库卡KUKA机器人资料mp2-logic-en

LogicprogrammingThepollingoftheinputsandsettingoftheoutputsareusedforcommunicationbetweentherobotcontrollerandtheperiphery(e.g.tools,sensors,etc.)Outputs:$OUT[1]...$OUT[4096]Inputs:$IN[1]...$IN[4096]$IN[1025]=TRUE$IN[1026]=FALSERobotcontrollerPeriphery01/20061mp2_logic_en.pptLogiccommandsavailableTime-dependentwaitfunctionSignal-dependentwaitfunctionSwitchingfunctionsCoupling/decouplinganInterbussegmentThefollowinglogiccommandscanbeselected:Time-andsignal-dependentwaitfunctions,andsimpleswitchingandpulsefunctionscantriggeranadvancerunstop.01/20062mp2_logic_en.pptTime-dependentwaitfunction(WAIT)If“WAIT”hasbeenselected,thewaittimecanbespecified.

Thiscommandalwaystriggersanadvancerunstop,evenwithawaittimeof0seconds.WaittimeinsecondsExample:PTPP1VEL=100%PDAT1PTPP2VEL=100%PDAT2WAITTime=1secPTPP3VEL=100%PDAT3P1P2P3Motionisinterruptedfor1secondatpointP201/20063mp2_logic_en.pptSignal-dependentwaitfunction(WAITFOR)If“WAITFOR”hasbeenselected,thefollowingparameterscanbespecified:Insertionofaninternallogicoperation

(e.g.WAITFOR(IN1)AND(IN2))NegationoftheBooleanexpression“

”“NOT”2Insertionofanexternallogicoperation

(e.g.WAITFOR(IN1)AND(IN2))NegationoftheBooleanexpression“

”“NOT”1RemarksValuesBox12345601/20064mp2_logic_en.pptSignal-dependentwaitfunction(WAITFOR)WAITFOR(IN1ORIN2ORIN3)AND(NOTOUT1OROUT2)OR

NOT(IN4)Internallogicoperation:theoperatorissituatedinsideabracketedexpression.Externallogicoperation:theoperatorissituatedbetweenthebracketedexpressions.Mixedformsarepossible:amaximumof12operandscanbelinkedinaform.Thewaitconditioncanbeprogrammed,forexample,inthefollowinggeneralform:01/20065mp2_logic_en.ppt123456Signal-dependentwaitfunction(WAITFOR)If“WAITFOR”hasbeenselected,thefollowingparameterscanbespecified:Valueoftheinput/output,flagortimer1-40964Inputs/outputs,variousflags,timersoruser-definednamesarepossibleIN,OUT,TIMER,FLAG,CYCFLAG,uservariable3RemarksValuesBox01/20066mp2_logic_en.pptSignal-dependentwaitfunction(WAITFOR)If“WAITFOR”hasbeenselected,thefollowingparameterscanbespecified:12345ExecutionwithadvancerunstopExecutionintheadvancerun“

”“CONT”6ThelongtextnamecanbeprogrammedinExpertmodewiththesystemlistactivated“

”Existinglongtextname5RemarksValuesBox601/20067mp2_logic_en.pptSignal-dependentwaitfunction(WAITFOR)If“WAITFOR”isselectedwithadvancerunstopactivated,exactpositioningisalwayscarriedout,eveniftheeventconditionismet.Example:PTPP1VEL=100%PDAT1PTPP2CONTVEL=100%PDAT2WAITFORIN1PTPP3VEL=100%PDAT3P1P2P3MotionisinterruptedatpointP2untilinput1issetAdvancerunstopon01/20068mp2_logic_en.pptSignal-dependentwaitfunction(WAITFOR)If“WAITFOR”isselectedwith“CONT”,theeventischeckedintheadvancerun.

Iftheeventconditionismet,thenapproximatepositioningiscarriedout.Example:PTPP1VEL=100%PDAT1PTPP2CONTVEL=100%PDAT2WAITFORIN1CONTPTPP3VEL=100%PDAT3P1P2P3Possiblecheckingofinput1.Executionintheadvancerun=advancerunSubsequentsignalchangesarenotdetected.01/20069mp2_logic_en.pptSwitchingfunctionsSimpleswitchingfunctionSimplepulsefunctionPath-dependentswitchingfunctionPath-dependentpulsefunctionThefollowingswitchingfunctionscanbeselected:01/200610mp2_logic_en.pptSimpleswitchingfunction(OUT)If“OUT”hasbeenselected,thefollowingparameterscanbespecified:StatetowhichtheoutputisswitchedTRUEFALSE3Outputnumber1-40961ExecutionwithadvancerunstopExecutionintheadvancerun“

”“CONT”4ThelongtextnamecanbeprogrammedinExpertmodewiththesystemlistactivated“

”Existinglongtextname2RemarksValuesBox123401/200611mp2_logic_en.pptSimpleswitchingfunction(OUT)Example:LINP1VEL=0.2m/sPDAT1LINP2CONTVEL=0.2m/sPDAT2LINP3CONTVEL=0.2m/sPDAT3LINP4VEL=0.2m/sPDAT4OUT1‘‘State=TRUEP1P2P3P4Output1issetatpoint3.Point3isnotapproximated(becauseofadvancerunstop).01/200612mp2_logic_en.pptSimpleswitchingfunction(OUT)Example:LINP1VEL=0.2m/sPDAT1LINP2CONTVEL=0.2m/sPDAT2LINP3CONTVEL=0.2m/sPDAT3LINP4VEL=0.2m/sPDAT4OUT1‘‘State=TRUECONTP1P2P3P4Possiblepositionatwhichoutput1issetbytheadvancerun.Point3isapproximated01/200613mp2_logic_en.pptSimplepulsefunction(PULSE)If“PULSE”hasbeenselected,thefollowingparameterscanbespecified:23451ExecutionwithadvancerunstopExecutionintheadvancerun“

”“CONT”4StatetowhichtheoutputisswitchedTRUEFALSE3Outputnumber1-40961Lengthofthepulseinseconds0.1…35ThelongtextnamecanbeprogrammedinExpertmodewiththesystemlistactivated“

”Existinglongtextname2RemarksValuesBox01/200614mp2_logic_en.pptSimplepulsefunction(PULSE)“HIGH”levelswitching:

STATE=TRUE01TimeOUT1Time01TimeOUT1Time“LOW”levelswitching:

STATE=FALSE01/200615mp2_logic_en.pptPath-dependentswitching(withPTP,LIN,CIRC)canbetriggeredrelativetoastartorendpoint.Suchapplicationsinclude,e.g.:

Closingoropeningtheweldgunduringspotwelding

Switchingtheweldingcurrenton/offduringarcwelding

Startingorstoppingtheflowofadhesiveinbondingorsealingapplications.Time-distancefunction“SYNOUT”01/200616mp2_logic_en.pptSwitchingactionatthestartorendpointofthepathIf“SYNOUT”hasbeenselected,thefollowingparameterscanbespecified:

hereendpointwithSTARTorEND12345Endpointatwhichtheswitchingfunctionisexecuted“START”“END”4StatetowhichtheoutputisswitchedTRUEFALSE3Outputnumber1-40961Delayoftheswitchingaction(inms)-1000…+10005ThelongtextnamecanbeprogrammedinExpertmodewiththesystemlistactivated“”Existinglongtextname2RemarksValuesBox01/200617mp2_logic_en.pptSwitchingactionatthestartorendpointofthepathExample:LINP1VEL=0.3m/sCPDAT1LINP2VEL=0.3m/sCPDAT2SYNOUT1‘‘State=TRUEatSTARTDelay=20msSYNOUT2‘‘State=TRUEatENDDelay=-20msLINP3VEL=0.3m/sCPDAT3LINP4VEL=0.3m/sCPDAT4P1P2P3P4+-StartpointEndpointStartpointandendpointareexactpositioningpoints:Switchinglimit*)*)Switchinglimit:

Ifthespecifiedvaluesareoutsidetheswitchinglimits,thecontrollerautomaticallyswitchesattheswitchinglimit.01/200618mp2_logic_en.pptSwitchingactionatthestartorendpointofthepathExample:LINP1VEL=0.3m/sCPDAT1LINP2VEL=0.3m/sCPDAT2SYNOUT1‘‘State=TRUEatSTARTDelay=20msSYNOUT2‘‘State=TRUEatENDDelay=-20msLINP3CONTVEL=0.3m/sCPDAT3LINP4VEL=0.3m/sCPDAT4P1P2P3P4+-+StartpointEndpointStartpointisexactpositioningpoint,endpointisapproximated:Centerofapproximationrange01/200619mp2_logic_en.pptSwitchingactionatthestartorendpointofthepathExample:LINP1VEL=0.3m/sCPDAT1LINP2CONTVEL=0.3m/sCPDAT2SYNOUT1‘‘State=TRUEatSTARTDelay=20msSYNOUT2‘‘State=TRUEatENDDelay=-20msLINP3CONTVEL=0.3m/sCPDAT3LINP4VEL=0.3m/sCPDAT4P1P2P3P4+-+StartpointEndpointCenterofapproximationrangeStartpointandendpointareapproximated:01/200620mp2_logic_en.pptSwitchingactionatanypointonthepathIfyouareusingthepath-relatedSYNOUT-PATHstatement,youcantriggertheswitchingactionatanypositionalongthepathbyspecifyingadistance.Aswithswitchingactionsatthestartorendpoints,thisagaincanadditionallybedelayedorbroughtforward.Thepath-relatedswitchingactionisonlyallowedwithcontinuous-pathmotions(LINorCIRC).

TheSYNOUT-PATHstatementrefersheretothenextprogrammedmotionblock.IfaSYNOUT-PATHstatementwithpathspecificationisprogrammedforaPTPmotion,thiswillberefusedbytheinterpreterwhenthemotionisexecuted.01/200621mp2_logic_en.ppt6SwitchingactionatthestartorendpointofthepathIf“SYNOUT”hasbeenselected,thefollowingparameterscanbespecified:

hereendpointwithPATH12345Distanceoftheswitchingactionfromtheendpoint(inmm)-2000…+20005Endpointatwhichtheswitchingfunctionisexecuted“PATH”4StatetowhichtheoutputisswitchedTRUEFALSE3Outputnumber1-40961Delayoftheswitchingaction(inms)-1000…+10006ThelongtextnamecanbeprogrammedinExpertmodewiththesystemlistactivated“”Existinglongtextname2RemarksValuesBox01/200622mp2_logic_en.pptSwitchingactionatanypointonthepathExample:LINP1VEL=0.3m/sCPDAT1SYNOUT1‘‘State=TRUEPATH=20mmDelay=-5msLINP2CONTVEL=0.3m/sCPDAT2LINP3CONTVEL=0.3m/sCPDAT3LINP4VEL=0.3m/sCPDAT4P1P2P3P4+-20mm-+-5msEnd