Hallo,
das ist doch super wie schnell das hier geht,
Loipe danke sehr das werde ich Morgen direkt einmal ausprobieren,
Ich glaube das wird mein Problem lösen. Danke sehr Unten habe ich noch da komplette Programm von einem Produkt eingefügt direkt drunter ist die Lösung die Ich vorbereitet habe
[size=2] !Tooldata
TASK PERS tooldata tooltigkratke:=[TRUE,[[-10.3952,0.527458,304.041],[0.966064,0.00175764,0.258271,0.00353731]],[5,[50,1,50],[1,0,0,0],0,0,0]];
TASK PERS tooldata tooltigdlouhy:=[TRUE,[[10.2024,0.953123,340.581],[0.246605,0.000451578,-0.969114,0.00177465]],[5,[50,1,50],[1,0,0,0],0,0,0]];
! Tool Change Mode
TASK PERS tooldata tooltigAct:=[TRUE,[[-10.3952,0.527458,304.041],[0.966064,0.000175764,0.258271,0.00353731]],[5,[50,1,50],[1,0,0,0],0,0,0]];
![TRUE,[[10.2024,0.953123,340.581],[0.246605,0.000451578,-0.969114,0.00177465]],[5,[50,1,50],[1,0,0,0],0,0,0]];
!toltigAct:=tooltigdlouhy in zeile 93 einfugen
!toltigAct:=tooltigkratke in zeile 93 einfugen [/size]
An: Programiersklave
Die Fehlermeldung habe ich mir Leider nicht notiert da hast du recht ist schon bl..
das werde ich dann nachholen.
Hat einer von euch Erfahrung mit dem Bullseye??
In der Zelle ist eins montiert wird aber nicht benutzt, versteht mich nicht falsch, die Zelle wurde in der Firma wo ich jetzt arbeite zwei Jahre nicht genutzt dadurch das keiner Programmierern kann, es sind aber viele Schulungen und sonstige Leute an der Zelle gewesen in der Zeit und auch noch davor ich musste den Programmiermüll erst einmal filtern, und jetzt ist es so dass ich die Routine der Bullseye Programme sehr wahrscheinlich geschrotet habe und ich weiß auch nicht wie man beim bullseye bis zum Ende vermisst da kommt die Meldung bei tooltigdlouhy Vermessung nicht möglich und bei tooltigkratky Reinitialisierungs Fehler, sehr wahrscheinlich dadurch das die Konstruktion verstellt wurde und ich würde gerne das Bullseye neu vermessen habe aber das Setup Programm dafür nicht.
Gibt Ihr mir dafür ein Tipp, Bitte.
MFG
Martin Franta
[size=1]PROC main()
rStationswechsel;
RobotToHome;
toltigAct:=tooltigdlouhy;
WHILE diStartCyklu = 0 DO
IF DOutput (soMenue)= 1 THEN
Menü;
ENDIF
!WaitTime 1;
ENDWHILE
!TPWrite "Roboter wartet auf Quittierung";
WaitDI diStartCyklu,1;
TPErase;
rStationswechsel;
WaitDI diStulZaaret,1;
IF diStulVpravo = 1 AND DOutput(doAtHome) = 1AND diStulZaaret = 1 THEN
!Station_1
RobotToHome;
KontrolaHoraku;
!Hier Programm für Staton 1 einfügen
MoveJ [[635.38,73.66,325.51],[0.0479317,-0.716217,0.219712,-0.660652],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[683.70,64.25,320.65],[0.0479194,-0.716219,0.219563,-0.6607],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam1, wdJob5, fine, tooltigAct;
ArcLEnd [[684.25,64.32,333.95],[0.0479194,-0.716221,0.219576,-0.660694],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam1, wdJob5, fine, tooltigAct;
MoveJ [[647.27,-17.75,376.87],[0.173812,-0.708426,0.0280961,-0.68347],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[672.64,-87.82,325.01],[0.173809,-0.708421,0.0281163,-0.683475],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[682.87,-84.93,320.78],[0.173814,-0.70842,0.028132,-0.683475],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[682.87,-85.37,334.39],[0.173813,-0.708416,0.0281458,-0.683478],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[648.18,4.33,409.84],[0.173808,-0.708414,0.0281561,-0.683481],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[658.05,4.55,427.57],[0.102417,-0.0863946,0.986395,0.095239],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[684.78,56.36,341.54],[0.102408,-0.0864229,0.986395,0.0952276],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[685.01,56.36,336.18],[0.102412,-0.0864233,0.986394,0.0952262],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcL [[685.01,81.56,336.18],[0.102418,-0.0864215,0.986394,0.095225],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcL [[681.94,80.47,336.18],[0.102422,-0.0864222,0.986394,0.0952245],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[682.09,96.20,336.18],[0.102427,-0.0864235,0.986393,0.0952207],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[678.78,-60.01,442.92],[0.0535571,-0.0981738,0.992833,-0.0421324],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[684.26,-81.85,342.49],[0.0535667,-0.0981724,0.992833,-0.0421345],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[684.89,-81.85,336.26],[0.0535656,-0.0981765,0.992832,-0.0421334],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[684.05,-98.30,336.00],[0.0535766,-0.0981788,0.992831,-0.0421358],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[683.48,132.97,444.53],[0.0535835,-0.0981764,0.992831,-0.0421391],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[682.54,97.33,345.17],[0.0462916,-0.101822,0.987101,-0.114546],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[681.71,97.32,336.63],[0.0409786,-0.0562675,0.990742,-0.116554],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[816.81,96.76,336.63],[0.0409829,-0.0562687,0.990742,-0.116553],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[680.69,114.56,455.42],[0.0409865,-0.0562671,0.990741,-0.116555],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[682.35,-100.94,340.17],[0.0880281,-0.0944452,0.988091,0.0836986],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[683.43,-100.34,335.99],[0.0880387,-0.0944433,0.988091,0.0836951],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[815.33,-101.21,336.42],[0.0880489,-0.0944429,0.988091,0.0836906],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[815.33,-101.21,470.68],[0.0880514,-0.0944433,0.98809,0.0836909],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[481.50,47.79,470.68],[0.0880538,-0.0944458,0.98809,0.08369],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
RobotToHome;
KontrolaHoraku;
WaitDI diStulVlevo, 1;
nZähler1 := nZähler1 + 1;
!Stop;
ENDIF
IF diStulVlevo = 1 AND DOutput(doAtHome) = 1AND diStulZaaret = 1 THEN
!Station_2
!Hier Programm für Staton 2 einfügen
MoveJ [[678.51,84.99,322.18],[0.0479088,-0.716224,0.219513,-0.660712],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[684.71,84.58,321.87],[0.0479082,-0.716223,0.219526,-0.660709],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam1, wdJob5, fine, tooltigAct;
ArcLEnd [[684.71,84.99,334.90],[0.0479124,-0.716222,0.219532,-0.660708],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam1, wdJob5, fine, tooltigAct;
MoveJ [[647.27,-17.75,376.87],[0.173812,-0.708426,0.0280961,-0.68347],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[677.14,-63.68,325.01],[0.17381,-0.708419,0.0281298,-0.683476],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[682.39,-64.05,320.95],[0.173812,-0.708417,0.0281433,-0.683477],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[682.40,-64.06,333.76],[0.173811,-0.708417,0.028147,-0.683477],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[648.18,4.33,409.84],[0.173808,-0.708414,0.0281561,-0.683481],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[658.05,4.55,427.57],[0.102417,-0.0863946,0.986395,0.095239],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
MoveJ [[686.07,84.32,341.54],[0.102415,-0.0864231,0.986394,0.0952269],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tooltigAct;
ArcLStart [[686.04,80.25,336.62],[0.102416,-0.0864283,0.986394,0.0952255],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[685.64,98.20,336.63],[0.102427,-0.0864189,0.986393,0.0952255],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[678.78,-60.01,442.92],[0.0535571,-0.0981738,0.992833,-0.0421324],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[683.67,-57.23,342.49],[0.053574,-0.098173,0.992832,-0.0421356],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[684.08,-58.86,336.08],[0.0535769,-0.0981746,0.992832,-0.0421368],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcL [[682.93,-82.38,336.09],[0.0535894,-0.0981735,0.992831,-0.0421411],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, z10, tooltigAct;
ArcL [[680.48,-81.09,336.08],[0.0535884,-0.0981721,0.992831,-0.0421351],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, z10, tooltigAct;
ArcLEnd [[679.86,-95.93,336.08],[0.0535969,-0.0981747,0.992831,-0.0421399],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[683.48,132.97,444.53],[0.0535835,-0.0981764,0.992831,-0.0421391],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[682.54,97.33,345.17],[0.0462916,-0.101822,0.987101,-0.114546],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[686.75,100.04,336.63],[0.0409876,-0.0562664,0.990742,-0.11655],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[816.96,97.92,336.62],[0.0409918,-0.0562678,0.990741,-0.11655],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[674.79,98.51,481.49],[0.0409936,-0.0562668,0.990742,-0.116548],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
MoveJ [[682.35,-100.94,340.17],[0.0880281,-0.0944452,0.988091,0.0836986],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
ArcLStart [[679.80,-97.64,335.99],[0.0880457,-0.0944415,0.988091,0.0836945],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
ArcLEnd [[814.19,-99.77,336.42],[0.0880519,-0.0944429,0.98809,0.0836938],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, seam5, wdJob5, fine, tooltigAct;
MoveJ [[693.39,-99.77,452.68],[0.0880526,-0.0944431,0.98809,0.0836876],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z10, tooltigAct;
RobotToHome;
WaitDI diStulVpravo, 1;
Incr nZähler2;
ENDIF
ENDPROC
[/size]
[size=1]PROC rStationswechsel()
IF diStulVpravo=1 AND diRobAuto=1 AND DOutput(doAtHome)=1 THEN
Reset doStulAretace;
Reset doStulVpravo;
WaitDI diStulOdaret,1;
SetDO doStulVlevo,1;
WaitTime 1;
WaitDI diStulVlevo,1;
SetDO doStulAretace,1;
WaitDI diStulZaaret,1;
TPErase;
TPWrite "Station 1 wird bearbeitet";
ELSEIF diStulVlevo=1 AND diRobAuto=1 AND DOutput(doAtHome)=1 THEN
! Jed vpravo
Reset doStulAretace;
Reset doStulVlevo;
WaitDI diStulOdaret,1;
SetDO doStulVpravo,1;
WaitTime 1;
WaitDI diStulVpravo,1;
SetDO doStulAretace,1;
WaitDI diStulZaaret,1;
TPErase;
TPWrite "Station 2 wird bearbeitet";
ENDIF
ENDPROC
PROC rBrennerservice()
MoveJ pHome_1, vTIG, fine, toolWsW;
TPWrite "VYCKEJTE NEZ BUDE ROBOT V POZICI";
MoveJ [[617.54,504.70,501.08],[0.148166,-0.676432,0.710248,0.126627],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v200, z1, toolWsW;
MoveL [[617.54,602.18,353.79],[0.148166,-0.676432,0.710248,0.126625],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v200, z1, toolWsW;
MoveL [[616.75,639.52,226.77],[0.148137,-0.676445,0.710243,0.126618],[0,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v150, fine, tooltigAct;
TPErase;
TPWrite "ROBOT JE V POZICI PRO SERVIS HORAKU";
TPWrite "PO UKONCENI SERVISU POKRACUJTE TLACITKEM START";
TPWrite "!!! TO JE DOBA, NUDA !!!";
Stop;
TPErase;
MoveL [[617.54,602.18,353.79],[0.148166,-0.676432,0.710248,0.126625],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v200, z1, toolWsW;
MoveL [[617.54,504.70,501.08],[0.148166,-0.676432,0.710248,0.126627],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v200, z1, toolWsW;
MoveJ pHome_1, vTIG, fine, toolWsW;
!Stop;
TPWrite "ROBOT JE V HOME POZICI";
ENDPROC
PROC RobotToHome()
TPErase;
TPWrite "ROBOTER fährt HOME";
MoveJ pHome_1, v3000, fine, toolWsW;
TPErase;
TPWrite "ROBOTER HOME";
WaitTime 1;
TPErase;
ENDPROC[/size]