自动焊台v0.2

最新推荐文章于 2024-10-02 10:08:12 发布

谁不是在流浪

最新推荐文章于 2024-10-02 10:08:12 发布

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分类专栏：机器人笔记文章标签： c#

本文链接：https://blog.csdn.net/qq_47022300/article/details/105716582

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更改：
1、增加圆周焊接轨迹。
2、增加轨迹优化。
3、增加清洗轨迹。
4、增加PLC+焊丝同步时间。

'Created: 4/21/2020 4:41:28 PM
Module GPL
	
	
Public Sub MAIN
	Robot.Attached = 1
	'Dim count As byte    
	#Region recipe1
	'While Signal.DIO(s2001)==True                     'PLC said:weld ready
	While True                                         'XXXXXXXX
		'For count=1 To 10                             'loop 10 times
			'While Signal.DIO(s2002)==True             'put the button:start
			'While True                                'XXXXXXXX
				'==========================================================================
				'NO.1:
				
				Move.Approach(point1,speed1)          'point1 upward
				Move.Loc(point1,speed2)               'point1 location
				'Signal.DIO(s2003)=True                'send message "point1 ready"
				Move.Delay(0.5)                       'PLC in step
				Move.circle(circle1,circle2,weldspeed)'welding:path circle
				'Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
				
				'Signal.DIO(s2003)=False               'send message "move to next point"
				'Signal.DIO(s2004)=False               'send message "move to next point"
				Move.Approach(point1,speed1)          'point1 upward
				
				'weld done
				'===========================================================================
				'NO.2:
				Move.ForceOverlap(0,50)               'path optimize
				Move.Approach(point2,speed1)          'point2 upward
				Move.ForceOverlap(0,50)               'path optimize
				Move.Loc(point2,speed2)               'point1 location
				'Signal.DIO(s2003)=True                'send message "point2 ready"
				
				'Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"
				
				'Signal.DIO(s2003)=False               'send message "move to next point"
				'Signal.DIO(s2004)=False               'send message "move to next point"
				Move.Approach(point2,speed1)
				
				'weld done
				'===========================================================================
			'End While
		'End For
		
		
		'===================================================================================
		'blush start:
		
		Move.Approach(point10,speed1)                 'point10 upward
		Move.Loc(point10,speed2)                      'point10 location
		'Signal.DIO(s2005)=True                        'send message "blush ready"
		
		'Move.Trigger(Signal.DIO(s2006)==True)         'wait for "blush done"
		
		'Signal.DIO(s2005)=False                       'send message "move to next point"
		'Signal.DIO(s2006)=False                       'send message "move to next point"
		Move.Approach(point10,speed1)                 'point10 upward
		Move.Loc(point0,speed1)                       'point0 location
		
		'blush done
		'===================================================================================
	End While
	#End Region                                       
	
End Sub 
End Module