内容案例成果logic

1、Logic programmingProgramming of inputs and outputs for communication between the robot controller and its peripheral environment.(e.g. tools, sensors, etc.)Outputs:$OUT1 . $OUT4096Inputs:$IN1 . $IN4096$IN1025=TRUE$IN1026=FALSERobot controllerPeripheryLogic commands availableTime-dependent wait funct

2、ionSignal-dependent wait functionSwitching functionsCoupling/decoupling an Interbus segmentThe following logic commands can be selected:Time-dependent wait function (WAIT)If WAIT has been selected, the wait time can be specified:Example:PTP P1 VEL=100% PDAT1PTP P2 VEL=100% PDAT2WAIT Time=1 secPTP P3

3、 VEL=100% PDAT3Wait time in secondsP1P2P3Motion is interrupted for 1 second at point P2Signal-dependent wait function (WAIT FOR)If WAIT FOR has been selected, the following parameters can be specified:Example:PTP P1 VEL=100% PDAT1PTP P2 VEL=100% PDAT2WAIT FOR IN 1 State=TRUEPTP P3 VEL=100% PDAT3Stat

4、eInput/output numberP1P2P3Motion is interrupted at point P2 until input 1 is setSwitching functionsThe following switching functions can be selected:Simple switching functionSimple pulse functionPath-dependent switching functionPath-dependent pulse functionSimple switching function (OUT)If OUT has b

5、een selected, the following parameters can be specified:StateOutputAdvance run stop onAdvance run stop offExample:PTP P1 VEL=100% PDAT1PTP P2 CONT VEL=100% PDAT2PTP P3 CONT VEL=100% PDAT3PTP P4 VEL=100% PDAT4P1P2P3P4Simple switching function (OUT)If OUT has been selected, the following parameters ca

6、n be specified:Example:PTP P1 VEL=100% PDAT1PTP P2 CONT VEL=100% PDAT2PTP P3 CONT VEL=100% PDAT3PTP P4 VEL=100% PDAT4P1P2P3P4OUT 1 State=TRUEStateOutputAdvance run stop onAdvance run stop offPoint P3 es an exact positioning point and output 1 is setSimple switching function (OUT)If OUT has been sele

7、cted, the following parameters can be specified:Example:PTP P1 VEL=100% PDAT1PTP P2 CONT VEL=100% PDAT2PTP P3 CONT VEL=100% PDAT3PTP P4 VEL=100% PDAT4OUT 1 State=TRUE CONTStateOutputAdvance run stop onAdvance run stop offP1P2P3P4CONT prevents an advance run stop from being triggered; output 1 is set

8、 during the advance runSimple pulse function (PULSE)If PULSE has been selected, the following parameters can be specified:StateOutputAdvance run stop onAdvance run stop offPulse length01TimeOUT 1Time01TimeOUT 1TimePath-dependent switching function (SYN OUT)If SYN OUT has been selected, the following

9、 parameters can be specified:StateOutputSwitching pointTimeExample:LIN P1 VEL=0.3m/s CPDAT1LIN P2 VEL=0.3m/s CPDAT2SYN OUT 1 State=TRUE at START Delay=20msSYN OUT 2 State=TRUE at END Delay=-20msLIN P3 VEL=0.3m/s CPDAT3LIN P4 VEL=0.3m/s CPDAT4P1P2P3P4+-Path-dependent switching function (SYN OUT)If SY

10、N OUT has been selected, the following parameters can be specified:StateOutputSwitching pointTimeExample:LIN P1 VEL=0.3m/s CPDAT1LIN P2 VEL=0.3m/s CPDAT2SYN OUT 1 State=TRUE at START Delay=20msSYN OUT 2 State=TRUE at END Delay=-20msLIN P3 CONT VEL=0.3m/s CPDAT3LIN P4 VEL=0.3m/s CPDAT4P1P2P3P4+-+Path

11、-dependent switching function (SYN OUT)If SYN OUT has been selected, the following parameters can be specified:StateOutputSwitching pointTimeExample:LIN P1 VEL=0.3m/s CPDAT1LIN P2 CONT VEL=0.3m/s CPDAT2SYN OUT 1 State=TRUE at START Delay=20msSYN OUT 2 State=TRUE at END Delay=-20msLIN P3 CONT VEL=0.3

12、m/s CPDAT3LIN P4 VEL=0.3m/s CPDAT4P1P2P3P4+-+Path-dependent switching function (SYN OUT)If SYN OUT has been selected, the following parameters can be specified:StateOutputSwitching pointTimeExample:LIN P1 VEL=0.3m/s CPDAT1SYN OUT 1 State=TRUE PATH=20mm Delay=-5msLIN P2 CONT VEL=0.3m/s CPDAT2LIN P3 C

13、ONT VEL=0.3m/s CPDAT3LIN P4 VEL=0.3m/s CPDAT4P1P2P3P4+-20mm-+-5msPath-dependent switching function (SYN OUT)If SYN OUT has been selected, the following parameters can be specified:StateOutputSwitching pointTimeExample:LIN P1 CONT VEL=0.3m/s CPDAT1SYN OUT 1 State=TRUE PATH=20mm Delay=-5msLIN P2 CONT VEL=0.3m/s CPDAT2LIN P3 CONT VEL=0.3m/s CPDAT3LIN P4 VEL=0.3m/s CPDAT4P1P2P4+-20mmP3-+-5msPath-dependent pulse function (SYN PULSE)If SYN PULSE has been selected, the following parameters can be specified:StateOutputSwitching pointTimePulse length01TimeOUT 1Time01TimeOUT 1Time