Program Examples:Reverse engineering for cam table/zh-hans
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这是使用凸轮表而对凸轮数据没有任何定义的一个例子。
文件buildCam.prg根据生成的配置文件执行运动并构建凸轮表。
文件app.prg是使用凸轮表的应用程序。 在这个例子中，我们使用tex-el应用程序来处理纺织材料的机器。
buildCam.prg (使用带有record.lib的默认配置)
'------------------------------------------------------------------------------
' File: buildCam.prg
' Purpose: tex-el motion application
' Version: 1.00
' Author: Eran Korkidi
' Description:
' History: 13-APR-2015 Created
'------------------------------------------------------------------------------
import record.lib
common shared builtCamTable as CAM
dim shared sCarriageprfRec as string ="CRG_prf.rec"
dim shared sT2prfRec as string ="T2_prf.rec"
dim shared sBasculaprfRec as string ="BSC_prf.rec"
dim shared camTable[10000] as double
dim shared camTray[10000] as double
dim shared carriageDistance as double = 562.4
dim shared masterDistance as double = sqrt(2)*2*562.4 ' = 1590.71
dim shared basculaDistance as double = 210.0
dim shared carriageVcruise as double = 424.0
dim shared masterIncrements as double
dim shared T2DistanceTotal as double = 422.0
dim shared T2DistancePos as double = 214.45901693934426
dim shared T2DistanceNeg as double = 207.5409836065574
dim shared T2vcruise as double = 100.0 ' TBD
dim shared basculaVcruise as double = 100.0 ' TBD
program
dim i as long
call motionRecCarriage
call motionRecT2
call motionRecBascula
call generateRecordingTableCarriage
StoreCamData CARRIAGE.CAM builtCamTable
' for i = 1 to builtCamTable.Size
' Print "MasterData[" i "]=" builtCamTable.MasterData[i] " , SlaveData[" i "]=" builtCamTable.SlaveData[i]
' Sleep 50
' next
'
call generateRecordingTableT2
StoreCamData T2.CAM builtCamTable
' for i = 1 to builtCamTable.Size
' Print "MasterData[" i "]=" builtCamTable.MasterData[i] " , SlaveData[" i "]=" builtCamTable.SlaveData[i]
' Sleep 50
' next
call generateRecordingTableBascula
StoreCamData BASCULA.CAM builtCamTable
for i = 1 to builtCamTable.Size
Print "MasterData[" i "]=" builtCamTable.MasterData[i] " , SlaveData[" i "]=" builtCamTable.SlaveData[i]
Sleep 10
next
terminate program
sub motionRecCarriage
Record$ sCarriageprfRec 10000 Gap=1 RecData = A2.IsMoving, A2.Pcmd, A2.Vfb, A2.Vcmd, A2.Pfb
Attach A2
A2.En=1
Move A2 0 Vcruise=carriageVcruise Abs=TRUE 'Acc=1000 Dec=1000
while A2.IsMoving
Sleep 1
end while
RecordOn
Sleep 40
Move A2 carriageDistance Vcruise=carriageVcruise Abs=TRUE 'Acc=1000 Dec=1000
while A2.IsMoving
Sleep 1
end while
Move A2 0 Vcruise=carriageVcruise Abs=TRUE StartType=SUPERIMMEDIATE 'Acc=1000 Dec=1000
while A2.IsMoving
Sleep 1
end while
Sleep 40
RecordClose
Detach A2
end sub
sub motionRecT2
Record$ sT2prfRec 10000 Gap=1 RecData = A2.IsMoving, A2.Pcmd, A2.Vfb, A2.Vcmd, A2.Pfb
Attach A2
A2.En=1
Move A2 0 Vcruise=carriageVcruise Abs=TRUE
while A2.IsMoving
Sleep 1
end while
RecordOn
Sleep 40
Move A2 T2DistancePos Vcruise=T2vcruise Abs=TRUE
while A2.IsMoving
Sleep 1
end while
Move A2 -T2DistanceNeg Vcruise=T2vcruise Abs=FALSE StartType=SUPERIMMEDIATE
while A2.IsMoving
Sleep 1
end while
Sleep 40
RecordClose
Move A2 0 Vcruise=T2vcruise Abs=TRUE
while A2.IsMoving
Sleep 1
end while
Detach A2
end sub
sub generateRecordingTableCarriage
dim sCRSfile as string
dim handleAddress as long = 1
dim sCurrentLine as string
dim dA2pcmd as double
dim lA2ismoving as double
dim lCommaLoc as long
dim tableCounter as long = 0
dim i as long
tableCounter = 0
if recconvert(sCarriageprfRec) <> 1 then
Print "convert failed"
else
sCRSfile = Left$(sCarriageprfRec,Len(sCarriageprfRec)-4) + ".CSR"
Open sCRSfile Mode="r" as #handleAddress
sCurrentLine = input$(#handleAddress)
while sCurrentLine <> ""
lCommaLoc = Instr(sCurrentLine,",")
lA2ismoving = Val(Left$(sCurrentLine, lCommaLoc-1))
sCurrentLine = Right$(sCurrentLine,Len(sCurrentLine)- lCommaLoc)
dA2pcmd = Val(Left$(sCurrentLine, lCommaLoc-1))
if lA2ismoving then
tableCounter = tableCounter + 1
'Print "dA2ismoving="lA2ismoving, " , dA2pcmd="dA2pcmd
camTable[tableCounter] = dA2pcmd
end if
sCurrentLine = input$(#handleAddress)
end while
close #handleAddress
masterIncrements = masterDistance/(tableCounter+1)
createcamdata tableCounter+2 builtCamTable
builtCamTable.MasterData[1] = 0.0
builtCamTable.SlaveData[1] = 0.0
for i = 1 to builtCamTable.Size-2
builtCamTable.MasterData[i+1] = masterIncrements * i
builtCamTable.SlaveData[i+1] = camTable[i]
next
builtCamTable.MasterData[builtCamTable.Size] = masterDistance
builtCamTable.SlaveData[builtCamTable.Size] = 0.0
end if
end sub
sub generateRecordingTableT2
dim sCRSfile as string
dim handleAddress as long = 1
dim sCurrentLine as string
dim dA2pcmd as double
dim lA2ismoving as double
dim lCommaLoc as long
dim tableCounter as long = 0
dim i as long
tableCounter = 0
if recconvert(sT2prfRec) <> 1 then
Print "convert failed"
else
sCRSfile = Left$(sT2prfRec,Len(sT2prfRec)-4) + ".CSR"
Open sCRSfile Mode="r" as #handleAddress
sCurrentLine = input$(#handleAddress)
while sCurrentLine <> ""
lCommaLoc = Instr(sCurrentLine,",")
lA2ismoving = Val(Left$(sCurrentLine, lCommaLoc-1))
sCurrentLine = Right$(sCurrentLine,Len(sCurrentLine)- lCommaLoc)
dA2pcmd = Val(Left$(sCurrentLine, lCommaLoc-1))
if lA2ismoving then
tableCounter = tableCounter + 1
'Print "dA2ismoving="lA2ismoving, " , dA2pcmd="dA2pcmd
camTable[tableCounter] = dA2pcmd
end if
sCurrentLine = input$(#handleAddress)
end while
close #handleAddress
masterIncrements = T2DistanceTotal/tableCounter
createcamdata tableCounter+1 builtCamTable
builtCamTable.MasterData[1] = 0.0
builtCamTable.SlaveData[1] = 0.0
for i = 1 to builtCamTable.Size-1
builtCamTable.MasterData[i+1] = masterIncrements * i
builtCamTable.SlaveData[i+1] = camTable[i]
next
end if
end sub
sub motionRecBascula
Record$ sBasculaprfRec 10000 Gap=1 RecData = A2.IsMoving, A2.Pcmd', A2.Vfb, A2.Vcmd, A2.Pfb
Attach A2
A2.En=1
Move A2 0 Vcruise=basculaVcruise Abs=TRUE
while A2.IsMoving
Sleep 1
end while
RecordOn
Sleep 40
Move A2 basculaDistance Vcruise=basculaVcruise Abs=TRUE
while A2.IsMoving
Sleep 1
end while
Move A2 0 Vcruise=basculaVcruise Abs=TRUE StartType=SUPERIMMEDIATE
while A2.IsMoving
Sleep 1
end while
Sleep 40
RecordClose
Detach A2
end sub
sub generateRecordingTableBascula
dim sCRSfile as string
dim handleAddress as long = 1
dim sCurrentLine as string
dim dA2pcmd as double
dim lA2ismoving as double
dim lCommaLoc as long
dim tableCounter as long = 0
dim i as long
tableCounter = 0
if recconvert(sBasculaprfRec) <> 1 then
Print "convert failed"
else
sCRSfile = Left$(sBasculaprfRec,Len(sBasculaprfRec)-4) + ".CSR"
Open sCRSfile Mode="r" as #handleAddress
sCurrentLine = input$(#handleAddress)
while sCurrentLine <> ""
lCommaLoc = Instr(sCurrentLine,",")
lA2ismoving = Val(Left$(sCurrentLine, lCommaLoc-1))
sCurrentLine = Right$(sCurrentLine,Len(sCurrentLine)- lCommaLoc)
dA2pcmd = Val(Left$(sCurrentLine, lCommaLoc-1))
if lA2ismoving then
tableCounter = tableCounter + 1
'Print "dA2ismoving="lA2ismoving, " , dA2pcmd="dA2pcmd
camTable[tableCounter] = dA2pcmd
end if
sCurrentLine = input$(#handleAddress)
end while
close #handleAddress
masterIncrements = T2DistanceTotal/(tableCounter+1)
createcamdata tableCounter+2 builtCamTable
builtCamTable.MasterData[1] = 0.0
builtCamTable.SlaveData[1] = 0.0
for i = 1 to builtCamTable.Size-2
builtCamTable.MasterData[i+1] = masterIncrements * i
builtCamTable.SlaveData[i+1] = camTable[i]
next
builtCamTable.MasterData[builtCamTable.Size] = T2DistanceTotal
builtCamTable.SlaveData[builtCamTable.Size] = 0.0
end if
end sub
app.prg (使用默认配置，首选运行buildCam.prg后)
'------------------------------------------------------------------------------
' File: CamDemo.prg
' Purpose: tex-el motion application
' Version: 1.00
' Author: Eran Korkidi
' Description:
' History: 13-APR-2015 Created
'------------------------------------------------------------------------------
common shared camCariage as CAM
common shared camT2 as CAM
common shared camBascula as CAM
common shared MASTER as generic axis
common shared CARRIAGE as generic axis
common shared BASCULA as generic axis
common shared T2 as generic axis
program
call setaxis(A5,1000)
call setaxis(A4,1000)
call setaxis(A3,1000)
call setaxis(A2,1000)
call SetAxis(A1,1000)
try
LoadCamData CARRIAGE.CAM camCariage
catch 3063
Load buildCam.prg
Stas buildCam.prg
Sleep 20*1000
LoadCamData CARRIAGE.CAM camCariage
end try
try
LoadCamData T2.CAM camT2
catch 3063
Load buildCam.prg
Stas buildCam.prg
Sleep 20*1000
LoadCamData T2.CAM camT2
end try
try
LoadCamData BASCULA.CAM camBascula
catch 3063
Load buildCam.prg
Stas buildCam.prg
Sleep 20*1000
LoadCamData BASCULA.CAM camBascula
end try
camCariage.Cycle = -1
camT2.Cycle = -1
camBascula.Cycle = -1
Attach A2
A2.MasterSource = A1.PositionFeedback
A2.GearRatio = 1'0.5
A2.Slave = GEAR
A2.En=1
Detach A2
Attach A3
a3.MasterSource = a2.Pcmd
a3.GearRatio = 1.0
a3.CamOffset = camCariage.MasterData[1]
a3.FirstCam = camCariage
a3.Slave = CAM
A3.En = 1
Detach A3
Attach A4
a4.MasterSource = a2.Pcmd
a4.GearRatio = 1.0
a4.CamOffset = camT2.MasterData[1]
a4.FirstCam = camT2
a4.Slave = CAM
A4.En = 1
Detach A4
Attach A5
A5.MasterSource = a2.Pcmd
A5.GearRatio = 1.0
A5.CamOffset = camBascula.MasterData[1]
A5.FirstCam = camBascula
A5.Slave = CAM
A5.En = 1
Detach A5
MASTER = A1
CARRIAGE = A3
T2 = A4
BASCULA = A5
Attach A1
A1.En=1
Record crg_T3.REC 20000 Gap=1 RecData = MASTER.Vcmd, CARRIAGE.Pcmd, CARRIAGE.Vcmd, T2.Pcmd, T2.Vcmd, BASCULA.Pcmd, BASCULA.Vcmd
RecordOn
Sleep 10
Jog A1 100
Sleep 24000
RecordClose
while 1
Sleep 10
end while
Detach A1
end program
sub SetAxis(ax as generic axis, byval vvv as double)
dim omega as double = 15
dim profile as long = -1
with ax
Attach
Slave = 0
En = 0
Sleep 10
Simulated = 1
Pfac = 1E6/5
Vfac = pfac/1000
Afac = vfac/1000
Jfac = afac/1000
Vmax = vvv
Amax = omega*Vmax
Dmax = omega*Vmax
Jmax = omega*Amax
Vcruise = Vmax
Acc = Amax
Dec = Dmax
Jerk = Jmax
prftype = profile
Smooth = -1
Vospd = 2*Vmax
VelocitySafetyLimit = 100*Vmax
Positionerrorsettle = 5
PeMax = 10
PmaxEn = 1
PminEn = 1
Disp = 0
Absolute = 1
Positionrolloverenable = 0
Simulated = 1
Print "axis "; ElementName ; " set."
Detach
end with
end sub