michi/KD_Hoertnagl_Lackier
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Positionieren gefixt

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This commit is contained in:
Michael Rest
2021-01-11 12:48:45 +01:00
parent 764d65b83b
commit 8119090a67
2 changed files with 2 additions and 1 deletions
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1
Logical/MachCtrl/MachCtrl/Action.st
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@@ -175,6 +175,7 @@ ACTION DoMachToRob:
lCmdInterface.Robot.ToRobot.bSlayInSprayPos := States.CylinderPos.bSlayFw;
lCmdInterface.Robot.ToRobot.bInPos0 := States.CylinderPos.bPos0;
lCmdInterface.Robot.ToRobot.bInPos180 := States.CylinderPos.bPos180;
lCmdInterface.Robot.ToRobot.uiRotationPos := LREAL_TO_UINT (MpFUB.AxBasic_X.Position);
END_ACTION
ACTION DoAlarms:

2
Logical/MachCtrl/MachCtrl/Cyclic.st
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@@ -155,7 +155,7 @@ PROGRAM _CYCLIC
MpData.AxPar_X.Direction := mpAXIS_DIR_POSITIVE;
MpData.AxPar_X.Acceleration := Parameter.rAccellDecell;
MpData.AxPar_X.Deceleration := Parameter.rAccellDecell;
MpData.AxPar_X.Velocity := 10.0 + USINT_TO_REAL (lCmdInterface.Robot.FromRobot.usRotationSpeed) * 2.0; // <EFBFBD>/s
MpData.AxPar_X.Velocity := 10.0 + USINT_TO_REAL (lCmdInterface.Robot.FromRobot.usRotationSpeed) * 1.0; // <EFBFBD>/s
MpData.AxPar_X.Position := UINT_TO_LREAL (lCmdInterface.Robot.FromRobot.uiRotationPos);
MpFUB.AxBasic_X.MoveAbsolute := TRUE;
IF MpFUB.AxBasic_X.CommandBusy THEN