Difference between revisions of "Program Examples: Events"

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<syntaxhighlight lang="vb">
 
<syntaxhighlight lang="vb">
 
'------------------------------------------------------------------------------
 
'------------------------------------------------------------------------------
−
' File:        Puma_CG.prg
+
' File:        ev_try.prg
−
' Purpose:    cartesian gearing example
+
' Purpose:    example of using events to catch motion event
 
' Version:    1.00
 
' Version:    1.00
 
' Author:      Eran Korkidi
 
' Author:      Eran Korkidi
−
' History:    25.JUL.2016
+
' History:    12.APR.2020
 
'------------------------------------------------------------------------------
 
'------------------------------------------------------------------------------
−
 
−
import_c CG_VER (byval as long, byval as long, byval as long) as long
 
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import_c CG_STATUS (byval as long, byval as long, byval as long) as long
 
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import_c CG_SET (byval as long, byval as long, byval as long) as long
 
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import_c CG_UNSET (byval as long, byval as long, byval as long) as long
 
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import_c CG_MOD (byval as long, byval as long, byval as long) as long
 
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import_c CG_STOP (byval as long, byval as long, byval as long) as long
 
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import_c CG_START (byval as long, byval as long, byval as long) as long
 
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import_c CG_MASK (byval as long, byval as long, byval as long) as long
 
−
 
−
 
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dim shared lRobotID as long
 
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dim shared laxisID as long
 
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dim shared lResolution as long
 
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dim shared lGearMode as long = 1 ' 1 = commmand, 0 = fbk
 
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dim shared lDummy as long = 0
 
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dim shared jntStartPosition as joint of xyzypr = {0,45,0,0,45,0}
 
  
 
program
 
program
  
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call cartesianGearSetup
+
OnEvent ev1 distl(VcmdCart, VcmdCart*0) > 250
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call motionSetup
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  Print "V > 250"
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call executMotion
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End Onevent
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end program ' <MyTask>.prg
 
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−
 
 
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sub executMotion
 
−
 
 
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dim dPrevA13position as double
 
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dim dPath as double
 
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Attach Puma
 
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Attach A13
 
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Puma.En = ON
 
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A13.En = ON
 
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Move PUMA jntStartPosition Vcruise=PUMA.Vmax
 
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call waitMotionGr
 
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'Move A13 0 Vcruise=A13.Vmax Abs=1
 
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call waitMotionAx
 
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Sleep 1000
 
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A13.Slave = ON
 
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Sleep 1000
 
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dPrevA13position = A13.Pcmd
 
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Moves PUMA #{100,0,0,0,0,0} Vtran=100 Abs=OFF Upar=1
 
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call waitMotionGr
 
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Moves PUMA #{-100,0,0,0,0,0} Vtran=100 Abs=OFF Upar=1
 
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call waitMotionGr
 
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Moves PUMA #{100,0,0,0,0,0} Vtran=100 Abs=OFF Upar=1
 
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call waitMotionGr
 
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Circle PUMA Angle=360 CircleCenter=jntStartPosition Vtran=100 Upar=1
 
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call waitMotionGr
 
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Sleep 1000
 
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A13.Slave = OFF
 
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dPath = A13.Pcmd - dPrevA13position
 
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? "Path = " dPath  ", should be " A13.GearRatio*(100*3 + 2*100*PI)
 
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Detach A13
 
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Detach Puma
 
−
 
 
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end sub
 
−
 
 
−
 
 
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sub cartesianGearSetup
 
−
 
 
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lRobotID = PUMA.ElementId
 
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laxisID = A13.ElementId
 
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lResolution = 1E5
 
−
 
 
−
 
 
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' ? CG_STOP(lDummy, lDummy, lDummy)
 
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? CG_VER(lDummy, lDummy, lDummy)
 
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? CG_STATUS(lDummy, lDummy, lDummy)
 
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? CG_MASK(0b111, 0, 0) ' xyz
 
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? CG_UNSET(lRobotID, laxisID, 0)
 
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? CG_SET(lRobotID, laxisID, lResolution)
 
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' ? CG_RESET(lRobotID, 0, 0)
 
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? CG_MOD(lGearMode, 0, 0)
 
−
 
 
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end sub
 
−
 
 
−
 
 
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sub motionSetup
 
−
 
 
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dim i as long
 
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dim genAxis as generic axis
 
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for i = 1 to Sys.Naxes
 
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genAxis = systemAxis(i)
 
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genAxis.En = OFF
 
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Attach genAxis
 
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genAxis.Pedel = 2.0
 
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genAxis.PeMax = 10.0
 
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Detach genAxis
 
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next
 
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Attach A13
 
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A13.PextFac = lResolution
 
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A13.MasterSource = A13.Pext
 
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A13.GearRatio = 2
 
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A13.Slave = 0
 
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A13.Vmax = PUMA.Vmax
 
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A13.Amax = A13.Vmax * 10.0
 
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A13.Dmax = A13.Vmax * 10.0
 
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A13.Jmax = A13.Amax * 10.0
 
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A13.Vcruise = A13.Vmax
 
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A13.Acc = A13.Amax
 
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A13.Dec = A13.Dmax
 
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A13.Jerk = A13.Jmax
 
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A13.Vospd = A13.Vmax * 1.2
 
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A13.Pfac = 1E6 / 360
 
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A13.Vfac = A13.Pfac / 1E3
 
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A13.Afac = A13.Pfac / 1E6
 
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A13.Jfac = A13.Pfac / 1E9
 
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Detach A13
 
−
 
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end sub
 
−
 
 
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sub waitMotionGr
 
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while PUMA.IsMoving
 
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Sleep  1
 
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end while
 
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end sub
 
  
 +
  Attach SCARA
 +
  SCARA.en=1
 +
  Move SCARA {0,0,0,0}
 +
  waitformotion SCARA
 +
  eventon ev1
  
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sub waitMotionAx
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  Move SCARA {100,0,0,0} Vcruise=300 Acc=10
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while A13.IsMoving
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  waitformotion SCARA
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Sleep 1
 
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end while
 
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end sub
 
  
 +
  Detach SCARA
 +
end program
  
 
</syntaxhighlight>
 
</syntaxhighlight>

Latest revision as of 15:54, 12 April 2020

Language: English

Here is an example of using Events in MC-Basic:

 

  

'------------------------------------------------------------------------------
' File:        ev_try.prg
' Purpose:     example of using events to catch motion event
' Version:     1.00
' Author:      Eran Korkidi
' History:     12.APR.2020
'------------------------------------------------------------------------------

program

OnEvent ev1 distl(VcmdCart, VcmdCart*0) > 250
  Print "V > 250"
End Onevent

  Attach SCARA
  SCARA.en=1
  Move SCARA {0,0,0,0}
  waitformotion SCARA
  eventon ev1

  Move SCARA {100,0,0,0} Vcruise=300 Acc=10
  waitformotion SCARA

  Detach SCARA
end program
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