Program Examples:Defining a Cartesian Group

Introduction

The following example demonstrate 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 crtesian 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

Then in the SETUP.PRG task define subroutine for setting up a linear axis :

	NOTE
	We assume there is a global integer array pos_units[] defined in the system. It holds position resolution of each axes, e.g. howm any counts there is in one full revolution of the motor.

	NOTE
	In this example we assume there is no gear between the linear screw and the motor, and the pitch of the screw is 5mm 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 setting up the common group parameters.

	NOTE
	here we assume that the working range of the robot for every axis between 0 and +300mm

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

At the end we need 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