Achs Ist Koordinaten an übergeordnete Steuerung

&ACCESS RVO1
&REL 31
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
DEFDAT  Send_Axis_Act PUBLIC


;Definition Variablen
GLOBAL INT AxisAct[12]


;Definition der Signalverknuepfungen (anpassbar)
GLOBAL SIGNAL AxisActA1 $OUT[145]  TO $OUT[176]
GLOBAL SIGNAL AxisActA2 $OUT[177]  TO $OUT[208]
GLOBAL SIGNAL AxisActA3 $OUT[209]  TO $OUT[240]
GLOBAL SIGNAL AxisActA4 $OUT[241]  TO $OUT[272]
GLOBAL SIGNAL AxisActA5 $OUT[273]  TO $OUT[304]
GLOBAL SIGNAL AxisActA6 $OUT[305]  TO $OUT[336]
GLOBAL SIGNAL AxisActE1 $OUT[337]  TO $OUT[368]
GLOBAL SIGNAL AxisActE2 $OUT[369]  TO $OUT[400]
GLOBAL SIGNAL AxisActE3 $OUT[401]  TO $OUT[432]
GLOBAL SIGNAL AxisActE4 $OUT[433]  TO $OUT[464]
GLOBAL SIGNAL AxisActE5 $OUT[465]  TO $OUT[496]
GLOBAL SIGNAL AxisActE6 $OUT[497]  TO $OUT[528]
ENDDAT

&ACCESS RVO1
&REL 31
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
DEF Send_Axis_Act( )


;Achswerte von Systemvariable * 1000 multiplizieren und zwischenspeichern
;Zwischengespeicherte Achswerte ueber die Signalverknuepfungen auf den Feldbus schreiben


AxisAct[1] = $AXIS_ACT.A1 * 10
AxisActA1 = AxisAct[1]

AxisAct[2] = $AXIS_ACT.A2 * 10
AxisActA2 = AxisAct[2]


AxisAct[3] = $AXIS_ACT.A3 * 10
AxisActA3 = AxisAct[3]


AxisAct[4] = $AXIS_ACT.A4 * 10
AxisActA4 = AxisAct[4]


AxisAct[5] = $AXIS_ACT.A5 * 10
AxisActA5 = AxisAct[5]


AxisAct[6] = $AXIS_ACT.A6 * 10
AxisActA6 = AxisAct[6]




AxisAct[7] = $AXIS_ACT.E1 * 10
AxisActE1 = AxisAct[7]




AxisAct[8] = $AXIS_ACT.E2 * 10
AxisActE2 = AxisAct[8]


AxisAct[9] = $AXIS_ACT.E3 * 10
AxisActE3 = AxisAct[9]


AxisAct[10] = $AXIS_ACT.E4 * 10
AxisActE4 = AxisAct[10]


AxisAct[11] = $AXIS_ACT.E5 * 10
AxisActE5 = AxisAct[11]


AxisAct[12] = $AXIS_ACT.E6 * 10
AxisActE6 = AxisAct[12]


END

&ACCESS RVO1
&REL 31
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
DEFDAT  Send_Pos_Act PUBLIC






;Definition der Signalverknuepfungen (anpassbar)
GLOBAL SIGNAL POZActX $OUT[337]  TO $OUT[368]
GLOBAL SIGNAL POZActY $OUT[369]  TO $OUT[400]
GLOBAL SIGNAL POZActZ $OUT[401]  TO $OUT[432]
GLOBAL SIGNAL POZActA $OUT[433]  TO $OUT[464]
GLOBAL SIGNAL POZActB $OUT[465]  TO $OUT[496]
GLOBAL SIGNAL POZActC $OUT[497]  TO $OUT[528]
ENDDAT

&ACCESS RVO1
&REL 31
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
DEF Send_Pos_Act( )


DECL POS AKT_POZ


ON_ERROR_PROCEED
AKT_POZ=$POS_ACT
IF $ERR.NUMBER == 0 THEN


;Übergabe der Achs Position an SPS
POZActX = $POS_ACT.X
POZActY = $POS_ACT.Y
POZActZ = $POS_ACT.Z
POZActA = $POS_ACT.A
POZActB = $POS_ACT.B
POZActC = $POS_ACT.C
ELSE
;Wert fuer Tool ungueltig, wenn kein Tool
POZActX=123456
POZActY=123456
POZActZ=123456
POZActA=123456
POZActB=123456
POZActC=123456
ERR_CLEAR($ERR)
ENDIF


END