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| | {{Languages|Program_Examples:Path-PLS}} | | {{Languages|Program_Examples:Path-PLS}} |
| − | here is an example of using path PLS with PUMA robot
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| − | PLStest.PRG:
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| − | <syntaxhighlight lang="vb">
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| − | '------------------------------------------------------------------------------
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| − | ' File: PLStest.PRG
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| − | ' Purpose: generating puma motion with PLS: PLSlengh and PlsPercentage
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| − | ' Version: 1.00
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| − | ' Author: Eran Korkidi
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| − | ' History: 08.DEC.2015 - created
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| − | '------------------------------------------------------------------------------
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| − | | |
| − | dim shared loc1 as location of xyzypr = #{500.0 , -920.0 , -50.0 , 50.0 , 180 , 0}
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| − | dim shared loc2 as location of xyzypr = #{-500.0 , -920.0 , -50.0 , 50.0 , 180 , 0}
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| − | | |
| − | common shared P1 as pls PUMA Sys.Dout.101
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| − | common shared P2 as pls PUMA Sys.Dout.102
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| − | common shared P3 as pls PUMA Sys.Dout.103
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| − | | |
| − | program
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| − | | |
| − | CreatePLSdata 4 P1
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| − | 'CreatePLSdata P2 2
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| − | 'CreatePLSdata P3 2
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| − | | |
| − | P1.plsposition[1] = 10
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| − | P1.plsposition[2] = 20
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| − | P1.plsposition[3] = 80
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| − | P1.plsposition[4] = 90
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| − | | |
| − | Attach Puma
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| − | Puma.PLSsource = Puma.PathLength
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| − | Puma.en = 1
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| − | P1.PlsEnable = TRUE
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| − | Move Puma loc1 Vcruise=10
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| − | while Puma.IsMoving
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| − | Sleep 1
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| − | end while
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| − | Record Motion.rec 3000 Gap = 1 RecData = Sys.Dout.101 * 100, Puma.Setpoint{1}
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| − | RecordOn
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| − | MOVES Puma loc2 WithPLS = P1
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| − | while Puma.IsMoving
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| − | Sleep 1
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| − | end while
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| − | RecordClose
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| − | | |
| − | P1.PlsEnable = FALSE
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| − | Puma.PLSsource = Puma.PATHPERCENTAGE
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| − | Puma.en = 1
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| − | P1.PlsEnable = TRUE
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| − | Move Puma loc1 Vcruise=10
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| − | while Puma.IsMoving
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| − | Sleep 1
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| − | end while
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| − | Record Motion1.rec 3000 Gap = 1 RecData = Sys.Dout.101 * 100, Puma.Setpoint{1}
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| − | RecordOn
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| − | MOVES Puma loc2 WithPLS = P1
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| − | while Puma.IsMoving
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| − | Sleep 1
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| − | end while
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| − | RecordClose
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| − | Detach Puma
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| − | | |
| − | end program ' <MyTask>.prg
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| − | | |
| − | </syntaxhighlight>
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