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This commit is contained in:
Eduard Gerlitz 2025-03-24 13:53:57 +01:00
parent e1902ef835
commit 05024a73cc
16 changed files with 341 additions and 28 deletions
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24
MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF
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@ -6,19 +6,19 @@ INL_X_OFFSET = 120
INL_Y_NUM = 9
INL_Y_OFFSET = 125
; ---------------------------------------------------
WPR_X = 22.4
WPR_Y = 18
WPR_Z = 29.4
WPF_X = 22.4
WPF_Y = 18
WPF_Z = 29.4
WP_CLP_OFFSET_X = 2
WP_GRP_OFFSET_Z = 13.5
WPR_X = 80
WPR_Y = 30
WPR_Z = 75
WPF_X = 0
WPF_Y = 3
WPF_Z = -5
WP_CLP_OFFSET_X = 0
WP_GRP_OFFSET_Z = 10
; ---------------------------------------------------
CLP_BACKENWEITE = 35
CLP_BACKENHOHE = 32
CLP_SPANNHOHE = 6
CLP_AUFLAGETIEFE = 5.6
CLP_BACKENWEITE = 80
CLP_BACKENHOHE = 47
CLP_SPANNHOHE = 3
CLP_AUFLAGETIEFE = 3.5
MESSPOS_X = 0
MESSPOS_Y = 0
MESSPOS_Z = 0

106
MPF/ROB/AUTO_ROB/CFG_INL.SPF
View File

@ -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

15
MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF
View File

@ -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
R72=15
R73=0.5
R71=WPF_X
R72=WPF_Y
R73=WPF_Z
ELSE ;WENN UNBEARBEITET
R71=10
R72=10
R73=0.5
R71=0
R72=0
R73=0
ENDIF
STOPRE
M17

4
MPF/ROB/AUTO_ROB/DMU_TAKE.MPF
View File

@ -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

6
MPF/ROB/AUTO_ROB/INLAY_PUT.MPF
View File

@ -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

6
MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF
View File

@ -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

1
MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF
View File

@ -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

1
MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF
View File

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

81
MPF/ROB/CALIB/CALIBA_INLAY_BA.MPF Normal file
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@ -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

66
MPF/ROB/CALIB/CALIBA_INLAY_C.MPF Normal file
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@ -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

56
MPF/ROB/CALIB/CALIBA_INLAY_XY.MPF Normal file
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@ -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

0
MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF → MPF/ROB/CALIB/CALIB_INLAY_XY.MPF
View File

3
MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF → MPF/ROB/CALIB/CALIB_INLAY_Z_GRIPPER.MPF
View File

@ -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

0
MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF → MPF/ROB/CALIB/_ARCHIV/CALIB_INLAY_BA.MPF
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0
MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF → MPF/ROB/CALIB/_ARCHIV/CALIB_INLAY_BA___1.MPF
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0
MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF → MPF/ROB/CALIB/_ARCHIV/CALIB_INLAY_C.MPF
View File