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  • Codigo To Final

    Transféré par

    nicolas
    27 vues2 pages
    código robotica to

    Titre original

    Codigo to Final

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    código robotica to

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    27 vues2 pages

    Codigo To Final

    Transféré par

    nicolas
    código robotica to

    Droits d'auteur :

    © All Rights Reserved
    Téléchargez comme TXT, PDF, TXT ou lisez en ligne sur Scribd
    Signaler comme contenu inapproprié
    sur 2

    %%%

    VERSION:1
    LANGUAGE:ENGLISH
    %%%
    MODULE TO_FINAL
    PERS tooldata tGripper_PB1:=[TRUE,[[3.80632E-05,2.65291E-05,239.5],[1,0,0,0]],
    [5,[0,0,200],[1,0,0,0],0,0,0]];
    CONST robtarget P_Home:=[[862,-2.33893E-05,1615.5],[0,0,1,0],[0,0,0,0],[9E+09,
    9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Down_cinta1:=[[988.551,-1215.83,1500],[-0.00287663,0,0.99999
    6,0],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Pieza_cinta_1:=[[988.551,-1215.83,822],[-0.00287601,0,0.999996
    ,0],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Up_Cinta1:=[[988.55,-1216,1500],[-0.00261632,0,0.999997,0],[
    -1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Transicion:=[[690.582,-3.80522E-05,1388],[-9.70915E-05,0.707
    125,0.707088,-9.70915E-05],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Down_laser:=[[1624.61,-3.80524E-05,1200],[0,0.707127,0.70708
    6,0],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Mesa_laser:=[[1624.61,-3.80525E-05,796],[0,0.70713,0.707084,
    0],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Up_Laser:=[[1624.61,-3.80524E-05,1200],[0,0.707128,0.707086,
    0],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Transicion2:=[[690.583,-3.80522E-05,1388],[-9.70915E-05,0.70
    7125,0.707088,-9.70915E-05],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Recogida_laser:=[[1624.61,-3.80525E-05,796],[0,0.707129,0.70
    7084,0],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Transicion3:=[[690.583,-3.80522E-05,1388],[-9.72542E-05,0.70
    7125,0.707089,-9.72542E-05],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Down_cinta2:=[[1027.4,1290.43,1200],[0,-0.000132235,1,0],[0,
    0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Pieza_cinta2:=[[1027.4,1290.43,817],[0,-0.000131449,1,0],[0,0,
    0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Up_cinta2:=[[1027.4,1290.43,1500],[0,-0.000132309,1,0],[0,0,
    0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Down_laser2:=[[1624.61,-3.80525E-05,796],[0,0.707127,0.70708
    6,0],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_Up_laser2:=[[1624.61,-3.80525E-05,796],[0,0.70713,0.707084,0
    ],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PROC Soltar_Cinta2()
    ConfJ\Off;
    MoveJ Pieza_cinta2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Down_cinta2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    Set do5;
    Reset do3;
    MoveJ P_Up_cinta2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    ConfL\Off;
    ENDPROC
    PROC Coger_Laser()
    ConfJ\Off;
    MoveJ P_Down_laser2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Recogida_laser,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Up_laser2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    Set do3;
    Reset do4;
    MoveJ P_Transicion3,v1000,fine,tGripper_PB1\WObj:=wobj0;
    ConfL\Off;

    ENDPROC
    PROC Soltar_Laser()
    ConfJ\Off;
    MoveJ P_Transicion,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Down_laser,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Mesa_laser,v1000,fine,tGripper_PB1\WObj:=wobj0;
    Set do4;
    Reset do3;
    MoveJ P_Up_Laser,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Transicion2,v1000,fine,tGripper_PB1\WObj:=wobj0;
    ConfL\Off;
    ENDPROC
    PROC Coger_Cinta1()
    ConfL\Off;
    MoveJ P_Home,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Down_cinta1,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveL Pieza_cinta_1,v1000,fine,tGripper_PB1\WObj:=wobj0;
    Set do3;
    Reset do2;
    MoveJ P_Up_Cinta1,v1000,fine,tGripper_PB1\WObj:=wobj0;
    MoveJ P_Transicion,v1000,fine,tGripper_PB1\WObj:=wobj0;
    ConfJ\Off;
    ENDPROC
    PROC main()
    WaitDI di1,1;
    IF di1=1 MoveJ P_Home,v1000,z50,tGripper_PB1;
    Reset do5;
    Set do1;
    WaitDI di2,1;
    IF di2=1 THEN
    Reset do1;
    Set do2;
    Coger_Cinta1;
    ENDIF
    WaitDI di4,1;
    IF di4=1 Soltar_Laser;
    WaitDI di5,1;
    IF di5=1 Coger_Laser;
    Soltar_Cinta2;
    ENDPROC
    ENDMODULE

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