2020年09月08日 | 一文解析KUKA机器人的摆动

3: USER_S9_il_1_G 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]

通勤启动摆动 EIN, 摆图1 , 振幅1 ,周期 1,电平0

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

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

机器人的自动摆动功能常用于ＣＭＴ

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 ;编织开/关

INT W_TYP,AMPLITUDE,PERIOD,W_ANGLE

$TECH_OPT==TRUE THEN$TECH函数发生器的选项位,函数发生器开

IF W_STATE==TRUE THENB1＝true

; 编织将打开

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 在参考坐标系的旋转

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

$TECH[1].MODE=#CYCLE

$TECH[2].MODE=#CYCLE

$TECH[3].MODE=#CYCLE 循环开始编织

ENDIF;

ELSE函数发生器关

;摆动将被关闭

$TECH[1].MODE=#OFF

$TECH[2].MODE=#OFF

$TECH[3].MODE=#OFF

ENDIF;

ENDIF;

END

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

$TECH提前运行中函数发生器的功能参数

该变量最多可用于编程6个函数发生器。函数发生器仅对CP运动有效。仅评估主运行变量。

可以在机器人程序中相对于提前运行修改功能参数。

Tech参数结构:

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

Mode 技术模式–功能评估的类型

#OFF：无功能评估

#SINGLE：函数被评估一次。

#CYCLE：循环评估该功能。

Class

技术类–函数发生器的输入大小

#PATH：输入大小是CP运动的弧长$DISTANCE（单位：mm）

#SYSTIME：输入大小为系统时间（单位：ms）

#VEL：输入大小为当前路径速度$VEL_ACT（单位：m / s）

#SENSOR：输入大小为变量$TECHIN。机器人根据输入值执行位置校正。

#DATALINK：输入大小是任务写入的校正帧。 机器人根据输入值进行校正。

Fctctrl

函数发生器参数的控制结构

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

REAL scale_in：缩放函数的定义范围

REAL scale_out：缩放函数值的范围

REAL offset_in：移动函数定义范围的零点

REAL offset_out：将函数值范围的零点移位

TECHGEOREF georef：ENUM用于技术功能的几何参考.

Fct

用于定义函数发生器的函数参数的结构

函数fct的定义范围和值范围定义如下：

定义范围：0…1

值的范围：-1…+1

GeoRef

#NONE

评估已编程的功能，但不执行。函数值将写入变量$ TECHVAL。

例外：如果使用工艺等级#SENSOR，则该参数的作用是不执行功能评估。

#X,#Y, #Z

通过$ TECHSYS和$ TECHANGLE编程的参考坐标系的轴，用于编织或传感器校正

在编织或传感器校正过程中，TCP在参考坐标系的X，Y或Z轴方向上偏移功能值。

#A,#B, #C

仅在使用技术等级#SENSOR时才相关！

通过$ TECHSYS和$ TECHANGLE编程的参考坐标系的轴角，用于传感器校正.

TCP的方向发生变化：功能值绕参考坐标系的Z，Y或X轴旋转（始终沿数学正方向）

TechFct

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

Order

函数求值时的插补度

1：功能由多边形定义

Cpnum

参考以下5个控制点结构的有效控制点总数2…50

注意：有效控制点之间不允许有间隙。

cps1

控制点为1…10的列表（类型：REAL）

X1，Y1，... X10，Y10

cps2

带有控制点的列表11…20（类型：REAL）

X1，Y1，... X10，Y10

cps3

列出控制点21…30（类型：REAL）

X1，Y1，... X10，Y10

cps4

带有控制点的列表31…40（类型：REAL）

X1，Y1，... X10，Y10

cps5

带有控制点的列表41…50（类型：REAL）

X1，Y1，... X10，Y10

使用距离传感器，最大可校正在TTS的Z方向上应形成±20 mm。模拟传感器输入提供-10 V至+10 V的电压；应将其调整为0 V（因数= 0.1；失调= 1.0）。

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

$TECHANGLE

提前运行中函数发生器的参考坐标系的旋转

该变量可用于定义由$ TECHSYS定义的参考坐标系的方向，并可在机器人程序中相对于提前运行对其进行修改。

参考坐标系的Z，Y或X轴旋转所绕的角度（仅允许正方向）

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

DEF WEAV_DEF (FIGUR :IN) 编制程序参数程序

DECLINT FIGUR

SWITCH FIGUR类型

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 ; 对称梯形

$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 ; 定义的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 用户定义的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