3: USER_S9_Teil_1_MIG Nr1Einschalten Mit N_WIED MIG_WK=1 P-Nr=10 Naht-Nr=10 EIN

4: WARTE BIS !E848 & E852

5: A852 = EIN

6: SPSMAKRO181 = EIN

7: FB PSPS = E417 & E433 &(F308 + A843) & E879 & E880

Pendeln EIN Figur: 1 Amplitude: 1[mm] Periode: 1 [mm] Ebene: 0[o]

通勤啟動擺動 EIN, 擺圖1 , 振幅1 ,周期 1,電平0

VW_USR_R (#USR_ADV,104,8,1,1,1,10,10,TRUE)

VW (#VW_WEAV, TRUE, 1, 1, 1, 0, TRUE )

機器人的自動擺動功能常用于ＣＭＴ焊接

VW_USR_R (#USR_MAIN,104,8,1,1,1,10,10,TRUE)

VW (COMMAND :IN,COND :IN,P1 :IN,P2 :IN,P3 :IN,P4 :IN,B1 :IN, POINT :IN )

WEAVING (B1,P1,P2,P3,P4 )

DEF WEAVING (W_STATE :IN,W_TYP :IN,AMPLITUDE :IN,PERIOD :IN,W_ANGLE :IN )

W_STATE :B1, W_TYP : P1, AMPLITUDE :P2, PERIOD :P3, W_ANGLE :P4

W_STATE :true

W_TYP=1

AMPLITUDE=1振幅=1

PERIOD=1周期

W_ANGLE=0 角度

BOOL W_STATE ;編織開/關(guān)

INT W_TYP,AMPLITUDE,PERIOD,W_ANGLE

IF $TECH_OPT==TRUE THEN$TECH函數(shù)發(fā)生器的選項位,函數(shù)發(fā)生器開

IF W_STATE==TRUE THENB1＝true

; 編織將打開

WEAV_DEF (W_TYP )

$TECH[1].FCTCTRL.SCALE_IN=PERIOD PERIOD周期=1

$TECH[1].FCTCTRL.SCALE_OUT=AMPLITUDE 振幅=1

$TECH[2].FCTCTRL.SCALE_IN=PERIOD PERIOD周期=1

$TECH[2].FCTCTRL.SCALE_OUT=AMPLITUDE 振幅=1

$TECH[3].FCTCTRL.SCALE_IN=PERIOD

$TECH[3].FCTCTRL.SCALE_OUT=1

$TECHANGLE.C=W_ANGLE 在參考坐標系的旋轉(zhuǎn)

IF $TECH[1].MODE==#OFF THEN

$TECH[1].MODE=#CYCLE

$TECH[2].MODE=#CYCLE

$TECH[3].MODE=#CYCLE 循環(huán)開始編織

ENDIF;

ELSE函數(shù)發(fā)生器關(guān)

;擺動將被關(guān)閉

$TECH[1].MODE=#OFF

$TECH[2].MODE=#OFF

$TECH[3].MODE=#OFF

ENDIF;

ENDIF;

END

------------------------------

$TECH提前運行中函數(shù)發(fā)生器的功能參數(shù)

該變量最多可用于編程6個函數(shù)發(fā)生器。函數(shù)發(fā)生器僅對CP運動有效。僅評估主運行變量。

可以在機器人程序中相對于提前運行修改功能參數(shù)。

Tech參數(shù)結(jié)構(gòu):

STRUC Tech TECHMODE mode, TECHCLASS class,TECHFCTCTRL fctctrl, TECHFCT fct

Mode 技術(shù)模式–功能評估的類型

?#OFF：無功能評估

?#SINGLE：函數(shù)被評估一次。

?#CYCLE：循環(huán)評估該功能。

Class

技術(shù)類–函數(shù)發(fā)生器的輸入大小

?#PATH：輸入大小是CP運動的弧長$DISTANCE（單位：mm）

?#SYSTIME：輸入大小為系統(tǒng)時間（單位：ms）

?#VEL：輸入大小為當(dāng)前路徑速度$VEL_ACT（單位：m / s）

?#SENSOR：輸入大小為變量$TECHIN。機器人根據(jù)輸入值執(zhí)行位置校正。

?#DATALINK：輸入大小是傳感器任務(wù)寫入的校正幀。 機器人根據(jù)輸入值進行校正。

Fctctrl

函數(shù)發(fā)生器參數(shù)的控制結(jié)構(gòu)

STRUCFctctrl REAL scale_in, scale_out, offset_in, offset_out, TECHGEOREF georef

REAL scale_in：縮放函數(shù)的定義范圍

?REAL scale_out：縮放函數(shù)值的范圍

?REAL offset_in：移動函數(shù)定義范圍的零點

?REAL offset_out：將函數(shù)值范圍的零點移位

?TECHGEOREF georef：ENUM用于技術(shù)功能的幾何參考.

Fct

用于定義函數(shù)發(fā)生器的函數(shù)參數(shù)的結(jié)構(gòu)

函數(shù)fct的定義范圍和值范圍定義如下：

?定義范圍：0…1

值的范圍：-1…+1

GeoRef

#NONE

評估已編程的功能，但不執(zhí)行。函數(shù)值將寫入變量$ TECHVAL。

例外：如果使用工藝等級#SENSOR，則該參數(shù)的作用是不執(zhí)行功能評估。

#X,#Y, #Z

通過$ TECHSYS和$ TECHANGLE編程的參考坐標系的軸，用于編織或傳感器校正

在編織或傳感器校正過程中，TCP在參考坐標系的X，Y或Z軸方向上偏移功能值。

#A,#B, #C

僅在使用技術(shù)等級#SENSOR時才相關(guān)！

通過$ TECHSYS和$ TECHANGLE編程的參考坐標系的軸角，用于傳感器校正.

TCP的方向發(fā)生變化：功能值繞參考坐標系的Z，Y或X軸旋轉(zhuǎn)（始終沿數(shù)學(xué)正方向）

TechFct

STRUC TechFct INT order, cpnum, TECHCPScps1, cps2, cps3, cps4, cps5.

Order

函數(shù)求值時的插補度

?1：功能由多邊形定義

Cpnum

參考以下5個控制點結(jié)構(gòu)的有效控制點總數(shù)2…50

注意：有效控制點之間不允許有間隙。

cps1

控制點為1…10的列表（類型：REAL）

?X1，Y1，... X10，Y10

cps2

帶有控制點的列表11…20（類型：REAL）

?X1，Y1，... X10，Y10

cps3

列出控制點21…30（類型：REAL）

?X1，Y1，... X10，Y10

cps4

帶有控制點的列表31…40（類型：REAL）

?X1，Y1，... X10，Y10

cps5

帶有控制點的列表41…50（類型：REAL）

?X1，Y1，... X10，Y10

使用距離傳感器，最大可校正在TTS的Z方向上應(yīng)形成±20 mm。模擬傳感器輸入提供-10 V至+10 V的電壓；應(yīng)將其調(diào)整為0 V（因數(shù)= 0.1；失調(diào)= 1.0）。

----------------------------

$TECHANGLE

提前運行中函數(shù)發(fā)生器的參考坐標系的旋轉(zhuǎn)

該變量可用于定義由$ TECHSYS定義的參考坐標系的方向，并可在機器人程序中相對于提前運行對其進行修改。

參考坐標系的Z，Y或X軸旋轉(zhuǎn)所繞的角度（僅允許正方向）

-------------------------

DEF WEAV_DEF (FIGUR :IN) 編制程序參數(shù)程序

DECLINT FIGUR

SWITCH FIGUR類型

CASE 1 ;三角形

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=4

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=0.25

$TECH[1].FCT.CPS1.Y2=1.0

$TECH[1].FCT.CPS1.X3=0.75

$TECH[1].FCT.CPS1.Y3=-1.0

$TECH[1].FCT.CPS1.X4=1.0

$TECH[1].FCT.CPS1.Y4=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=2

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=1.0

$TECH[2].FCT.CPS1.Y2=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=5

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=-1.0

$TECH[3].FCT.CPS1.X2=0.25

$TECH[3].FCT.CPS1.Y2=1.0

$TECH[3].FCT.CPS1.X3=0.5

$TECH[3].FCT.CPS1.Y3=-1.0

$TECH[3].FCT.CPS1.X4=0.75

$TECH[3].FCT.CPS1.Y4=1.0

$TECH[3].FCT.CPS1.X5=1.0

$TECH[3].FCT.CPS1.Y5=-1.0

CASE 2 ;梯形

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=7

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=0.166666

$TECH[1].FCT.CPS1.Y2=1.0

$TECH[1].FCT.CPS1.X3=0.333333

$TECH[1].FCT.CPS1.Y3=1.0

$TECH[1].FCT.CPS1.X4=0.5

$TECH[1].FCT.CPS1.Y4=0.0

$TECH[1].FCT.CPS1.X5=0.666666

$TECH[1].FCT.CPS1.Y5=-1.0

$TECH[1].FCT.CPS1.X6=0.833333

$TECH[1].FCT.CPS1.Y6=-1.0

$TECH[1].FCT.CPS1.X7=1.0

$TECH[1].FCT.CPS1.Y7=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=2

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=1.0

$TECH[2].FCT.CPS1.Y2=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=10

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=-1.0

$TECH[3].FCT.CPS1.X2=0.05

$TECH[3].FCT.CPS1.Y2=-1.0

$TECH[3].FCT.CPS1.X3=0.2

$TECH[3].FCT.CPS1.Y3=1.0

$TECH[3].FCT.CPS1.X4=0.3

$TECH[3].FCT.CPS1.Y4=1.0

$TECH[3].FCT.CPS1.X5=0.45

$TECH[3].FCT.CPS1.Y5=-1.0

$TECH[3].FCT.CPS1.X6=0.55

$TECH[3].FCT.CPS1.Y6=-1.0

$TECH[3].FCT.CPS1.X7=0.7

$TECH[3].FCT.CPS1.Y7=1.0

$TECH[3].FCT.CPS1.X8=0.8

$TECH[3].FCT.CPS1.Y8=1.0

$TECH[3].FCT.CPS1.X9=0.95

$TECH[3].FCT.CPS1.Y9=-1.0

$TECH[3].FCT.CPS1.X10=1.0

$TECH[3].FCT.CPS1.Y10=-1.0

CASE 3 ; 對稱梯形

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=6

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=0.1

$TECH[1].FCT.CPS1.Y2=1.0

$TECH[1].FCT.CPS1.X3=0.3

$TECH[1].FCT.CPS1.Y3=1.0

$TECH[1].FCT.CPS1.X4=0.5

$TECH[1].FCT.CPS1.Y4=-1.0

$TECH[1].FCT.CPS1.X5=0.9

$TECH[1].FCT.CPS1.Y5=-1.0

$TECH[1].FCT.CPS1.X6=1.0

$TECH[1].FCT.CPS1.Y6=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=2

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=1.0

$TECH[2].FCT.CPS1.Y2=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=7

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=-1.0

$TECH[3].FCT.CPS1.X2=0.15

$TECH[3].FCT.CPS1.Y2=1.0

$TECH[3].FCT.CPS1.X3=0.25

$TECH[3].FCT.CPS1.Y3=1.0

$TECH[3].FCT.CPS1.X4=0.4

$TECH[3].FCT.CPS1.Y4=-1.0

$TECH[3].FCT.CPS1.X5=0.5

$TECH[3].FCT.CPS1.Y5=1.0

$TECH[3].FCT.CPS1.X6=0.9

$TECH[3].FCT.CPS1.Y6=1.0

$TECH[3].FCT.CPS1.X7=1.0

$TECH[3].FCT.CPS1.Y7=-1.0

CASE 4 ;螺旋

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=6

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=0.166666

$TECH[1].FCT.CPS1.Y2=1.0

$TECH[1].FCT.CPS1.X3=0.333333

$TECH[1].FCT.CPS1.Y3=1.0

$TECH[1].FCT.CPS1.X4=0.666666

$TECH[1].FCT.CPS1.Y4=-1.0

$TECH[1].FCT.CPS1.X5=0.833333

$TECH[1].FCT.CPS1.Y5=-1.0

$TECH[1].FCT.CPS1.X6=1.0

$TECH[1].FCT.CPS1.Y6=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=6

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=-1.0

$TECH[2].FCT.CPS1.X2=0.083333

$TECH[2].FCT.CPS1.Y2=-1.0

$TECH[2].FCT.CPS1.X3=0.416666

$TECH[2].FCT.CPS1.Y3=1.0

$TECH[2].FCT.CPS1.X4=0.58

$TECH[2].FCT.CPS1.Y4=1.0

$TECH[2].FCT.CPS1.X5=0.916666

$TECH[2].FCT.CPS1.Y5=-1.0

$TECH[2].FCT.CPS1.X6=1.0

$TECH[2].FCT.CPS1.Y6=-1.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=10

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=-1.0

$TECH[3].FCT.CPS1.X2=0.05

$TECH[3].FCT.CPS1.Y2=-1.0

$TECH[3].FCT.CPS1.X3=0.2

$TECH[3].FCT.CPS1.Y3=1.0

$TECH[3].FCT.CPS1.X4=0.3

$TECH[3].FCT.CPS1.Y4=1.0

$TECH[3].FCT.CPS1.X5=0.45

$TECH[3].FCT.CPS1.Y5=-1.0

$TECH[3].FCT.CPS1.X6=0.55

$TECH[3].FCT.CPS1.Y6=-1.0

$TECH[3].FCT.CPS1.X7=0.7

$TECH[3].FCT.CPS1.Y7=1.0

$TECH[3].FCT.CPS1.X8=0.8

$TECH[3].FCT.CPS1.Y8=1.0

$TECH[3].FCT.CPS1.X9=0.95

$TECH[3].FCT.CPS1.Y9=-1.0

$TECH[3].FCT.CPS1.X10=1.0

$TECH[3].FCT.CPS1.Y10=-1.0

CASE 5 ;8字形

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=9

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=0.125

$TECH[1].FCT.CPS1.Y2=0.5

$TECH[1].FCT.CPS1.X3=0.25

$TECH[1].FCT.CPS1.Y3=1.0

$TECH[1].FCT.CPS1.X4=0.375

$TECH[1].FCT.CPS1.Y4=0.5

$TECH[1].FCT.CPS1.X5=0.5

$TECH[1].FCT.CPS1.Y5=0

$TECH[1].FCT.CPS1.X6=0.625

$TECH[1].FCT.CPS1.Y6=-0.5

$TECH[1].FCT.CPS1.X7=0.75

$TECH[1].FCT.CPS1.Y7=-1.0

$TECH[1].FCT.CPS1.X8=0.875

$TECH[1].FCT.CPS1.Y8=-0.5

$TECH[1].FCT.CPS1.X9=1.0

$TECH[1].FCT.CPS1.Y9=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=9

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=0.125

$TECH[2].FCT.CPS1.Y2=0.5

$TECH[2].FCT.CPS1.X3=0.25

$TECH[2].FCT.CPS1.Y3=0.0

$TECH[2].FCT.CPS1.X4=0.375

$TECH[2].FCT.CPS1.Y4=-0.5

$TECH[2].FCT.CPS1.X5=0.5

$TECH[2].FCT.CPS1.Y5=0

$TECH[2].FCT.CPS1.X6=0.625

$TECH[2].FCT.CPS1.Y6=0.5

$TECH[2].FCT.CPS1.X7=0.75

$TECH[2].FCT.CPS1.Y7=0.0

$TECH[2].FCT.CPS1.X8=0.875

$TECH[2].FCT.CPS1.Y8=-0.5

$TECH[2].FCT.CPS1.X9=1.0

$TECH[2].FCT.CPS1.Y9=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=5

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=-1.0

$TECH[3].FCT.CPS1.X2=0.25

$TECH[3].FCT.CPS1.Y2=1.0

$TECH[3].FCT.CPS1.X3=0.5

$TECH[3].FCT.CPS1.Y3=-1.0

$TECH[3].FCT.CPS1.X4=0.75

$TECH[3].FCT.CPS1.Y4=1.0

$TECH[3].FCT.CPS1.X5=1.0

$TECH[3].FCT.CPS1.Y5=-1.0

CASE 6 ; 用戶定義的weav

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=2

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=1.0

$TECH[1].FCT.CPS1.Y2=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=2

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=1.0

$TECH[2].FCT.CPS1.Y2=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=2

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=0.0

$TECH[3].FCT.CPS1.X2=1.0

$TECH[3].FCT.CPS1.Y2=0.0

CASE 7 用戶定義的weav

$TECH[1].FCT.ORDER=1

$TECH[1].FCT.CPNUM=2

$TECH[1].FCT.CPS1.X1=0.0

$TECH[1].FCT.CPS1.Y1=0.0

$TECH[1].FCT.CPS1.X2=1.0

$TECH[1].FCT.CPS1.Y2=0.0

$TECH[2].FCT.ORDER=1

$TECH[2].FCT.CPNUM=2

$TECH[2].FCT.CPS1.X1=0.0

$TECH[2].FCT.CPS1.Y1=0.0

$TECH[2].FCT.CPS1.X2=1.0

$TECH[2].FCT.CPS1.Y2=0.0

$TECH[3].FCT.ORDER=1

$TECH[3].FCT.CPNUM=2

$TECH[3].FCT.CPS1.X1=0.0

$TECH[3].FCT.CPS1.Y1=0.0

$TECH[3].FCT.CPS1.X2=1.0

$TECH[3].FCT.CPS1.Y2=0.0

ENDSWITCH