tailieunhanh - Industrial Robots Programming - J. Norberto Pires Part 15

Tham khảo tài liệu 'industrial robots programming - j. norberto pires part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 274 Industrial Robots Programming Consequently the program running on the robot controller coded using ARLA looks like the generic code presented in Figure . while neverend wait DI8 1 switch byte D11-DI8 case 1 DO8 1 wait word DI 1-DI8 0 DO8 0 Move p 1 case 2 DO8 1 wait word D11-DI8 0 DO8 0 Move P2 case 4 DO8 1 wait word DI1-DI8 0 DO8 0 Move P3 case 8 DO8 1 wait word DI1-DI8 0 DO8 0 Move P4 case 16 DO8 1 wait word DI1-DI8 0 DO8 0 Move P5 endswitch endwhile Figure - Generic code running on Albert s controller The OPC client application designed to connect to the OPC server monitor the selected items and interface with the PLC and through it to the robot controller is represented in Figure . Figure OPC client application designed to command the robot The client application creates a group named norberto and enables the user to add the items of interest. In this case the selected items are and . The default group updated rate is 100ms. When a command is selected using the software buttons Position r to Position 5 the client application follows the above sequence just by monitoring the robot Final Notes 275 response through the PLC interface and acting accordingly. Figure reveals the code associated with the action of commanding the robot to move to p 1. Private Sub pl_Click If txtChangeVal l .Text 0 Then 129 ---------- Command valid MOVE to Pl Ipl 1 cmdWriteAsync ----------------------------- Call to WriteAsynchronous Go Position 1 Albert Else Albert I m not ready End If End Sub Private Sub Timerl_Timer If Ipl 1 Then If txtChangeVal l .Text 128 Then ----- Robot received the command 0 cmdWriteAsync -----------------------------Call to WriteAsynchronous Ipl 0 Albert moving to Pl. End If End If If lp5 1 Then If txtchangeVal l .Text 128 Then 0 cmdWriteAsync ------------------------------ Call to WriteAsynchronous 1p2