positionatwhichtherobotleftthepath()Path$NEARPATHTOL$NEAR_POSRET=FALSE$NEAR_POSRET=TRUEDeviationfrom

pathcaused,

forexample,by

dynamicbraking01/20066mp2_automatic_external_en.pptDeletesemicolonSubstituteprogramnameforEXAMPLEx…INITBASISTECHINI

CHECKHOMEPTPHOMEVel=100%DEFAULTAUTOEXTINILOOPP00(#EXT_PGNO,#PGNO_GET,DMY[],0)

SWITCHPGNOCASE1P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0);EXAMPLE1()CASE2P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0);EXAMPLE2()CASE3P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0);EXAMPLE3()DEFAULTP00(#EXT_PGNO,#PGNO_FAULT,DMY[],0)ENDSWITCHENDLOOPOrganization

program:CELL.SRCFunctionforprogramnumbertransferIfprogramnumberinvalid,restartprogramwith$EXT_STARTPositioncheck01/20067mp2_automatic_external_en.ppt

LOOP

P00(#EXT_PGNO,#PGNO_GET,DMY[],0)

SWITCHPGNO

CASE1

P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0)

PROG1()

CASE2

P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0)

PROG2()

CASE3

P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0)

PROG3()

CASE4

P00(#EXT_PGNO,#PGNO_ACKN,DMY[],0)

PROG4()

DEFAULT

P00(#EXT_PGNO,#PGNO_FAULT,DMY[],0)

ENDSWITCH

ENDLOOPExpandingCELL.SRC

SelectCASEbranchwith

SHIFT+cursorkeyandinsert

asnewcopiedbranch

Proceedinthesamewayfor

eachsubsequentprogram

Modifyprogramnu