ABB MultiMove Manual De Aplicaciones página 67

Programa de tarea T_STN1
Manual de aplicaciones - MultiMove
3HAC050961-005 Revisión: F
6.5.2 Ejemplo "SyncArc" con movimientos semicoordinados
WaitSyncTask sync1, all_tasks;
MoveL p21, v1000, fine, tool2 \WObj:=wobj_stn1;
MoveL p22, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p23, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p24, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p21, v300, fine, tool2 \WObj:=wobj_stn1;
! Move away from the object
MoveL p25, v1000, fine, tool2;
! Sync to let positioner move
WaitSyncTask sync2, all_tasks;
! Wait for the positioner
WaitSyncTask sync3, all_tasks;
MoveL p26, v1000, fine, tool2 \WObj:=wobj_stn1;
MoveL p27, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p28, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p29, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p26, v300, fine, tool2 \WObj:=wobj_stn1;
WaitSyncTask sync4, all_tasks;
MoveL p25, v1000, fine, tool2;
ENDPROC
ENDMODULE
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
CONST jointtarget angle_0 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],
[ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST jointtarget angle_neg90 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -90, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
...
SemiSyncMove;
...
ENDPROC
PROC SemiSyncMove()
! Move to the wanted frame position. A movement of the
! positioner is always required before the first semi-
! coordinated movement.
MoveExtJ angle_0, vrot50, fine;
! Sync to let the robots move
WaitSyncTask sync1, all_tasks;
! Wait for the robots
WaitSyncTask sync2, all_tasks;
MoveExtJ angle_neg90, vrot50, fine;
WaitSyncTask sync3, all_tasks;
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6 Programación
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