如何提高你的网站的粘性,电子政务网站建设公司,台州网站建设技术外包,梅州企业网站项目背景#xff1a; 在非标设备PIN焊接机中用到了爱普生机器人。上位机软件使用c#wpf开发。主要逻辑在上位机中。用爱普生机器人给焊接平台实现自动上下料。
通讯方式#xff1a;网络TCP通讯#xff0c;Socket
角色#xff1a;上位机为服务端#xff0c;机器人为客户端…项目背景 在非标设备PIN焊接机中用到了爱普生机器人。上位机软件使用c#wpf开发。主要逻辑在上位机中。用爱普生机器人给焊接平台实现自动上下料。
通讯方式网络TCP通讯Socket
角色上位机为服务端机器人为客户端。
责任分工: 上位软件负责向机器人发送流程指令。 机器人负责执行点位移动并返回执行结果。机器人有两个回复一个是成功接收指令的回复一个执行完成的回复。
指令格式 上位机发送指令格式SendData,No:{0},DeviceId:{1},FlowId:{2},Msg:{3},MsgTime:{4} 机器人回复格式ResponseNo: NoVal$ ,DeviceId: DeviceIdVal$ ,FlowId: FlowIdVal$ ,IsSucceed:1 回复上位机指令接收成功 机器人执行后回复SendData$ ResponseNo: NoVal$ ,DeviceId: DeviceIdVal$ ,FlowId: FlowIdVal$ ,Status:0, Msg: message$
上位机代码
RobertSoketMsgModel
/// summary
/// 机器人通讯 消息实体
/// /summary
public class RobertSoketMsgModel
{/// summary/// 规则/// 第一段是设备ID(1)/// 第二段是类型ID(1)/// 第三段是时间戳到3位MS/// 1120231215162010110/// /summarypublic string No { get; set; }/// summary/// 响应编号/// /summarypublic string ResponseNo { get; set; }/// summary/// 设备ID【1:一号机器人】/// /summarypublic int DeviceId { get; set; }/// summary/// 流程ID FlowIdEnum/// /summarypublic int FlowId { get; set; }/// summary/// 消息/// /summarypublic string Msg { get; set; }/// summary/// 消息时间/// /summarypublic DateTime MsgTime { get; set; }/// summary/// 是否接收成功/// /summarypublic int IsSucceed { get; set; }/// summary/// 状态 成功为1失败为0/// /summarypublic int Status { get; set; }public override string ToString(){return string.Format(No:{0},ResponseNo:{1},DeviceId:{2},FlowId:{3},Msg:{4},MsgTime:{5},IsSucceed:{6},Status:{7},No,ResponseNo,DeviceId, FlowId, Msg,MsgTime.ToString(yyyy-MM-dd HH:mm:ss),IsSucceed, Status);}/// summary/// 发送数据/// /summary/// returns/returnspublic string ToSendString(){return string.Format(SendData,No:{0},DeviceId:{1},FlowId:{2},Msg:{3},MsgTime:{4},No, DeviceId, FlowId, Msg, MsgTime.ToString(yyyy-MM-dd HH:mm:ss));}
}/// summary
/// 流程ID
/// /summary
public enum FlowIdEnum
{//回原点0,取料11(p1),取料22(p2),扫码3(p3),焊接准备4(p40),平台放料5(p5),平台取料6(p6),平台旋转位7(p7),旋转8(p8),//出料19(p9),出料210(p10),NG出料111(p11),NG出料212(p12)/// summary/// 回原点/// /summary[Description(回原点)]GoHome 0,/// summary/// 取料1/// /summary[Description(取料1)]GetMaterial1 1,/// summary/// 取料2/// /summary[Description(取料2)]GetMaterial2 2,/// summary/// 进料扫码(读码)/// /summary[Description(进料扫码)]ReadMaterialCodeIn 3,/// summary/// 焊接准备/// /summary[Description(焊接准备)]WeldPrepare 4,/// summary/// 焊接平台放料/// /summary[Description(焊接平台放料)]WeldPlatformPut 5,/// summary/// 焊接平台取料/// /summary[Description(焊接平台取料)]WeldPlatformGet 6,/// summary/// 平台旋转位/// /summary[Description(平台旋转位)]WeldRotatePos 7,//旋转8(p8),/// summary/// 旋转(电爪)/// /summary[Description(旋转(电爪))]Rotate 8,/// summary/// 焊接/// /summary[Description(焊接)]Weld 9,/// summary/// 出料扫码(读码)/// /summary[Description(出料扫码)]ReadMaterialCodeOut 10,/// summary/// 出料1/// /summary[Description(出料1)]OutMaterial1 11,/// summary/// 出料2/// /summary[Description(出料2)]OutMateria2 12,/// summary/// NG出料1/// /summary[Description(NG出料1)]OutNgMaterial 13,/// summary/// NG出料2/// /summary[Description(NG出料2)]OutNgMateria2 14,
}
Socket
/// summary
/// 机器人 通讯
/// /summary
public class RobertSocketServer
{private string _className RobertSocketServer;/// summary/// 设备总数/// /summaryprivate int _DeviceCount 1;/// summary/// 是否有在线客户端/// /summarypublic bool IsHaveClient false;//将远程连接客户端的IP地址和Socket存入集合中Dictionarystring, Socket dicSocket new Dictionarystring, Socket();private ICommunicationLogService _serverCommunicationLog ServiceIocFactory.GetRegisterServiceImpICommunicationLogService();/// summary/// 运行日志服务/// /summary private IRunningLogService _srerviceRunninglogs ServiceIocFactory.GetRegisterServiceImpIRunningLogService();/// summary/// 心跳回复时间/// /summaryprivate Dictionaryint, DateTime _heartbeatReplyTime new Dictionaryint, DateTime();/// summary/// IP/// /summaryprivate string _ip;/// summary/// 端口/// /summaryprivate int _port 6000;public RobertSocketServer(string ip, int port 6000){_ip ip;if (port 0){_port port;}if (!string.IsNullOrEmpty(_ip)){startListen();}else{throw new Exception(IP地址不能为空);}}/// summary/// 添加客户端/// /summary/// param nameip/param/// param namesocket/param/// returns/returnsprivate bool addClient(string ip, Socket socket){var isSucceed false;if (!string.IsNullOrEmpty(ip) socket ! null){if (!dicSocket.ContainsKey(ip)){dicSocket.Add(ip, socket);_DeviceCount dicSocket.Count;IsHaveClient true;}isSucceed true;}return isSucceed;}/// summary/// 移除客户端/// /summary/// param nameip/param/// returns/returnsprivate bool removeClient(string ip){var isSucceed false;if (!string.IsNullOrEmpty(ip)){if (dicSocket.ContainsKey(ip)){dicSocket.Remove(ip);}if (dicSocket.Count 0){IsHaveClient false;}isSucceed true;}return isSucceed;}/// summary/// 开始监听/// /summaryprivate void startListen(){try{//1、创建Socket(寻址方案.IP 版本 4 的地址,Socket socket new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//2.绑定IP 端口IPAddress ipAddress IPAddress.Parse(_ip);IPEndPoint point new IPEndPoint(ipAddress, _port);socket.Bind(point);WorkFlow.ShowMsg(机器人通讯服务端已经启动监听, startListen, _className);//3.开启监听socket.Listen(10);//10监听对列的最大长度//4.开始接受客户端的连接 会卡界面 所以要开线程异步处理Task.Run(() { Listen(socket); });}catch (Exception ex){WorkFlow.ShowAlarmMsg(机器人通讯 服务器监听 异常: ex.Message, startListen);}}/// summary/// 4 开始接受客户端的连接/// /summary/// param namesocket/paramprivate void Listen(Socket socket){if (socket ! null){while (true){try{//等待客户端的连接并且创建一个负责通信的Socketvar accept socket.Accept();//将远程连接客户端的IP地址和Socket存入集合中var ip accept.RemoteEndPoint.ToString();if (addClient(ip, accept)){//客户端IP地址和端口号存入下拉框//cmbClientList.Items.Add(ip);WorkFlow.ShowMsg(机器人客户端 ip :连接成功, Listen, _className);Task.Run(() { ReciveClientMsg(accept); });}}catch (Exception ex){WorkFlow.ShowAlarmMsg(开始接受机器人客户端的连接 异常: ex.Message, Listen, _className);}}}}/// summary/// 接收客户端消息/// /summaryprivate void ReciveClientMsg(Socket socket){WorkFlow.ShowMsg(机器人服务器已启动成功可以接收客户端连接!时间 DateTime.Now.ToString(),ReciveClientMsg, _className);//客户端连接成功后服务器应该接收客户端发来的消息byte[] buffer new byte[1024 * 1024 * 5];string reciveMsg string.Empty;//不停的接收消息while (true){try{//实际接收到的有效字节数int byteLength 0;try{byteLength socket.Receive(buffer);}catch (Exception){//客户端异常退出clientExit(socket, 异常);return;//让方法结束结束当前接收客户端消息异步线程}if (byteLength 0){reciveMsg Encoding.UTF8.GetString(buffer, 0, byteLength);//ResponseNo:9876543,IsSucceed:1//ResponseNo:9876543,Status:1if (!string.IsNullOrEmpty(reciveMsg) reciveMsg.Contains(ResponseNo)){var rspModel getMsgModelByStr(reciveMsg);if (rspModel ! null){var isSucceed 0;if (rspModel.IsSucceed TrueOrFalseEnum.True.GetHashCode()){isSucceed rspModel.IsSucceed;}else if (rspModel.Status TrueOrFalseEnum.True.GetHashCode()){isSucceed rspModel.Status;}rspModel.IsSucceed isSucceed;var logModel new CommunicationLogModel(){DeviceId rspModel.DeviceId,Msg rspModel.Msg,MsgTime rspModel.MsgTime,No rspModel.ResponseNo,Type rspModel.FlowId,IsSucceed rspModel.IsSucceed,ResponseNo rspModel.ResponseNo};logModel.ClassName _className;logModel.Method ReciveClientMsg;logModel.CreatedBy _ip;logModel.CreatedOn DateTime.Now;logModel.UpdatedBy Global.EthernetType.GetEnumDesc();FlowIdEnum flowIdEnum (FlowIdEnum)rspModel.FlowId;if (rspModel.Status TrueOrFalseEnum.True.GetHashCode()){RobertSocketCommonServer.AddClientRspMsg(rspModel);WorkFlow.ShowMsg(收机器人2 rspModel.DeviceId 机 flowIdEnum.GetEnumDesc() 回复: (rspModel.Status TrueOrFalseEnum.True.GetHashCode() ? 处理成功 : 处理失败), ReciveClientMsg);}else if (rspModel.IsSucceed TrueOrFalseEnum.True.GetHashCode()){RobertSocketCommonServer.IsSendSucceed rspModel.IsSucceed TrueOrFalseEnum.True.GetHashCode();WorkFlow.ShowMsg(收机器人2 rspModel.DeviceId 机 flowIdEnum.GetEnumDesc() 回复: (rspModel.IsSucceed TrueOrFalseEnum.True.GetHashCode() ? 指令接收成功 : 指令接收失败), ReciveClientMsg);}_serverCommunicationLog.AddModelAutoIncrement(logModel);}}//var msg 客户端 socket.RemoteEndPoint 发送: reciveMsg 时间 DateTime.Now.ToString();//WorkFlow.ShowMsg(msg, ReciveClientMsg, _className);}else{//客户端正常退出clientExit(socket);return;//让方法结束结束当前接收客户端消息异步线程}}catch (Exception ex){WorkFlow.ShowAlarmMsg(接收客户商消息 异常: ex.Message, ReciveClientMsg, _className);}}}/// summary/// 客户端退出/// /summary/// param namesocket/param/// param nametype/param/// returns/returnsprivate bool clientExit(Socket socket, string type 正常){var isSucceed false;var ip socket.RemoteEndPoint.ToString();if (removeClient(ip)){//cmbClientList.Items.Remove(ip);WorkFlow.ShowMsg(客户端 socket.RemoteEndPoint type 退出。 时间 DateTime.Now.ToString(),clientExit, _className);isSucceed true;//Task.Factory.StartNew(() //{// WindowHelper.OpenAlarmWindow(ip 客户端退出报警!, 通讯报警);//});}return isSucceed;}/// summary/// 向客户端发送消息/// /summary/// param namemsg/param/// returns/returnspublic bool SendMsgToClient(string msg){var isOk false;//var msg txtSendMes.Text.Trim();//var clientIp cmbClientList.SelectedItem.ToString();//if (dicSocket.ContainsKey(clientIp))//{if (!string.IsNullOrEmpty(msg)){if (dicSocket.Count 0){//MessageBox.Show(没有可以发送的客户端);WorkFlow.ShowMsgSocket(没有可以发送的客户端);}else{foreach (var clientIp in dicSocket.Keys){var socket dicSocket[clientIp];if (socket.Connected)//判断是否连接成功{//数据编码var buffer Encoding.UTF8.GetBytes(msg);var dataList new Listbyte();//dataList.Add(0);//类型文本字符串dataList.AddRange(buffer);//socket.Send(dataList.ToArray(), 0, buffer.Length, SocketFlags.None);socket.Send(dataList.ToArray());}}Thread.Sleep(100);}}else{//MessageBox.Show(发送的消息不能为空!);WorkFlow.ShowMsg(发送的消息不能为空!, SendMsgToClient, _className);}//}return isOk;}/// summary/// 解析机器人回传信息/// /summary/// param namerspStr/param/// returns/returnsprivate RobertSoketMsgModel getMsgModelByStr(string rspStr){//ResponseNo:9876543,WorkId:1,IsSucceed:1//ResponseNo:9876543,WorkId:1,Status:1,Msg:执行失败//\r\nRobertSoketMsgModel rspModel null;if (!string.IsNullOrEmpty(rspStr)){rspStr rspStr.Replace(\r\n, string.Empty);var responseNo string.Empty;int DeviceId 0;int FlowId 0;var isSucceed TrueOrFalseEnum.False.GetHashCode();var strList rspStr.Split(,).ToList();if (strList.Count 0){responseNo strList[0].Replace(ResponseNo:, string.Empty);DeviceId strList[1].Replace(DeviceId:, string.Empty).ToInt();FlowId strList[2].Replace(FlowId:, string.Empty).ToInt();rspModel new RobertSoketMsgModel();rspModel.ResponseNo responseNo;rspModel.FlowId FlowId;rspModel.DeviceId DeviceId;rspModel.MsgTime DateTime.Now;if (rspStr.Contains(IsSucceed) strList.Count 4){isSucceed strList[3].Replace(IsSucceed:, string.Empty).ToInt();rspModel.IsSucceed isSucceed;}else if (rspStr.Contains(Status) strList.Count 4){rspModel.Status strList[3].Replace(Status:, string.Empty).ToInt();if (strList.Count 5){rspModel.Msg strList[4].Replace(Msg:, string.Empty);}else{rspModel.Msg rspModel.Status TrueOrFalseEnum.True.GetHashCode() ? 执行成功 : 执行失败;}}}}return rspModel;}
}
RobertSocketCommonServer
/// summary
/// 机器人 通讯公共方法(服务端)
/// /summary
public class RobertSocketCommonServer
{private static string _className RobertSocketCommonServer;private static string commMsg 机器人;private static ICommunicationLogService _serverCommunicationLog ServiceIocFactory.GetRegisterServiceImpICommunicationLogService();/// summary/// 公共日志服务/// /summaryprivate static ICommonLogService _serviceLogs ServiceIocFactory.GetRegisterServiceImpICommonLogService();/// summary/// 客户端响应消息/// /summaryprivate static Dictionarystring, RobertSoketMsgModel _clientResponseMsgDic new Dictionarystring, RobertSoketMsgModel();/// summary/// 是否发送要料消息/// /summary//public static bool IsSendInMsg false;/// summary/// 是否发送成功/// /summarypublic static bool IsSendSucceed false;/// summary/// 创建一个请求消息模型/// /summary/// param namedeviceId设备ID/param/// param nametype类型/param/// returns/returnspublic static RobertSoketMsgModel CreateInMsgModel(int deviceId, FlowIdEnum flowId){return new RobertSoketMsgModel(){DeviceId deviceId,Msg flowId.ToString(),//deviceId commMsg type.GetEnumDesc(),MsgTime DateTime.Now,No AppCommonMethods.GenerateMsgNoRobert(flowId, deviceId),FlowId flowId.GetHashCode()};}/// summary/// 发送指令/// /summary/// param namedeviceId设备ID/parampublic static RobertSoketMsgModel SendReq(FlowIdEnum flowId, int deviceId 1){IsSendSucceed false;var msgModel CreateInMsgModel(deviceId, flowId);//var reqJson JsonConvert.SerializeObject(msgModel);Global.RobertEthernetServer.SendMsgToClient(msgModel.ToSendString());var logModel new CommunicationLogModel(){DeviceId msgModel.DeviceId,Msg msgModel.Msg,MsgTime msgModel.MsgTime,No msgModel.No,Type flowId.GetHashCode()};logModel.ClassName _className;logModel.Method SendLocalInReq;logModel.CreatedBy Global.EAP_IpAddress;logModel.CreatedOn DateTime.Now;logModel.UpdatedBy Global.EthernetType.GetEnumDesc();_serverCommunicationLog.AddModelAutoIncrement(logModel);//SoketMsgQueueService.Instance.Enqueue(msgModel);return msgModel;}/// summary/// 本机发送放(出)料请求/// /summary/// param namedeviceId设备ID/param//public static string SendLocalOutReq(int deviceId)//{// var msgModel CreateInMsgModel(deviceId, SoketTypeEnum.OutRequest);// var logModel new CommunicationLogModel()// {// DeviceId msgModel.DeviceId,// Msg msgModel.Msg,// MsgTime msgModel.MsgTime,// No msgModel.No,// Type msgModel.Type.GetHashCode()// };// logModel.ClassName _className;// logModel.Method SendLocalOutReq;// logModel.CreatedBy Global.EAP_IpAddress;// logModel.CreatedOn DateTime.Now;// logModel.UpdatedBy Global.EthernetType.GetEnumDesc();// _serverCommunicationLog.AddModelAutoIncrement(logModel);// SoketMsgQueueService.Instance.Enqueue(msgModel);// return msgModel.No;//}/// summary/// 添加客户端响应消息/// /summary/// param namemodel/param/// returns/returnspublic static bool AddClientRspMsg(RobertSoketMsgModel model){var isOk false;if (model ! null !_clientResponseMsgDic.ContainsKey(model.ResponseNo)){_clientResponseMsgDic.Add(model.ResponseNo, model);isOk true;}return isOk;}/// summary/// 获取客户端响应消息/// /summary/// param nameno/param/// returns/returnspublic static RobertSoketMsgModel GetClientRspMsg(string no){RobertSoketMsgModel msgModel null;if (_clientResponseMsgDic.ContainsKey(no)){msgModel _clientResponseMsgDic[no];_clientResponseMsgDic.Remove(no);}return msgModel;}/// summary/// While等待获取客户端响应消息/// /summary/// param nameno/param/// param namemaxCount最大等待次数/param/// returns/returnspublic static RobertSoketMsgModel GetClientRspMsgWhile(string no, string msg, RobertSoketMsgModel reqModel null, int maxCount 60){RobertSoketMsgModel msgModel null;var count 0;while (msgModel null){msgModel GetClientRspMsg(no);Thread.Sleep(200);//Thread.Sleep(1000);WorkFlow.ShowMsg(While等待获取 commMsg ... msg, GetClientRspMsgWhile, RunningLogTypeEnum.Alarm);//if (count maxCount)//{// var showMsg msg ,未收到 commMsg 响应消息。是否继续等待;// var commonModel WindowHelper.OpenWindow(showMsg, 等待获取客户端响应消息报警, 继续等, 不等了);// if (commonModel ! null commonModel.IsSucceed)// {// if (reqModel ! null)// {// var modelJson JsonConvert.SerializeObject(reqModel);// Global.EthernetServer.SendMsgToClient(modelJson);//发送物料_通知// var logModelRsp JsonConvert.DeserializeObjectCommunicationLogModel(modelJson);// logModelRsp.ClassName _className;// logModelRsp.Method GetClientRspMsgWhile;// logModelRsp.Remark showMsg;// logModelRsp.CreatedBy Global.EAP_IpAddress;// logModelRsp.CreatedOn DateTime.Now;// logModelRsp.UpdatedBy Global.EthernetType.GetEnumDesc();// _serverCommunicationLog.AddModelAutoIncrement(logModelRsp);// }// count 0;// }// else// {// break;// }//}count;}return msgModel;}/// summary/// 移动到点位/// /summary/// param nameflowId/param/// returns/returnspublic static bool MoveToPos(FlowIdEnum flowId){var isSucceed false;var reqModel SendReq(flowId);if (IsSendSucceed){var rspModel GetClientRspMsgWhile(reqModel.No, 机器人的指令处理回复);if (rspModel ! null){isSucceed rspModel.IsSucceed TrueOrFalseEnum.True.GetHashCode();WorkFlow.ShowMsg(收到机器人处理完成回复[ flowId.GetEnumDesc() ] rspModel.IsSucceed, MoveToPos);}else{WorkFlow.ShowMsg(未收到机器人处理完成回复[ flowId.GetEnumDesc() ], MoveToPos);}}else{WorkFlow.ShowMsg(发送指令到机器人发送失败。[ flowId.GetEnumDesc() ], MoveToPos);}return isSucceed;}
}
机器人代码
Global String ReceiveData$, data$(0), SendData$
Global String No$, DeviceId$, FlowId$, Msg$, MsgTime$ 假设receive有三组数据,分到三个值里
Global String NoVal$, DeviceIdVal$, FlowIdVal$, MsgVal$, MsgTimeVal$
Function mainCall initprgCall tcpClient
Fend
Function tcpClientReceiveData$ 设置IP地址,端口号,结束符等SetNet #201, 192.168.2.100, 3000, CRLF, NONE, 0SetNet #201, 192.168.10.203, 2000, CRLF, NONE, 0retry_tcpip_201: 断线重连CloseNet #201机器人作为客户端,打开端口OpenNet #201 As Client 从等待连接WaitNet #201连接成功显示Print TCP 连接成功Print #201, 连接成功Print ReceiveData: ReceiveData$receive_again: 再次收发数据Print wait ReceiveData;Print ----------------------------DoIf ChkNet(201) 0 Then 检查端口状态(0时)Print tcp_off,try_againGoTo retry_tcpip_201ElseIf ChkNet(201) 0 ThenRead #201, ReceiveData$, ChkNet(201)Print ReceiveData$ , ReceiveData$Exit DoEndIfLoopParseStr ReceiveData$, data$(), , 如果要发送code,messageNo$ data$(1) code1 格式如下:任意数据;code;messageDeviceId$ data$(2) message1FlowId$ data$(3)Msg$ data$(4)MsgTime$ data$(5)c Val(data$(3))Print 解析后的值: No$ , DeviceId$ , FlowId$ , Msg$ , MsgTime$Call getNoValCall getFlowIdValCall getDeviceIdValPrint FlowIdVal: FlowIdVal$Print #201, ResponseNo: NoVal$ ,DeviceId: DeviceIdVal$ ,FlowId: FlowIdVal$ ,IsSucceed:1 回复上位机指令接收成功Print len: Str$(Len(No$))Print index: Str$(InStr(No$, No:))Print noVal: Mid$(No$, InStr(No$, :) 1, Len(No$) - InStr(No$, :))Call doWork 调用动作指令If SendData$ Then 通过调用,获得数据,机械手反馈运动状态Print SendData$Print #201, SendData$SendData$ resetEndIfGoTo receive_again
Fend
做工作根据上位机发送的指令执行相应动作
Function doWorkPrint 执行doWorkString message$Boolean isOkisOk False回原点0,取料11(p1),取料22(p2),进料扫码3(p3),焊接准备4(p40),焊接平台放料5(p5),焊接平台取料6(p6),平台旋转位7(p7),旋转(电爪)8(p8),焊接9,出料扫码10,出料111(p11),出料212(p12),NG出料113(p13),NG出料214(p14)CP运动命令 Move,Arc, Arc3PTP运动命令 Jump,Go----------------------------PTP运动命令的速度设定PTP运动速度的设定格式Speed s, [a, b]s : 速度设定值1100%a: 第3轴上升的速度设定值1100% 可省略b: 第3轴下降的速度设定值1100% 可省略
使用示例Speed 80Speed 100, 80, 50PTP动作的加减速度的设定格 式 Accel a, b, [c, d, e, f]a : 加速设定值1100%b: 减速设定值1100%c,d : 第3轴上升的加减速设定值1100% 可省略e,f : 第3轴下降的加减速设定值1100% 可省略使用示例 Accel 80, 80Accel 100, 100, 20, 80, 80, 20------------------CP运动命令 SpeedS CP动作的速度的设定 SpeedS 500 速度设定值11120 mm/sAccelS CP动作的加减速度的设定 AccelS 2000 加减速度设定值 : 15000 mm/s2If FlowIdVal$ 0 Then 通过上位机判断,机械手执行相应的动作流程 回原点0 Jump P20 LimZ 0 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置0最高位isOk TrueElseIf FlowIdVal$ 1 Then 通过上位机判断,机械手执行相应的动作流程 移动到取料1的位置 Jump P1 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 2 Then相应的动作流程 移动到取料2的位置 Jump P2 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 3 Then相应的动作流程 移动到[扫码]的位置Jump P3 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 4 Then相应的动作流程 移动到[焊接准备]的位置Pass 用于移动机械臂并使其穿过指定点数据(位置)附近。不穿过指定点数据(位置)自身。可通过使用Pass 命令来避开障碍物。Pass P40, P41, P42isOk TrueElseIf FlowIdVal$ 5 Then相应的动作流程 移动到[平台放料]的位置Go P5 全轴同时的PTP动作isOk TrueElseIf FlowIdVal$ 6 Then相应的动作流程 移动到[平台取料]的位置Go P6isOk TrueElseIf FlowIdVal$ 7 Then相应的动作流程 移动到[平台旋转位]的位置Go P7isOk TrueElseIf FlowIdVal$ 8 Then相应的动作流程 移动到[旋转]的位置Go P7 U(180) U Z轴旋转isOk TrueElseIf FlowIdVal$ 10 Then相应的动作流程 移动到[出料扫码]的位置Jump P10 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 11 Then相应的动作流程 移动到[出料1]的位置Jump P11 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk Truemessage$ 失败测试ElseIf FlowIdVal$ 12 Then相应的动作流程 移动到[出料2]的位置Jump P12 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 13 Then相应的动作流程 移动到[NG出料1]的位置Jump P13 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueElseIf FlowIdVal$ 14 Then相应的动作流程 移动到[NG出料1]的位置Jump P14 LimZ -100 Jump 门形动作,LimZ以限定第三轴目标坐标Z上移的位置-100isOk TrueEndIfIf isOk ThenSendData$ ResponseNo: NoVal$ ,DeviceId: DeviceIdVal$ ,FlowId: FlowIdVal$ ,Status:1 操作完成后回复上位机的数据Status表示处理成功0表示处理失败ElseSendData$ ResponseNo: NoVal$ ,DeviceId: DeviceIdVal$ ,FlowId: FlowIdVal$ ,Status:0, Msg: message$ 操作完成后回复上位机的数据Status表示处理成功0表示处理失败EndIf
Fend
Function getNoValNoVal$ Mid$(No$, InStr(No$, :) 1, Len(No$) - InStr(No$, :))
Fend
获取FlowId的值
Function getFlowIdValFlowIdVal$ Mid$(FlowId$, InStr(FlowId$, :) 1, Len(FlowId$) - InStr(FlowId$, :))
Fend
获取DeviceId的值
Function getDeviceIdValDeviceIdVal$ Mid$(DeviceId$, InStr(DeviceId$, :) 1, Len(DeviceId$) - InStr(DeviceId$, :))
Fend
Function init_constantrainit 常变量初始化Off 519On 520Off 521Off 522Off 523Off 524Off 525Off 526Off 527Off 528Off 529
Fend
Function init_robotinit 机械手初始化If Motor Off ThenMotor OnEndIfIf SFree(1) Or SFree(2) Or SFree(3) Or SFree(4) Then SLockIf SFree(1) 0r SFree(2) 0r SFree(3) 0r SFree(4) Then SLockPower HighSpeed 20 GO ,JUMP ,最大100Accel 20, 20SpeedS 100; ARC ,MOVE2000AccelS 100.100Call huanshouOn 521 回原完成器人回原请求Off 530 机器人回原请求PauseFendFunction huanshouIf CZ(Here) 0 ThenMove Here :Z(0) Z轴回到最高位EndIf--------一象限---------------If CZ(Here) 0 And CY(Here) -90 ThenIf Hand(Here) Lefty ThenError 8000ElseJump P110Move P111Move P112EndIfEndIf--------二象限---------------If CY(Here) 369.102 And CX(Here) 0 ThenIf Hand(Here) Lefty ThenMove P100Move P99Move P97ElseMove P101Move P98EndIfEndIf--------三象限---------------If CX(Here) 0 And CY(Here) 369.102 ThenIf Hand(Here) Lefty ThenMove P120ElseMove P121EndIfEndIf
Fend
Function initprg 初始化Print Time$ 机器人初始化中Call init_constantrainit常变量初始化机械手初始化Call init_robotinitPrint 机器人初始化完成
Fend
