Projecte 39: El Lenguaje V

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• Aplicaciones en fundición.
• Aplicaciones de Soldadura
• Aplicación de Pintura, Esmalte, Partículas de
metal, etc.
• Alimentación de máquinas.
• Corte.
• Montaje / Ensamblaje
• Paletización
• Pick and place
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EJEMPLO DE MENU
.PROGRAM sub.menu()
; DESCRIPCIÓN: Este programa ofrece al operario un menú con las
; opciones que puede seleccionar, desde su terminal de usuario
; (botonera/ PC).
; Después de introducir una entrada desde el teclado, el programa
; ejecutará la operación seleccionada.
; El menú incluye la ejecución del programa de pick and place, mostrar
; los puntos, y volver al menu principal.
; SUPONEMOS: Las funciones pick.place() y teach() definidas.
AUTO opcion, salir, $frase
salir = FALSE
DO
TYPE /C2, "MENU DE OPERACIÓN PICK AND PLACE"
TYPE /C1, " 1 => Inicializar pick and place"
TYPE /C1, " 2 => Mostrar localización puntos"
TYPE /C1, " 3 => Volver al menu principal", /C1
PROMPT "Selecciona una opcion y presiona INTRO: ", $frase
opcion = VAL($frase)
;Convierte un string en un numero
CASE opcion OF
;entramos en el menu...
VALUE 1:
;...seleccion 1
TYPE /C2, "Iniciando operacion..."
CALL move.parts()
VALUE 2:
;...seleccion 2
CALL teach()
VALUE 3:
;...seleccion 3
salir = TRUE
ANY
;...si se presiona cualquier otra tecla
TYPE /B, /C1, "** ENTRADA NO VALIDA E R R O R **"
END
;Fin del CASE
UNTIL salir
;Fin del DO
.END
Este programa permite al operario grabar las
posiciones de pick, place y start, con la paleta de
control manual.
.PROGRAM teach(pick, place, start)
; ABSTRACT: Este programa se usa para grabar las posiciones
;"pick", "place", y "start" del "move.parts" programa.
; PARÁMETROS DE ENTRADA: Ninguno
; PARÁMETROS DE SALIDA: pick, place, y empezar
; EFECTOS SECUNDARIOS: El robot está inactivo mientras la rutina está
; activada.
AUTO $borrar.display
;variable
$borrar.display = $CHR(12)+$CHR(7)
ATTACH (1) ;Desactiva el control automatico del robot
DETACH (0) ;Realiza el control manual del robot
; Salida en el display del control manual.
WRITE (1) $borrar.display, "Mueve el robot a la posicion 'START' & pulsa
RECORD"
WRITE (1) /X17, "RECORD", $CHR(5), /S
WRITE (1) $CHR(30), $CHR(3), /S ;Parpadea el led de la paleta de control
WAIT PENDANT(3) ;Esperar que una tecla sea pulsada
HERE start
;Graba la posición "start"
; Aviso, en el display de la segunda localización
WRITE (1) $borrar.display, "Mueve el robot a la posicion 'PICK' y pulsa
RECORD"
WRITE (1) /X17, "RECORD", $CHR(5), /S
WAIT PENDANT(3) ; Esperar que una tecla sea pulsada
HERE pick
;Graba la posición "pick"
; Aviso, en el display de la tercera localización
WRITE (1) $borrar.display, "Mueve el robot a la posición 'PLACE' y pulsa
RECORD"
WRITE (1) /X17, "RECORD", $CHR(5), /S
WAIT PENDANT(3) ; Esperar que una tecla sea pulsada
HERE place
;Graba la posicion "place"
ATTACH (0) ;Activa el control automatico del robot
DETACH (1) ;Anula el control manual del robot
RETURN
.END
;Vuelve a llamar al programa
; Finaliza el programa
E je m p lo d e P a le t iz a c ió n
.P R O G R A M m o v e .p a r t s ( )
;D E S C R IP C IO N :
E s te p r o g r a m a c o g e c a ja s e n la lo c a liz a c ió n “ p ic k ”
; y la s d e p o s ita e n “ p la c e ” , in c r e m e n ta n d o la z d e p la c e , y a s í a p ila n d o
; la s c a ja s e n e l p a le t.
p a r ts = 6
; n º d e c a ja s a a p ila r
h e ig h t1 = 3 0 0
; a ltu r a d e “a p p r o a c h /d e p a r t” e n “ p ic k ”
h e ig h t2 = 5 0 0
; a ltu r a d e “a p p r o a c h /d e p a r t” e n “ p la c e ”
p a r a m e te r H A N D .T IM E = 0 .1 6
; m o v im ie n to d e l b r a z o le n to
OPEN
; a p e r tu r a d e p in z a
R IG H T Y
; s e le c c io n a m o s c o n fig u r a c ió n d e r e c h a
M O V E s ta rt
; m o v e r a la lo c a liz a c ió n s e g u r a d e in ic io
F O R i = 1 T O p a r ts
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A P P R O p ic k , h e ig h t1
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M O V E S p ic k
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CLOSEI
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A P P R O p la c e , h e ig h t2
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M O V E S p la c e
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O PENI
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D E P A R T S h e ig h t2
; v o lv e r a la p o s ic ió n a n te r io r
S H IF T h e ic h t2 B Y 0 .0 0 , 0 .0 0 , 3 0 0
END
T Y P E “ F in d e ta r e a . ” , /IO , p a r ts , “ c a ja s a p lia d a s .”
RETURN
; fin d e l p r o g r a m a
.E N D