线体与工位握手流程图

2021-09-14 15:49:33   0  举报

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非标设备中，线体在到达工作位之后和工作位之间的交互信号，可以避免不必要的撞车

非标自动化

作者其他创作

大纲/内容

ParImmFromAssembleResponse PartPicked PartPlacedFromAssembleHandshakeOutImmToAssembleRequest PickPart PlacePartToAssembleHandshake

//handshake to A102IF ( NOT rParImm.FromA102Handshake )THEN rOutImm.ToA102Handshake := TRUE; _retVal := OK;ELSE // programming error in main separator module _env.ChainControl := OpconChainControl.ERROR;END_IF

cancel的时候 rOutImm.ToA102Handshake := FALSE;rOutImm.ToA102Response.PartPlaced := FALSE;rOutImm.ToA102Response.PartPlaced := FALSE;

IF ( NOT rParImm.FormAssembleResponse.PartPlaced ) AND ( NOT rParImm.FormAssembleHandshake )THEN rOutImm.ToAssembleRequest.PlacePart := TRUE; _retVal := OK; ELSE // programming error in the robot module _env.ChainControl := OpconChainControl.ERROR;END_IF

工作位

工作位放完之后可以确认之后

rOutImm.ToA102Response.PartPlaced := TRUE; IF ( NOT rParImm.FormA102Request.PlacePart ) THEN rOutImm.ToA102Response.PartPlaced := FALSE; _retVal := OK; END_IF

rOutImm.ToAssembleHandshake := TRUE; IF ( rParImm.FormAssembleResponse.PartPlaced ) AND ( NOT rParImm.FormAssembleHandshake ) THEN rOutImm.ToAssembleRequest.PlacePart := FALSE; rOutImm.ToAssembleHandshake := FALSE; _retVal := OK; END_IF

cancel的时候rOutImm.ToAssembleRequest.PickPart := FALSE;rOutImm.ToAssembleRequest.PlacePart := FALSE;rOutImm.ToAssembleHandshake := FALSE;

IF (rParImm.FormA102Request.PlacePart)THEN _retVal := OK;END_IF

ParimmFromA102SepRequest PickPart PlacePartFromA102SepHandshakeOutImmToA102SepResponse PartPicked PartPlaced//ToA102SepRequest// PickPart// PlacePartToA102SepHandshake

线体

IF ( rParImm.FormAssembleHandshake )THEN _retVal := OK;//ELSIF ( rParImm.FormAssembleResponse.RejectRequest )//THEN // rOutImm.ToAssembleRequest.PlacePart := FALSE; //_retVal := JUMP1;END_IF

IF ( rParImm.FromA102Handshake ) THEN rOutImm.ToA102Handshake := FALSE; _retVal := OK; END_IF