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库卡程序案例参考——库卡机器人代理
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&ACCESS RVP
&REL 56
&COMMENT HANDLER on external automatic
DEF cell( )
;##;FOLD ## FOLD: CELL-Programm
;FOLD INIT
DECL CHAR DMY[3]
DMY[]="---"
;ENDFOLD (INIT)
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
IF ($in[112]==true) THEN
$OV_PRO = 10
fahre_home_direkt()
;FOLD WAIT FOR ( NOT IN 112 '' );%{PE}%R 8.3.34,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:NOT, 5:$IN, 6:112, 7:, 9:
WAIT FOR ( NOT $IN[112] )
;ENDFOLD
ENDIF
WarIn63 =1
;## call program for basic-position-drive
prog_63 ()
WarIn63 =3
;## initializing signals
;FOLD OUT 97 'Pos_inventory' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:97, 3:Pos_inventory, 5:FALSE, 6:
$OUT[97]=FALSE
;ENDFOLD
;FOLD OUT 98 'Pos_pick_Oring' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:98, 3:Pos_pick_Oring, 5:FALSE, 6:
$OUT[98]=FALSE
;ENDFOLD
;FOLD OUT 99 'Pos_leakcheck' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:99, 3:Pos_leakcheck, 5:FALSE, 6:
$OUT[99]=FALSE
;ENDFOLD
;FOLD OUT 100 'Rob_in_Pos_bleederscrew(E+6.3)' State= FALSE ;%{PE}%R 5.2.34,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:68, 3:Rob_in_Pos_bleederscrew(E+6.3), 5:FALSE, 6:
$OUT[100]=FALSE
;ENDFOLD
;FOLD OUT 101 'Pos_place_table' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:101, 3:Pos_place_table, 5:FALSE, 6:
$OUT[101]=FALSE
;ENDFOLD
;FOLD OUT 102 'Pos_Printer' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:102, 3:Pos_Printer, 5:FALSE, 6:
$OUT[102]=FALSE
;ENDFOLD
;FOLD OUT 103 'Pos_place_NIO' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:103, 3:Pos_place_NIO, 5:FALSE, 6:
$OUT[103]=FALSE
;ENDFOLD
;FOLD OUT 104 'USER:' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:104, 3:USER:, 5:FALSE, 6:
$OUT[104]=FALSE
;ENDFOLD
;FOLD OUT 106 'Ausgang (E+7.1)' State= FALSE ;%{PE}%R 5.2.34,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:74, 3:Ausgang (E+7.1), 5:FALSE, 6:
$OUT[106]=FALSE
;ENDFOLD
;FOLD OUT 7 'Grf: A+0.6' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:7, 3:Grf: A+0.6, 5:FALSE, 6:
$OUT[7]=FALSE
;ENDFOLD
;FOLD OUT 8 'Grf: A+0.7' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:8, 3:Grf: A+0.7, 5:FALSE, 6:
$OUT[8]=FALSE
;ENDFOLD
;FOLD OUT 62 'EXT: Anf_Justage-Ref (E+5.5)' State=FALSE ;%{PE}%R 8.3.31,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:62, 3:EXT: Anf_Justage-Ref (E+5.5), 5:FALSE, 6:
$OUT[62]=FALSE
;ENDFOLD
;## reset flag, program-nr is not existing
;## FLAG_4 : Error: program is not existing
$FLAG[4]=FALSE
;## reset variable basic-position-drive active
Grundst_aktiv=FALSE
;## reset Override
$OV_PRO = 5
;FOLD AUTOEXT INI
; P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
;## start program cycle
LOOP
;## robot has to be in basic-position
IF ($OUT[51]==true) THEN
fahre_home_direkt()
;FOLD WAIT FOR ( OUT 51 'AR_1_GS_fahrt_moeglich (E+4.2)' );%{PE}%R 8.3.34,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$OUT, 6:51, 7:AR_1_GS_fahrt_moeglich (E+4.2), 9:
WAIT FOR ( $OUT[51] )
;ENDFOLD
ELSE
;FOLD WAIT FOR ( OUT 110 'IN_HOME24 (E+7.5)' ) OR ( OUT 109 'IN_HOME15 (E+7.4)' ) OR ( OUT 108 'IN_HOME14 (E+7.3)' ) OR ( OUT 107 'IN_HOME13 (E+7.2)' ) OR ( OUT 111 'IN_HOME25 (E+7.6)' ) OR ( OUT 105 'IN_HOME11(E+7.0)' ) OR ( OUT 42 'In_Home5 (E+3.1)' ) OR ( OUT 41 'In_Home4 (E+3.0)' ) OR ( OUT 40 'In_Home3 (E+2.7)' ) OR ( OUT 39 'In_Home2 (E+2.6)' ) OR ( OUT 38 'In_Home1 (E+2.5)' ) OR ( OUT 37 'In_Home (E+2.4)' );%{PE}%R 5.2.34,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$OUT, 6:78, 7:IN_HOME24 (E+7.5), 9:OR, 10:, 12:, 13:$OUT, 14:77, 15:IN_HOME15 (E+7.4), 17:OR, 18:, 20:, 21:$OUT, 22:76, 23:IN_HOME14 (E+7.3), 25:OR, 26:, 28:, 29:$OUT, 30:75, 31:IN_HOME13 (E+7.2), 33:OR, 34:, 36:, 37:$OUT, 38:79, 39:IN_HOME25 (E+7.6), 41:OR, 42:, 44:, 45:$OUT, 46:73, 47:IN_HOME11(E+7.0), 49:OR, 50:, 52:, 53:$OUT, 54:42, 55:In_Home5 (E+3.1), 57:OR, 58:, 60:, 61:$OUT, 62:41, 63:In_Home4 (E+3.0), 65:OR, 66:, 68:, 69:$OUT, 70:40, 71:In_Home3 (E+2.7), 73:OR, 74:, 76:, 77:$OUT, 78:39, 79:In_Home2 (E+2.6), 81:OR, 82:, 84:, 85:$OUT, 86:38, 87:In_Home1 (E+2.5), 89:OR, 90:, 92:, 93:$OUT, 94:37, 95:In_Home (E+2.4), 97:
WAIT FOR ( $OUT[110] ) OR ( $OUT[109] ) OR ( $OUT[108] ) OR ( $OUT[107] ) OR ( $OUT[111] ) OR ( $OUT[105] ) OR ( $OUT[42] ) OR ( $OUT[41] ) OR ( $OUT[40] ) OR ( $OUT[39] ) OR ( $OUT[38] ) OR ( $OUT[37] )
;ENDFOLD
ENDIF
;## wait for starting automatic mode by plc
;FOLD WAIT FOR ( IN 36 'SPS_Auto_ein (A+2.3)' );%{PE}%R 5.4.33,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:36, 7:SPS_Auto_ein (A+2.3), 9:
WAIT FOR ( $IN[36] )
;ENDFOLD
P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
SWITCH PGNO ; selec with Programnumber
CASE 1
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0)
Prog_Nr=1
Prog_1 () ;vw 15 inch
CASE 2
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0)
Prog_Nr=2
Prog_2 () ;vw 16 inch
DEFAULT
;## set flag, program nr is not existing
;## FLAG_4 : Error program nr is not existing
$FLAG[4]=TRUE
;FOLD WAIT FOR NOT ( FLAG 4 'HM_Prog_Nr_NOK' );%{PE}%R 5.2.271,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:NOT, 4:, 5:$FLAG, 6:4, 7:HM_Prog_Nr_NOK, 9:
WAIT FOR NOT ( $FLAG[4] )
;ENDFOLD
;## basic-position-drive required
ENDSWITCH
ENDLOOP
;##;ENDFOLD ## FOLD: CELL-Programm
END
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