Difference between revisions of "Program Examples:Defining a Cartesian Group"
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== Introduction == | == Introduction == | ||
| − | The following example | + | The following example demonstrates how to setup a cartesian group. It will configure basic setup of an XYZ orthogonal system. The setup will be done in SETUP.PRG task. |
| − | |||
== Configuration == | == Configuration == | ||
| − | First of all a | + | First of all, a cartesian group must be defined in CONFIG.PRG file: |
| − | |||
<pre> | <pre> | ||
common shared gXYZ as group Axnm = a1 Axnm = a2 Axnm = a3 model=1 of xyz | common shared gXYZ as group Axnm = a1 Axnm = a2 Axnm = a3 model=1 of xyz | ||
</pre> | </pre> | ||
| − | |||
== Axis Definition== | == Axis Definition== | ||
| − | + | Next, in the SETUP.PRG task, define subroutine for setting up a linear axis : | |
| − | {{Note| | + | {{Note| It is assumed there is a global integer array '''pos_units[]''' defined in the system. It holds the position resolution of each axes; e.g., the number of counts in one full revolution of the motor.}} |
| − | {{Note| In this example | + | {{Note| In this example it is assumed there is no gear between the linear screw and the motor, and the pitch of the screw is 5 mm per revolution }} |
<pre> | <pre> | ||
| Line 53: | Line 50: | ||
end with | end with | ||
end sub | end sub | ||
| − | |||
</pre> | </pre> | ||
== Group Setup == | == Group Setup == | ||
| − | Now define a group setup routine setting up the common group parameters. | + | Now define a group setup routine for setting up the common group parameters. |
| − | {{Note| | + | {{Note| It is assumed that the working range of the robot for every axis is between 0 mm and +300 mm}} |
<pre> | <pre> | ||
| Line 143: | Line 139: | ||
end sub | end sub | ||
</pre> | </pre> | ||
| − | |||
== Complete Task == | == Complete Task == | ||
| − | + | Lastly, the main program block of the SETUP.PRG: | |
| − | |||
<pre> | <pre> | ||
dim shared profile as long = -1' 2 - Acceleration Trapeze Profile, -1-Sine Acceleration | dim shared profile as long = -1' 2 - Acceleration Trapeze Profile, -1-Sine Acceleration | ||
Revision as of 07:19, 19 August 2014
Introduction
The following example demonstrates how to setup a cartesian group. It will configure basic setup of an XYZ orthogonal system. The setup will be done in SETUP.PRG task.
Configuration
First of all, a cartesian group must be defined in CONFIG.PRG file:
common shared gXYZ as group Axnm = a1 Axnm = a2 Axnm = a3 model=1 of xyz
Axis Definition
Next, in the SETUP.PRG task, define subroutine for setting up a linear axis :
 | NOTE |
| It is assumed there is a global integer array pos_units[] defined in the system. It holds the position resolution of each axes; e.g., the number of counts in one full revolution of the motor. |
| NOTE |
| In this example it is assumed there is no gear between the linear screw and the motor, and the pitch of the screw is 5 mm per revolution |
sub SetAxis(ax as generic axis, byval vvv as double)
with ax
attach
en = 0
sleep 10
' simulated = 0
pfac = pos_units[elementid]/5 'For 5mm pitch
vfac = pfac/1000 ' mm /sec
afac = vfac/1000 ' mm /sec^2
jfac = afac/1000 ' mm / sec^3
vmax = vvv
amax = 1500
dmax = 1500
jmax = omega*amax ' Fast reacting
vcruise = vmax
acc = amax
dec = dmax
jerk = jmax
prftype = profile
smooth = -1
vospd = 2*vmax
velocitysafetylimit = 100*vmax
positionerrorsettle = 5
pemax = 1
pmaxen = 1
pminen = 1
disp = 0
abs = 1
positionrolloverenable = 0
' simulated = 1
Print "axis ";elementname;" set."
detach
end with
end sub
Group Setup
Now define a group setup routine for setting up the common group parameters.
| NOTE |
| It is assumed that the working range of the robot for every axis is between 0 mm and +300 mm |
sub SetGroup(gr as generic group)
dim i as long
with gr
attach
en = 0
sleep 10
vfac = 1/1000
afac = vfac/1000
jfac = afac/1000
positionerrorsettle = 2
pemax = 1
abs = 1
a1.axistype = 0
a2.axistype = 0
a3.axistype = 0
configgroup
vmax = 1000 ' mm/sec
amax = 1500 ' 1500 mm/sec^2
dmax = 1500 ' 1500 mm/sec^2
jmax = omega*amax
vcruise = vmax
acc = amax
dec = dmax
jerk = jmax
vmtran = vmax
amtran = amax
jmtran = jmax
vtran = vmtran
atran = amtran
dtran = amtran
jtran = jmtran
vmrot = vmax
amrot = amax
jmrot = jmax
vrot = vmrot
arot = amrot
drot = amrot
jrot = jmrot
xmax = 300
xmin = 0
ymax = 300
ymin = 0
zmax = 300
zmin = 0
rmin = 0
rmax = 4000
smooth = -1
prftype = profile
j1.pmin = 0
a1.pmin = 0
j2.pmin = 0
a2.pmin = 0
j3.pmin = 0
a3.pmin = 0
j1.pmax = 300
a1.pmax = 300
j2.pmax = 300
a2.pmax = 300
j3.pmax = 300
a3.pmax = 300
Print "group ";elementname;" set."
detach
end with
end sub
Complete Task
Lastly, the main program block of the SETUP.PRG:
dim shared profile as long = -1' 2 - Acceleration Trapeze Profile, -1-Sine Acceleration
dim shared omega as double = 15
program
call Setaxis(a1,1000) ' X max speed 1000mm/sec
call Setaxis(a2,1000) ' Y max speed 1000mm/sec
call Setaxis(a3,1000) ' Z max speed 1000mm/sec
call SetGroup(GXYZ)
end program