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Speed Lim Axis

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Marco Minto
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17 views4 pages

Speed Lim Axis

Uploaded by

Marco Minto
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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SpeedLimAxis

LimitSpeed

T_ROB1

SpeedLimAxis

SpeedLimAxis STN_1, 1, 20;

STN_1 LimitSpeed

SpeedLimAxis ROB_1, 1, 10;


SpeedLimAxis ROB_1, 2, 30;
SpeedLimAxis ROB_1, 3, 30;
SpeedLimAxis ROB_1, 4, 30;
SpeedLimAxis ROB_1, 5, 30;
SpeedLimAxis ROB_1, 6, 30;

ROB_1
LimitSpeed

SpeedLimAxis MechUnit AxisNo AxisSpeed

MechUnit

mecunit

AxisNo
num

AxisSpeed
num
SpeedLimAxis

LimitSpeed
SpeedLimAxis

SpeedLimCheckPoint

LimitSpeed

LimitSpeed

LimitSpeed
LimitSpeed

main

ERRNO

ERR_AXIS_PAR
ERR_SPEEDLIM_VALUE AxisSpeed

SpeedLimAxis

..
VAR intnum sigint1;
VAR intnum sigint2;
..
PROC main()
! Setup interrupts reacting on a signal input
IDelete sigint1;
CONNECT sigint1 WITH setlimitspeed;
ISignalDI \SingleSafe, mysensorsignal, 1, sigint1;
IDelete sigint2;
CONNECT sigint2 WITH resetlimitspeed;
ISignalDI \SingleSafe, mysensorsignal, 0, sigint2;
..
MoveL p1, z50, fine, tool2;
MoveL p2, z50, fine, tool2;
..
MoveL p10, v100, fine, tool2;
! Set limitations for checkpoints and axes
SpeedLimCheckPoint 200;
SpeedLimAxis ROB_1, 1, 10;
SpeedLimAxis ROB_1, 2, 10;
SpeedLimAxis ROB_1, 3, 10;
SpeedLimAxis ROB_1, 4, 20;
SpeedLimAxis ROB_1, 5, 20;
SpeedLimAxis ROB_1, 6, 20;
WHILE run_loop = TRUE DO
MoveL p1, vmax, z50, tool2;
..
MoveL p99, vmax, fine, tool2;
ENDWHILE
! Set the default manual mode max speed
SpeedLimCheckPoint 0;
SpeedLimAxis ROB_1, 1, 0;
SpeedLimAxis ROB_1, 2, 0;
SpeedLimAxis ROB_1, 3, 0;
SpeedLimAxis ROB_1, 4, 0;
SpeedLimAxis ROB_1, 5, 0;
SpeedLimAxis ROB_1, 6, 0;
..
TRAP setlimitspeed
IDelete sigint1;
CONNECT sigint1 WITH setlimitspeed;
ISignalDI \SingleSafe, mysensorsignal, 1, sig1int1;
! Set out signal that is cross connected to system input
LimitSpeed
SetDO do1LimitSpeed, 1;
ENDTRAP
TRAP resetlimitspeed
IDelete sigint2;
CONNECT sigint2 WITH resetlimitspeed;
ISignalDI \SingleSafe, mysensorsignal, 0, sig1int2;
! Reset out signal that is cross connected to system input
LimitSpeed
SetDO do1LimitSpeed, 0;
ENDTRAP
p1 p10

setlimitspeed
mysensorsignal
resetlimitspeed
mysensorsignal

run_loop TRUE
LimitSpeed run_loop FALSE

LimitSpeed

SpeedLimAxis

SpeedLimAxis
[MechUnit ':='] <variable (VAR) of mecunit>','
[AxisNo ':='] <expression (IN) of num>','
[AxisSpeed ':='] <expression (IN) of num>';'

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