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2nd Grinder on Robot 2 implementated and commissioned

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This commit is contained in:
Michael Rest
2016-01-18 12:01:30 +01:00
parent d4ab63285b
commit 02f0f7df25
11 changed files with 27 additions and 20 deletions
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4
Logical/Axises/ACPPar/gAxR2G2a/gAxR2G2a.apt
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@@ -1,5 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=?>
<AcoposParameterTable>
<Root Name="Parameters" />
<Root Name="Parameters">
<Parameter Name="SGEN_SW_END_IGNORE" ID="128" Value="1" Description="Limit values: Ignore SW end positions" />
</Root>
</AcoposParameterTable>

4
Logical/Axises/Axisctrl2/AxisctrlR2G2.st
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@@ -18,9 +18,9 @@ AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource := ncTRIGGER1; //ncTr
AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge := ncP_EDGE; //ncN_Edge
//Access global ACP10 Axis Objects
udAxisObj := ADR (gAxR1G2);
udAxisObj := ADR (gAxR2G2);
//This Axis is always slave (in case OF CAM/Gear)
udAxisMasterObj := ADR (gAxR1G2);
udAxisMasterObj := ADR (gAxR2G2);
udAxisSlaveObj := udAxisObj;
//Initial Step

5
Logical/Axises/GrindCtrl2/GrindCtrl.st
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@@ -40,7 +40,7 @@ PROGRAM _CYCLIC
((lenActivePrg = enROB_PRG_BEL) AND (lABBRobot.In.usToolCode = TOOLID_BEL)) OR
((lenActivePrg = enROB_PRG_MAL) AND (lABBRobot.In.usToolCode = TOOLID_MAL)) OR
((lenActivePrg = enROB_PRG_FoKo) AND (lABBRobot.In.usToolCode = TOOLID_FoKo));
bToolOk := (lenActivePrg = enROB_PRG_CBF);
bToolOk := (lenActivePrg = enROB_PRG_CBF) OR (lenActivePrg = enROB_PRG_LUR);
//Move Conditions
MoveConditions.bEnableNegSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay1IsOut;
MoveConditions.bEnablePosSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay1IsIn;
@@ -369,7 +369,8 @@ PROGRAM _CYCLIC
//Start Grinder 2
lAxisGrinder2.Para.JogMode := enAxJOG;
lAxisGrinder2.Move.bJogPos := lAxisGrinder2.DriveStatus.bControllerStatus AND (lABBRobot.In.bGrinder2On OR ManualCommands.bStartGrinder2) AND lMachine.bMachineON AND lbDoorIsClosedHolded AND TON_SafetyOkDoorzone.Q;
lAxisGrinder2.Move.bJogPos := FALSE;
lAxisGrinder2.Move.bJogNeg := lAxisGrinder2.DriveStatus.bControllerStatus AND (lABBRobot.In.bGrinder2On OR ManualCommands.bStartGrinder2) AND lMachine.bMachineON AND lbDoorIsClosedHolded AND TON_SafetyOkDoorzone.Q;
//Alarms
//=====================================================

8
Logical/Axises/Init/gAxR2G2i/gAxR2G2i.ax
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@@ -34,8 +34,8 @@
<Parameter ID="t_in_pos" Value="0" />
<Parameter ID="pos_sw_end" Value="2000000000" />
<Parameter ID="neg_sw_end" Value="-2000000000" />
<Parameter ID="ds_warning" Value="500" />
<Parameter ID="ds_stop" Value="1000" />
<Parameter ID="ds_warning" Value="100000.0" />
<Parameter ID="ds_stop" Value="1000000.0" />
<Parameter ID="a_stop" Value="1.0e30" />
<Parameter ID="dv_stop" Value="0" />
<Parameter ID="dv_stop_mode" Value="ncOFF" />
@@ -44,7 +44,7 @@
<Group ID="controller">
<Parameter ID="mode" Value="ncPOSITION" />
<Group ID="position">
<Parameter ID="kv" Value="50" />
<Parameter ID="kv" Value="1200.0" />
<Parameter ID="tn" Value="0" />
<Parameter ID="t_predict" Value="0.0004" />
<Parameter ID="t_total" Value="0.0004" />
@@ -52,7 +52,7 @@
<Parameter ID="i_max" Value="0" />
</Group>
<Group ID="speed">
<Parameter ID="kv" Value="2.0" />
<Parameter ID="kv" Value="0.3" />
<Parameter ID="tn" Value="0" />
<Parameter ID="t_filter" Value="0.0" />
<Group ID="isq_filter1">

3
Physical/Config2/Hardware.hw
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@@ -115,6 +115,9 @@
<Module Name="8LSA37.R2030D000-3" Type="8LSA37.R2030D000-3" Version="1.0.5.34">
<Connection Connector="MT" TargetModule="8V1045.00-2" TargetConnector="MT1" />
</Module>
<Module Name="8LSA37.R2030D000-3a" Type="8LSA37.R2030D000-3" Version="1.0.5.34">
<Connection Connector="MT" TargetModule="8V1045.00-2a" TargetConnector="MT1" />
</Module>
<Module Name="8V1045.00-2" Type="8V1045.00-2" Version="1.0.0.2">
<Parameter ID="BothEndSwitchesAreNormallyOpen_r1" Value="on" />
<Parameter ID="QuickStopIsNormallyOpen_r1" Value="on" />

13
Physical/Config2/X20CP1583/Cpu.sw
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@@ -12,6 +12,7 @@
<Task Name="GrindCtrl2" Source="Axises.GrindCtrl2.prg" Memory="UserROM" Language="IEC" Debugging="true" />
<Task Name="SafetyAlar" Source="Safety.SafetyAlarms.prg" Memory="UserROM" Language="IEC" Debugging="true" />
<Task Name="Axisctrl" Source="Axises.Axisctrl.prg" Memory="UserROM" Language="IEC" Debugging="true" />
<Task Name="Axisctrl2" Source="Axises.Axisctrl2.prg" Memory="UserROM" Language="IEC" Debugging="true" />
</TaskClass>
<TaskClass Name="Cyclic#4">
<Task Name="blinker" Source="Common.blinker.prg" Memory="UserROM" Language="IEC" Debugging="true" />
@@ -80,13 +81,13 @@
<BinaryObject Name="vcpfx20" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="vctcal" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="vcnet" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="sysconf" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="ashwd" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="arconfig" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="asfw" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="iomap" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="acp10cfg" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="Acp10map" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="acp10cfg" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="iomap" Source="" Memory="UserROM" Language="Binary" />
<BinaryObject Name="asfw" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="arconfig" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="ashwd" Source="" Memory="SystemROM" Language="Binary" />
<BinaryObject Name="sysconf" Source="" Memory="SystemROM" Language="Binary" />
</Binaries>
<Libraries>
<LibraryObject Name="standard" Source="" Memory="UserROM" Language="Binary" Debugging="true" />

6
Physical/Config2/X20CP1583/Motion/Acp10map.ncm
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@@ -1,8 +1,8 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=?>
<?AutomationStudio Version=4.1.8.44 SP?>
<NcMapping NcSwId="Acp10" DisabledNodesAreHidden="False">
<NcObject Name="gAxR2G2" ModuleId="8V1045.00-2a" Type="ncAXIS" Channel="1" AcoposSimulation="Off" InitParameter="gAxR2G2i" AcoposParameter="gAxR2G2a" Disabled="FALSE" ModuleDisabled="FALSE" />
<NcObject Name="8V1045.00-2a_ncV_AXIS1" ModuleId="8V1045.00-2a" Type="ncV_AXIS" Channel="1" Disabled="TRUE" ModuleDisabled="FALSE" />
<NcObject Name="gAxR1G2" ModuleId="8V1045.00-2" Type="ncAXIS" Channel="1" AcoposSimulation="Off" InitParameter="gAxR1G2i" AcoposParameter="gAxR1G2a" Disabled="FALSE" ModuleDisabled="FALSE" />
<NcObject Name="8V1045.00-2_ncV_AXIS1" ModuleId="8V1045.00-2" Type="ncV_AXIS" Channel="1" Disabled="TRUE" ModuleDisabled="FALSE" />
<NcObject Name="gAxR2G2" ModuleId="8V1045.00-2a" Type="ncAXIS" Channel="1" AcoposSimulation="Off" InitParameter="gAxR2G2i" AcoposParameter="gAxR2G2a" Disabled="FALSE" ModuleDisabled="FALSE" />
<NcObject Name="8V1045.00-2a_ncV_AXIS1" ModuleId="8V1045.00-2a" Type="ncV_AXIS" Channel="1" Disabled="TRUE" ModuleDisabled="FALSE" />
</NcMapping>

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Physical/Config2/X20CP1583/SafeLOGIC-1.swt
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4
Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.set
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@@ -8,13 +8,13 @@ CommunicationMode=1
SortOrder=0
ASVarWidth=239
ViewMode=0
SortColumn=0
SADRWidth=100
SortColumn=0
DescriptionWidth=100
ChannelWidth=250
SplitterPosition=738
StateWidth=100
SDVarWidth=189
StateWidth=100
[Manual]
Timeout=1000
Port=50000

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Physical/Config2/X20CP1583/SafeLOGIC-1/src.st1
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Physical/Config2/X20CP1583/SafeLOGIC-1/tmp.sto
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