自动焊台v0.2

焊台v0.2"/>

自动焊台v0.2

更改：
1、增加圆周焊接轨迹。
2、增加轨迹优化。
3、增加清洗轨迹。
4、增加PLC+焊丝同步时间。

'Created: 4/21/2020 4:41:28 PM
Module GPLPublic Sub MAINRobot.Attached = 1'Dim count As byte    #Region recipe1'While Signal.DIO(s2001)==True                     'PLC said:weld readyWhile True                                         'XXXXXXXX'For count=1 To 10                             'loop 10 times'While Signal.DIO(s2002)==True             'put the button:start'While True                                'XXXXXXXX'=========================================================================='NO.1:Move.Approach(point1,speed1)          'point1 upwardMove.Loc(point1,speed2)               'point1 location'Signal.DIO(s2003)=True                'send message "point1 ready"Move.Delay(0.5)                       'PLC in stepMove.circle(circle1,circle2,weldspeed)'welding:path circle'Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"'Signal.DIO(s2003)=False               'send message "move to next point"'Signal.DIO(s2004)=False               'send message "move to next point"Move.Approach(point1,speed1)          'point1 upward'weld done'==========================================================================='NO.2:Move.ForceOverlap(0,50)               'path optimizeMove.Approach(point2,speed1)          'point2 upwardMove.ForceOverlap(0,50)               'path optimizeMove.Loc(point2,speed2)               'point1 location'Signal.DIO(s2003)=True                'send message "point2 ready"'Move.Trigger(Signal.DIO(s2004)==True) 'wait for "weld done"'Signal.DIO(s2003)=False               'send message "move to next point"'Signal.DIO(s2004)=False               'send message "move to next point"Move.Approach(point2,speed1)'weld done'==========================================================================='End While'End For'==================================================================================='blush start:Move.Approach(point10,speed1)                 'point10 upwardMove.Loc(point10,speed2)                      'point10 location'Signal.DIO(s2005)=True                        'send message "blush ready"'Move.Trigger(Signal.DIO(s2006)==True)         'wait for "blush done"'Signal.DIO(s2005)=False                       'send message "move to next point"'Signal.DIO(s2006)=False                       'send message "move to next point"Move.Approach(point10,speed1)                 'point10 upwardMove.Loc(point0,speed1)                       'point0 location'blush done'===================================================================================End While#End Region                                       End Sub 
End Module