案例/模板说明 ============================ 机械臂主控主函数说明 ++++++++++++++++++++++++++++++++ 以下为机械臂主控模板，这里介绍前台程序的用法以及相关寄存器的用途，寄存器的全部定义请参照lua文件的开头部分。 .. code-block:: -------------------------cart_move_basic.jbi---------------------------------- // NOP // start backend connection // xyz_bkgd is the first lua script STARTLUA INDEX=1 //启用xyz_master.lua脚本 // init communication CALL JOB:xyz_init //调用初始化程序 // switch flow SET B002 502 //设置cmd寄存器值为502 SET B004 1 //elite没有字符串寄存器，后台预留了五个字符串 //B004的值代表选用的是第几个字符串，现在选用第一个作为flow name CALL JOB:xyz_send_recv //调用通讯程序 // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第二个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 DOUT OT# (1) OFF //设置DO MOVJ P001 VJ=50 PL=0 ACC=50 DEC=50 //运动到某一示教点 SET LB000 0 SET LB001 0 // loop start //循环开始 WHILE LB000=0 DO LABEL *loop_start // send current pose IF LB001=0 THEN SET B002 513 //设置cmd寄存器值为513 SET V002 0,0,0,0,0,0 //设置要发送给上位机的cart pose CALL JOB:xyz_send_recv //调用通讯程序 ENDIF // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // get grasp pose SET B002 508 //设置cmd寄存器值为508 SET B013 0 //设置token CALL JOB:xyz_send_recv //调用通讯程序 IF B014 < 1 THEN TIMER T=5 //未识别，重新拍照 JUMP *loop_start ENDIF MOVL V001 AV=400.0 MM/S CR =10.0MM //移动到grasp pose DOUT OT# (1) ON //触发DO抓取 TIMER T=0.5 MOVL V003 AV=400.0 MM/S CR =10.0MM //移动至放置点 DOUT OT# (1) OFF //触发DO放置 ENDWHILE END -------------------------cart_move_repo.jbi---------------------------------- // NOP // start backend connection // xyz_bkgd is the first lua script STARTLUA INDEX=1 //启用xyz_master.lua脚本 // init communication CALL JOB:xyz_init //调用初始化程序 // switch flow SET B002 502 //设置cmd寄存器值为502 SET B004 1 //elite没有字符串寄存器，后台预留了五个字符串 //B004的值代表选用的是第几个字符串，现在选用第一个作为flow name CALL JOB:xyz_send_recv //调用通讯程序 // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第二个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 DOUT OT# (1) OFF //设置DO DOUT OT# (2) OFF MOVJ P001 VJ=50 PL=1 ACC=50 DEC=50 //运动到某一示教点 // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 SET LB000 0 // loop start //循环开始 WHILE LB000=0 DO LABEL *loop_start // get grasp pose SET B002 508 //设置cmd寄存器值为508 SET B013 0 //设置token CALL JOB:xyz_send_recv //调用通讯程序 IF B014 < 1 THEN // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 3 //选用后台预留的第三个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // get grasp pose SET B002 508 //设置cmd寄存器值为508 SET B013 0 //设置token CALL JOB:xyz_send_recv //调用通讯程序 MOVL V001 AV=400.0 MM/S CR =10.0MM //移动到抓取点 DOUT OT# (1) ON // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第三个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 JUMP *loop_start ELSE MOVL V003 AV=400.0 MM/S CR =10.0MM // send current pose SET B002 513 //设置cmd寄存器值为513 SET V002 0,0,0,0,0,0 //设置要发送给上位机的cart pose CALL JOB:xyz_send_recv //调用通讯程序 // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第三个作字符串为item name SET B011 1 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 1 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // get grasp pose SET B002 508 //设置cmd寄存器值为508 SET B013 0 //设置token CALL JOB:xyz_send_recv //调用通讯程序 MOVL V001 AV=400.0 MM/S CR =10.0MM //移动到放置点 DOUT OT# (2) ON MOVL V004 AV=400.0 MM/S CR =10.0MM DOUT OT# (2) OFF ENDIF // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第二个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // request grasp pose SET B002 507 //设置cmd寄存器值为507 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 ENDWHILE END -------------------------traj_move_sync.jbi---------------------------------- // NOP // start backend connection // xyz_bkgd is the first lua script STARTLUA INDEX=1 //启用xyz_master.lua脚本 // init communication CALL JOB:xyz_init //调用初始化程序 // switch flow SET B002 502 //设置cmd寄存器值为502 SET B004 1 //elite没有字符串寄存器，后台预留了五个字符串 //B004的值代表选用的是第几个字符串，现在选用第一个作为flow name CALL JOB:xyz_send_recv //调用通讯程序 // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第二个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 DOUT OT# (1) OFF //设置DO MOVJ P001 VJ=50 PL=0 ACC=50 DEC=50 //运动到某一示教点 SET LB000 0 // loop start //循环开始 WHILE LB000=0 DO LABEL *loop_start // request pick and place SET B002 517 //设置cmd寄存器值为517 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // get pick in result SET B002 518 //设置cmd寄存器值为518 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 PAUSE IF B014 < 1 //清筐 CALL JOB:xyz_exectraj //执行轨迹 DOUT OT# (1) ON // get pick out result SET B002 519 //设置cmd寄存器值为519 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 // get place in result SET B002 520 //设置cmd寄存器值为520 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 DOUT OT# (1) OFF // get place out result SET B002 521 //设置cmd寄存器值为521 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 ENDWHILE END -------------------------traj_move_async.jbi---------------------------------- // NOP // start backend connection // xyz_bkgd is the first lua script STARTLUA INDEX=1 //启用xyz_master.lua脚本 // init communication CALL JOB:xyz_init //调用初始化程序 // switch flow SET B002 502 //设置cmd寄存器值为502 SET B004 1 //elite没有字符串寄存器，后台预留了五个字符串 //B004的值代表选用的是第几个字符串，现在选用第一个作为flow name CALL JOB:xyz_send_recv //调用通讯程序 // switch item SET B002 528 //设置cmd寄存器值为502 SET B004 2 //选用后台预留的第二个作字符串为item name SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 DOUT OT# (1) OFF //设置DO MOVJ P001 VJ=50 PL=0 ACC=50 DEC=50 //运动到某一示教点 // request pick and place SET B002 517 //设置cmd寄存器值为517 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 SET LB000 0 // loop start //循环开始 WHILE LB000=0 DO LABEL *loop_start // get pick in result SET B002 518 //设置cmd寄存器值为518 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 PAUSE IF B014 < 1 //清筐 CALL JOB:xyz_exectraj //执行轨迹 DOUT OT# (1) ON // get pick out result SET B002 519 //设置cmd寄存器值为519 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 // request pick and place SET B002 517 //设置cmd寄存器值为517 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 // get place in result SET B002 520 //设置cmd寄存器值为520 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 DOUT OT# (1) OFF // get place out result SET B002 521 //设置cmd寄存器值为521 SET B011 0 //设置ws_id CALL JOB:xyz_send_recv //调用通讯程序 CALL JOB:xyz_exectraj //执行轨迹 ENDWHILE END