一文解析KUKA機(jī)器人的擺動(dòng)

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(dòng)擺動(dòng) 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(jī)器人的自動(dòng)擺動(dòng)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(kāi)/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(xiàng)位,函數(shù)發(fā)生器開(kāi)

IF W_STATE==TRUE THENB1＝true

; 編織將打開(kāi)

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(biāo)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(kāi)始編織

ENDIF;

ELSE函數(shù)發(fā)生器關(guān)

;擺動(dòng)將被關(guān)閉

$TECH[1].MODE=#OFF

$TECH[2].MODE=#OFF

$TECH[3].MODE=#OFF

ENDIF;

ENDIF;

END

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

$TECH提前運(yùn)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(gè)函數(shù)發(fā)生器。函數(shù)發(fā)生器僅對(duì)CP運(yùn)動(dòng)有效。僅評(píng)估主運(yùn)行變量。

可以在機(jī)器人程序中相對(duì)于提前運(yùn)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(píng)估的類(lèi)型

?#OFF：無(wú)功能評(píng)估

?#SINGLE：函數(shù)被評(píng)估一次。

?#CYCLE：循環(huán)評(píng)估該功能。

Class

技術(shù)類(lèi)–函數(shù)發(fā)生器的輸入大小

?#PATH：輸入大小是CP運(yùn)動(dòng)的弧長(zhǎng)$DISTANCE（單位：mm）

?#SYSTIME：輸入大小為系統(tǒng)時(shí)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(jī)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(xiě)入的校正幀。 機(jī)器人根據(jù)輸入值進(jìn)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(dòng)函數(shù)定義范圍的零點(diǎn)

?REAL offset_out：將函數(shù)值范圍的零點(diǎn)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(píng)估已編程的功能，但不執(zhí)行。函數(shù)值將寫(xiě)入變量$ TECHVAL。

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

#X,#Y, #Z

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

在編織或傳感器校正過(guò)程中，TCP在參考坐標(biāo)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(jí)#SENSOR時(shí)才相關(guān)！

通過(guò)$ TECHSYS和$ TECHANGLE編程的參考坐標(biāo)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(biāo)系的Z，Y或X軸旋轉(zhuǎn)（始終沿?cái)?shù)學(xué)正方向）

TechFct

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

Order

函數(shù)求值時(shí)的插補(bǔ)度

?1：功能由多邊形定義

Cpnum

參考以下5個(gè)控制點(diǎn)結(jié)構(gòu)的有效控制點(diǎn)總數(shù)2…50

注意：有效控制點(diǎn)之間不允許有間隙。

cps1

控制點(diǎn)為1…10的列表（類(lèi)型：REAL）

?X1，Y1，... X10，Y10

cps2

帶有控制點(diǎn)的列表11…20（類(lèi)型：REAL）

?X1，Y1，... X10，Y10

cps3

列出控制點(diǎn)21…30（類(lèi)型：REAL）

?X1，Y1，... X10，Y10

cps4

帶有控制點(diǎn)的列表31…40（類(lèi)型：REAL）

?X1，Y1，... X10，Y10

cps5

帶有控制點(diǎn)的列表41…50（類(lèi)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(yùn)行中函數(shù)發(fā)生器的參考坐標(biāo)系的旋轉(zhuǎn)

該變量可用于定義由$ TECHSYS定義的參考坐標(biāo)系的方向，并可在機(jī)器人程序中相對(duì)于提前運(yùn)行對(duì)其進(jìn)行修改。

參考坐標(biāo)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(lèi)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(duì)稱(chēng)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(hù)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(hù)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