20250324_1

MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF

@@ -6,19 +6,19 @@ INL_X_OFFSET = 120
 INL_Y_NUM = 9
 INL_Y_OFFSET = 125
 ; ---------------------------------------------------
-WPR_X = 22.4
+WPR_X = 80
-WPR_Y = 18
+WPR_Y = 30
-WPR_Z = 29.4
+WPR_Z = 75
-WPF_X = 22.4
+WPF_X = 0
-WPF_Y = 18
+WPF_Y = 3
-WPF_Z = 29.4
+WPF_Z = -5
-WP_CLP_OFFSET_X = 2
+WP_CLP_OFFSET_X = 0
-WP_GRP_OFFSET_Z = 13.5
+WP_GRP_OFFSET_Z = 10
 ; ---------------------------------------------------
-CLP_BACKENWEITE = 35
+CLP_BACKENWEITE = 80
-CLP_BACKENHOHE = 32
+CLP_BACKENHOHE = 47
-CLP_SPANNHOHE = 6
+CLP_SPANNHOHE = 3
-CLP_AUFLAGETIEFE = 5.6
+CLP_AUFLAGETIEFE = 3.5
 MESSPOS_X = 0
 MESSPOS_Y = 0
 MESSPOS_Z = 0

MPF/ROB/AUTO_ROB/CFG_INL.SPF

@@ -1,5 +1,5 @@
 ; CFG FILE FOR DMU50 AUTOMATION
-; GENERATED: 250318_185415
+; GENERATED: 250319_074711
 ; ---------------------------------------------------
 WP_X[0]=0.0
 WP_Y[0]=0.0
@@ -7,6 +7,108 @@ WP_X[1]=120.0
 WP_Y[1]=0.0
 WP_X[2]=240.0
 WP_Y[2]=0.0
-WP_NUM=3
+WP_X[3]=360.0
+WP_Y[3]=0.0
+WP_X[4]=480.0
+WP_Y[4]=0.0
+WP_X[5]=600.0
+WP_Y[5]=0.0
+WP_X[6]=0.0
+WP_Y[6]=125.0
+WP_X[7]=120.0
+WP_Y[7]=125.0
+WP_X[8]=240.0
+WP_Y[8]=125.0
+WP_X[9]=360.0
+WP_Y[9]=125.0
+WP_X[10]=480.0
+WP_Y[10]=125.0
+WP_X[11]=600.0
+WP_Y[11]=125.0
+WP_X[12]=0.0
+WP_Y[12]=250.0
+WP_X[13]=120.0
+WP_Y[13]=250.0
+WP_X[14]=240.0
+WP_Y[14]=250.0
+WP_X[15]=360.0
+WP_Y[15]=250.0
+WP_X[16]=480.0
+WP_Y[16]=250.0
+WP_X[17]=600.0
+WP_Y[17]=250.0
+WP_X[18]=0.0
+WP_Y[18]=375.0
+WP_X[19]=120.0
+WP_Y[19]=375.0
+WP_X[20]=240.0
+WP_Y[20]=375.0
+WP_X[21]=360.0
+WP_Y[21]=375.0
+WP_X[22]=480.0
+WP_Y[22]=375.0
+WP_X[23]=600.0
+WP_Y[23]=375.0
+WP_X[24]=0.0
+WP_Y[24]=500.0
+WP_X[25]=120.0
+WP_Y[25]=500.0
+WP_X[26]=240.0
+WP_Y[26]=500.0
+WP_X[27]=360.0
+WP_Y[27]=500.0
+WP_X[28]=480.0
+WP_Y[28]=500.0
+WP_X[29]=600.0
+WP_Y[29]=500.0
+WP_X[30]=0.0
+WP_Y[30]=625.0
+WP_X[31]=120.0
+WP_Y[31]=625.0
+WP_X[32]=240.0
+WP_Y[32]=625.0
+WP_X[33]=360.0
+WP_Y[33]=625.0
+WP_X[34]=480.0
+WP_Y[34]=625.0
+WP_X[35]=600.0
+WP_Y[35]=625.0
+WP_X[36]=0.0
+WP_Y[36]=750.0
+WP_X[37]=120.0
+WP_Y[37]=750.0
+WP_X[38]=240.0
+WP_Y[38]=750.0
+WP_X[39]=360.0
+WP_Y[39]=750.0
+WP_X[40]=480.0
+WP_Y[40]=750.0
+WP_X[41]=600.0
+WP_Y[41]=750.0
+WP_X[42]=0.0
+WP_Y[42]=875.0
+WP_X[43]=120.0
+WP_Y[43]=875.0
+WP_X[44]=240.0
+WP_Y[44]=875.0
+WP_X[45]=360.0
+WP_Y[45]=875.0
+WP_X[46]=480.0
+WP_Y[46]=875.0
+WP_X[47]=600.0
+WP_Y[47]=875.0
+WP_X[48]=0.0
+WP_Y[48]=1000.0
+WP_X[49]=120.0
+WP_Y[49]=1000.0
+WP_X[50]=240.0
+WP_Y[50]=1000.0
+WP_X[51]=360.0
+WP_Y[51]=1000.0
+WP_X[52]=480.0
+WP_Y[52]=1000.0
+WP_X[53]=600.0
+WP_Y[53]=1000.0
+WP_NUM=54
 ; ---------------------------------------------------
 M17

MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF

@@ -1,16 +1,19 @@
 IF (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+STOPRE
 R70=1
 ENDIF
 
+STOPRE
 IF R70==1  ;WENN BEARBEITET
-R71=15
+R71=WPF_X
-R72=15
+R72=WPF_Y
-R73=0.5
+R73=WPF_Z
 ELSE    ;WENN UNBEARBEITET
-R71=10
+R71=0
-R72=10
+R72=0
-R73=0.5
+R73=0
 ENDIF
+STOPRE
 
 M17
 

MPF/ROB/AUTO_ROB/DMU_TAKE.MPF

@@ -12,7 +12,7 @@ G1 X0.000 Y-1650.000 Z1100.000 A0.000 B0.000 C-90.000
 
 ; FAHRE UBER SCHRAUBSTOCK
 G55
-G90 G1 X=WP_CLP_OFFSET_X Y0 Z=CLP_BACKENHOHE+WPR_Z-WP_GRP_OFFSET_Z+30 A0 B0 C0 G94
+G90 G1 X=WP_CLP_OFFSET_X+R71 Y=0+R72 Z=CLP_BACKENHOHE+WPR_Z-WP_GRP_OFFSET_Z+R73+30 A0 B0 C0 G94
 
 ; FAHRE INKR RUNTER
 F1000
@@ -23,7 +23,7 @@ CMD_SPANNER_AUF
 
 ; GREIFER ZU
 M52
-G4 F4
+G4 F2
 
 ; FAHRE INKR HOCH
 G91 G1 Z30.0

MPF/ROB/AUTO_ROB/INLAY_PUT.MPF

@@ -12,18 +12,18 @@ TRAORI
 ; FAHRE UBER TEIL
 G54
 F17000
-G90 G1 CP X=R51+WPR_X+R71   Y=R52+WPR_Y+R72   Z=WPR_Z-WP_GRP_OFFSET_Z+60+R73+R83 A0 B0 C0 G94
+G90 G1 CP X=R51+(WPR_X/2)+R71+10   Y=R52+(WPR_Y/2)+R72+10   Z=WPR_Z-WP_GRP_OFFSET_Z+(WPR_Z+20)+R73+R83+0.5 A0 B0 C0 G94
 
 ; FAHRE INKR RUNTER
 F1000
-G91 G1 CP Z=-60
+G91 G1 CP Z=-(WPR_Z+20)
 
 ; GREIFER AUF
 M51
 G4 F2
 
 ; FAHRE INKR HOCH
-G91 G1 Z60
+G91 G1 Z=(WPR_Z+20)
 G90
 
 ; HOME

MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF

@@ -15,18 +15,18 @@ TRAORI
 ; FAHRE UBER TEIL
 G54
 F17000
-G90 G1 CP X=R51+WPR_X   Y=R52+WPR_Y   Z=WPR_Z-WP_GRP_OFFSET_Z+60+R83 A0 B0 C0 G94
+G90 G1 CP X=R51+(WPR_X/2)   Y=R52+(WPR_Y/2)   Z=WPR_Z-WP_GRP_OFFSET_Z+(WPR_Z+20)+R83 A0 B0 C0 G94
 
 ; FAHRE INKR RUNTER
 F1000
-G91 G1 CP Z-60
+G91 G1 CP Z=-(WPR_Z+20)
 
 ; GREIFER ZU
 M52
 G4 F3
 
 ; FAHRE INKR HOCH
-G91 G1 X5 Y5 Z60
+G91 G1 X5 Y5 Z=WPR_Z+20
 G90
 
 ; HOME

MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF

@@ -6,6 +6,7 @@ EXTERN COM_WAIT(INT, INT, INT, INT)
 CMD_TUR_ZU
 
 ; +++ START - REINIGUNG
+CMD_SPANNER_AUF
 COM_SENT(0,1,0,0)
 
 ; ROHTEIL AUS INLAY HOLEN - HOME POSITION FAHREN

MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF

@@ -18,6 +18,7 @@ R51=WP_X[IDX]
 R52=WP_Y[IDX]
 
 CHECKLAS_ISTHEREP_OFFZ
+
 IF R90==1 
 
 IF R99==69

MPF/ROB/CALIB/CALIBA_INLAY_BA.MPF

@@ -0,0 +1,81 @@
+;-> AUTOWRITE IN G54:A,B IF NOT ZERO
+;>>>>> G54:A = R18 <<<<<
+;>>>>> G54:B = R19 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE TOL_ANGLE AS 2
+
+DEFINE XSTART AS 25
+DEFINE YSTART AS 25
+DEFINE ZSTART AS 250
+DEFINE XDIFF AS 600
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+
+R18=0
+R19=0
+;$P_UIFR[1,X,RT] = 0
+;$P_UIFR[1,Y,RT] = 0
+;MSG(<<($P_UIFR[1,Y,RT]==0))
+STOPRE
+;M0
+
+SETKOS(0)
+SOFT
+TRAORI
+G54
+
+
+;P1
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G4 F2
+CYC_MESSZ1
+R10=-R9
+STOPRE
+M01
+
+;P2
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G4 F2
+CYC_MESSZ1
+R11=-R9
+STOPRE
+M01
+
+;P3
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G4 F2
+CYC_MESSZ1
+R12=-R9
+STOPRE
+M01
+
+
+; BERECHNE
+R18=ATAN((R11-R10)/XDIFF)
+R19= - ATAN((R12-R11)/YDIFF)
+STOPRE
+
+
+; SETZE
+IF ($P_UIFR[1,X,RT] == 0) AND ($P_UIFR[1,Y,RT] == 0)
+    IF (ABS(R18) < TOL_ANGLE) AND (ABS(R19) < TOL_ANGLE) 
+        $P_UIFR[1,X,RT] = R18; + $P_UIFR[1,X,RT]
+        $P_UIFR[1,Y,RT] = R19; + $P_UIFR[1,Y,RT]
+        STOPRE
+    ELSE
+        MSG("AUSSERHALB TOLERANZ, WERTE A, B: "<<R18 <<" " <<R19)
+        M0
+    ENDIF
+ELSE
+    MSG("G54:A,B NOT WRITTEN, RESET IT MANUALLY")
+    M0
+ENDIF
+
+SETKOS(1)
+
+M17

MPF/ROB/CALIB/CALIBA_INLAY_C.MPF

@@ -0,0 +1,66 @@
+;-> AUTOWRITE IN G54:C IF NOT ZERO
+;>>>>> G54:C = R19 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE TOL_ANGLE AS 4
+
+DEFINE XSTART AS -100
+DEFINE YSTART AS 15
+DEFINE ZSTART AS 250
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+H1=ZSTART+OFFSET_LASER_Z-2
+R19=0
+
+SETKOS(0)
+SOFT
+TRAORI
+G54
+
+
+;P1
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R10=$AA_MW[X]
+STOPRE
+M01
+
+
+;P2
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R11=$AA_MW[X]
+STOPRE
+
+
+
+; BERECHNE
+R12=R11-R10
+R19= - ATAN(R12/YDIFF)
+STOPRE
+
+
+; SETZE
+IF ($P_UIFR[1,Z,RT] == 0)
+    IF (ABS(R19) < TOL_ANGLE) 
+        $P_UIFR[1,Z,RT] = R19; + $P_UIFR[1,Z,RT]
+        STOPRE
+    ELSE
+        MSG("AUSSERHALB TOLERANZ, WERT C: " <<R19)
+        M0
+    ENDIF
+ELSE
+    MSG("G54:C NOT WRITTEN, RESET IT MANUALLY")
+    M0
+ENDIF
+
+
+SETKOS(1)
+
+M17

MPF/ROB/CALIB/CALIBA_INLAY_XY.MPF

@@ -0,0 +1,56 @@
+;-> AUTOWRITE IN G54:X,Y IF NOT ZERO
+;>>>>> G54:X = R18 <<<<<
+;>>>>> G54:Y = R19 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE TOL_MOVE AS 10
+
+DEFINE XSTART AS 25
+DEFINE YSTART AS 25
+DEFINE ZSTART AS 250
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 300.0
+
+H1=ZSTART+OFFSET_LASER_Z-1.5
+R18=0
+R19=0
+
+SETKOS(0)
+SOFT
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=-150 F=FEED_MESS MEAS=1
+STOPRE
+R18=$AA_MW[X]
+STOPRE
+M01
+
+;Y
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R19=$AA_MW[Y]
+STOPRE
+M01
+
+
+; SETZE
+IF (ABS(R18) < TOL_MOVE) AND (ABS(R19) < TOL_MOVE) 
+    $P_UIFR[1,X,TR] = R18 + $P_UIFR[1,X,TR]
+    $P_UIFR[1,Y,TR] = R19 + $P_UIFR[1,Y,TR]
+    STOPRE
+ELSE
+    MSG("AUSSERHALB TOLERANZ, WERTE X, Y: "<<R18 <<" " <<R19)
+    M0
+ENDIF
+
+G90 G1 A0 B0 C0 F1700
+SETKOS(1)
+
+M17

MPF/ROB/CALIB/CALIB_INLAY_Z_GRIPPER.MPF

@@ -11,9 +11,12 @@ DEFINE FEED_FAST AS 13000.0
 
 
 SETKOS(1)
+SOFT
 TRAORI
 G54
 
+M52
+
 ;X
 G90 G1 A0 B0 C0 F500
 G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST