Initial commit

CYCLE/CYC_MESSZ1.SPF

@@ -0,0 +1,37 @@
+; BEFORE FIRST TIME USE:
+; $MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+; $MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+; $MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+; $MC_LEN_AC_FIFO = 26            ; 20 VAR
+; $MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+; --> PO
+
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE X_MOVE AS 2;1.2
+DEFINE FEED_MESS AS 150;75          ;INKR_MESS=0.05/0.04*60
+DEFINE FEED_BACK AS 500    
+
+
+$MC_MM_NUM_AC_MARKER=2
+$AC_MARKER[0]=0
+$AC_FIFO1[4]=0
+R0=0
+R9=0
+
+; SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do $AC_MARKER[0]=$AC_MARKER[0]+1 $AC_FIFO1[0]=$A_DBR[20] R0=$AC_MARKER[0]
+
+; --- MOVE AND MEASURE
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+; CALC
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+; --- GO BACK
+G1 G91 X=-X_MOVE F=FEED_BACK
+
+
+M17

CYCLE/HOME_BELADEN.SPF

@@ -0,0 +1,14 @@
+;****************************************************
+;
+; Homing program called by the "Home" softkey
+; Home position can be adjusted for the application
+;
+;****************************************************
+
+N10 TRAFOOF		;Deactivate transformation
+
+N20 G90 G1 RA1=0 RA2=-30 RA3=-35 RA4=0 RA5=15 RA6=0 F5000
+;G90 G1 RA1=0 RA2=-30 RA3=30 RA4=0 RA5=45 RA6=0 F5000
+
+
+M17

CYCLE/HOME_DMU.SPF

@@ -0,0 +1,13 @@
+;****************************************************
+;
+; Homing program called by the "Home" softkey
+; Home position can be adjusted for the application
+;
+;****************************************************
+
+N10 TRAFOOF		;Deactivate transformation
+
+G90 G1 RA1=-90 RA2=-40 RA3=40 RA4=0 RA5=45 RA6=0 F5000
+
+
+M17

CYCLE/SETKOS.MPF

@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17

CYCLE/_ARCHIV/20250317_133409_CYC_MESSZ_X - Kopie.SPF

@@ -0,0 +1,26 @@
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE IDX AS 0
+DEFINE INKR_MESS  AS 0.05        ; IN MM
+DEFINE X_MOVE AS 1.2
+
+
+; INIT
+DEFINE FEED_MESS AS 0.0
+FEED_MESS = INKR_MESS/0.04*60
+
+; --- SETUP SYNCACT
+ID=1 whenever IDX<INKR_NUM do $AC_FIFO1[0]=$A_DBR[20]
+ID=2 whenever IDX<INKR_NUM do IDX=IDX+1
+
+; --- MOVE AND ME
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+
+M17
+

CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF

@@ -0,0 +1,23 @@
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE IDX AS 0
+DEFINE X_MOVE AS 1.2
+DEFINE FEED_MESS AS 75          ;INKR_MESS=0.05/0.04*60
+
+$MC_MM_NUM_AC_MARKER=1
+$AC_MARKER[0]=0
+R[9]=0
+; --- SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do R[$AC_MARKER[0]+10]=$A_DBR[20] R[9]=R[9]+$A_DBR[20]
+ID=2 whenever TRUE do $AC_MARKER[0]=$AC_MARKER[0]+1
+
+; --- MOVE AND ME
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+
+STOPRE
+R9 = R9/INKR_NUM
+
+
+M30

CYCLE/_ARCHIV/20250318_091601_CYC_MESSZ1 - Kopie.SPF

@@ -0,0 +1,37 @@
+; BEFORE FIRST TIME USE:
+; $MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+; $MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+; $MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+; $MC_LEN_AC_FIFO = 26            ; 20 VAR
+; $MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+; --> PO
+
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE X_MOVE AS 1.2
+DEFINE FEED_MESS AS 75          ;INKR_MESS=0.05/0.04*60
+DEFINE FEED_BACK AS 500          ;INKR_MESS=0.05/0.04*60
+
+
+$MC_MM_NUM_AC_MARKER=2
+$AC_MARKER[0]=0
+$AC_FIFO1[4]=0
+R0=0
+R9=0
+
+; SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do $AC_MARKER[0]=$AC_MARKER[0]+1 $AC_FIFO1[0]=$A_DBR[20] R0=$AC_MARKER[0]
+
+; --- MOVE AND MEASURE
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+; CALC
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+; --- GO BACK
+G1 G91 X=-X_MOVE F=FEED_BACK
+
+
+M17

CYCLE/_ARCHIV/CYC_INIT.SPF

@@ -0,0 +1,8 @@
+
+$MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+$MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+$MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+$MC_LEN_AC_FIFO = 26            ; 20 VAR
+$MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+
+M17

GUD/GUD5.DEF

@@ -0,0 +1,43 @@
+DEF CHAN REAL OFFSET_LASER_Z
+
+DEF CHAN INT INL_X_NUM
+DEF CHAN REAL INL_X_OFFSET
+DEF CHAN INT INL_Y_NUM
+DEF CHAN REAL INL_Y_OFFSET
+DEF CHAN REAL WPR_X
+DEF CHAN REAL WPR_Y
+DEF CHAN REAL WPR_Z
+DEF CHAN REAL WPF_X
+DEF CHAN REAL WPF_Y
+DEF CHAN REAL WPF_Z
+DEF CHAN REAL WP_CLP_OFFSET_X
+DEF CHAN REAL WP_GRP_OFFSET_Z
+DEF CHAN REAL CLP_BACKENWEITE
+DEF CHAN REAL CLP_BACKENHOHE
+DEF CHAN REAL CLP_SPANNHOHE
+DEF CHAN REAL CLP_AUFLAGETIEFE
+DEF CHAN REAL MESSPOS_X
+DEF CHAN REAL MESSPOS_Y
+DEF CHAN REAL MESSPOS_Z
+DEF CHAN REAL MESSPOS_TOL
+
+DEF CHAN REAL WP_NUM
+DEF CHAN REAL FEED_CP_FAST
+DEF CHAN REAL FEED_CP_SLOW
+DEF CHAN REAL WP_X[100]
+DEF CHAN REAL WP_Y[100]
+
+DEF CHAN REAL PRB_BOD_RE_X
+DEF CHAN REAL PRB_BOD_RE_Y
+DEF CHAN REAL PRB_BOD_LI_X
+DEF CHAN REAL PRB_BOD_LI_Y
+DEF CHAN REAL PRB_SEI_HI_X
+DEF CHAN REAL PRB_SEI_HI_Z
+DEF CHAN REAL PRB_SEI_VO_X
+DEF CHAN REAL PRB_SEI_VO_Z
+DEF CHAN REAL PRB_VERS_X_Y
+DEF CHAN REAL PRB_VERS_X_Z
+
+M17
+
+

MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF

@@ -0,0 +1,228 @@
+EXTERN TASTER (STRING[50])
+;%_N_1000_MPF
+;$PATH=/_N_WKS_DIR/_N_OP2_WPD
+
+;
+; --------------------------------------------------------------------------
+; Maschine             : DMG-DMU50-3GEN-SIN840D-BCSim
+; Teilename (.ppf)     : 4E_4148_2
+; Arbeitsplan          : 
+; Kommentar            : 
+; Familie              : 
+; Kunde                : 
+; Programmierer        : 
+; Arbeitsplan-Revision : 
+; Material             : EC80
+; Sequence             : OP2
+; Datum / Zeit         : 11/03/25 / 14:06:16
+; 
+; Bearbeitungszeit inkl. Werkzeugwechsel:  0h 0min 57sec
+; --------------------------------------------------------------------------
+;
+;                     Werkzeugliste
+;
+;---------------------------------------------------------------------------
+; Nr     Kommentar            Code ID    Durchmesser    Werkzeugtyp
+;---------------------------------------------------------------------------
+; 1      9999
+;                                        6                        
+; 2      WPF_D25_Z4_EL41_GL117
+;                                        25             Fraeser   
+; 3      FAC_D6_W90_GL175
+;                                        6              Flach     
+;---------------------------------------------------------------------------
+ 
+ EXTERN BLUMLASER(STRING[40])
+ EXTERN _BLUM(STRING[40])
+ 
+ 
+GOTOF _OHNE_SCHWENKEN ; Schwenkebene am Programmanfang ueberspringen
+ 
+INDEX_1: CYCLE800(0,"DMG",0,27,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,1,) ; np op2
+_OHNE_SCHWENKEN:
+ 
+ 
+N10 G54 ; NP-Anwahl
+N20 CYCLE800()
+N30 TRAFOOF
+N40 WORKPIECE(,"",,"BOX",112,4.44,-25,-80,-24,-20,24,20)
+N50 G17 G64 G90 G710
+N60 RTLION
+N70 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N80 R3=42000 ; Hoher Vorschub in mm/min 
+ 
+; -------------------------------------
+; Ablaufsteuerung 
+; -------------------------------------
+ 
+R1 = 1 ; Startoperation
+GOTOF "T_"<<R1 
+ 
+ 
+T_1:
+_BLUM("BREAK")
+; (WERKZEUG: 9999)
+N90 T="9999"
+N100 M6
+_BLUM("CHECK")
+N110 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N120 D1
+N130 T="WPF_D25_Z4_EL41_GL117"
+N140 M5
+N150 G60
+ TASTER("AUS")
+N160 G54 ; NP-Anwahl
+N170 REPEATB INDEX_1 ; np op2
+N180 G0 X0 Y0.0
+N190 Z10.0
+TASTER("EIN")
+G0 Z1
+CYCLE150(40,11000,"")
+
+CYCLE977(101,1,,1,22,,,5,1,45,1,20,,,1,"VHF_8_ALU",,0,69.5,69.7,69.6,0.34,1,0,,1,0)
+TASTER("AUS")
+N210 Z10.0
+N220 M5
+N230 TRAFOOF
+N240 TRANS
+N250 ROT
+N260 ; EILGANG ZU WERKZEUGWECHSEL
+N270 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N280 G0 SUPA X-644.763 Y-291.443
+ TASTER("EIN")
+T_2:
+_BLUM("BREAK")
+; (WERKZEUG: WPF_D25_Z4_EL41_GL117)
+N290 T="WPF_D25_Z4_EL41_GL117"
+N300 M6
+_BLUM("CHECK")
+N310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N320 D1
+N330 T="FAC_D6_W90_GL175"
+N340 S3100 M3
+N350 G64
+ 
+N360 G54 ; NP-Anwahl
+N370 REPEATB INDEX_1 ; np op2
+ ;
+N380 R1=2000 ; Eintauchvorschub in mm/min 
+N390 R2=1500 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 9 - Stirnfräsen
+N400 M26
+N410 CYCLE832(0.01,_FINISH,1)
+N420 G0 X-19.6 Y38.0
+N430 Z15.0
+N440 Z2.2
+N450 G1 Z0.2 F=R1
+N460 Y-18.0 F=R2
+N470 G3 X-14.76 Y-22.84 CR=4.84
+N480 G1 X-9.44
+N490 G3 X-4.6 Y-18.0 CR=4.84
+N500 G1 Y18.0
+N510 G2 X0.24 Y22.84 CR=4.84
+N520 G1 X10.16
+N530 G2 X15.0 Y18.0 CR=4.84
+N540 G1 Y-38.0
+N550 Z2.2 F=R3
+N560 X-19.6 Y38.0
+N570 Z2.0
+N580 Z0.0 F=R1
+N590 Y-18.0 F=R2
+N600 G3 X-14.76 Y-22.84 CR=4.84
+N610 G1 X-9.44
+N620 G3 X-4.6 Y-18.0 CR=4.84
+N630 G1 Y18.0
+N640 G2 X0.24 Y22.84 CR=4.84
+N650 G1 X10.16
+N660 G2 X15.0 Y18.0 CR=4.84
+N670 G1 Y-38.0
+N680 G0 Z15.0
+N690 M5
+N700 M9
+N710 CYCLE832(0,_OFF,1)
+N720 TRAFOOF
+N730 TRANS
+N740 ROT
+N750 ; EILGANG ZU WERKZEUGWECHSEL
+N760 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N770 G0 SUPA X-644.763 Y-291.443
+ 
+T_3:
+_BLUM("BREAK")
+; (WERKZEUG: FAC_D6_W90_GL175)
+N780 T="FAC_D6_W90_GL175"
+N790 M6
+_BLUM("CHECK")
+N800 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N810 D1
+N820 T="9999"
+N830 S15000 M3
+N840 G64
+ 
+N850 G54 ; NP-Anwahl
+N860 REPEATB INDEX_1 ; np op2
+ ;
+N870 R1=2000 ; Eintauchvorschub in mm/min 
+N880 R2=1000 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 12 - Fasefräsen
+N890 M8
+N900 CYCLE832(0.01,_FINISH,1)
+N910 G0 X2.0 Y-21.35
+N920 Z5.0
+N930 Z1.7
+N940 G1 Z-1.65 F=R1
+N950 Y-20.35 F=R2
+N960 G3 X1.0 Y-19.35 CR=1.0
+N970 G1 X-22.5
+N980 G2 X-23.85 Y-18.0 CR=1.35
+N990 G1 Y18.0
+N1000 G2 X-22.5 Y19.35 CR=1.35
+N1010 G1 X22.5
+N1020 G2 X23.85 Y18.0 CR=1.35
+N1030 G1 Y-18.0
+N1040 G2 X22.5 Y-19.35 CR=1.35
+N1050 G1 X-1.0
+N1060 G3 X-2.0 Y-20.35 CR=1.0
+N1070 G1 Y-21.35
+N1080 G0 Z5.0
+N1090 Y-8.65
+N1100 Z1.7
+N1110 G1 Z-1.65 F=R1
+N1120 Y-9.65 F=R2
+N1130 G3 X-1.0 Y-10.65 CR=1.0
+N1140 G1 X12.0
+N1150 G3 X15.645 Y-7.19 CR=3.65
+N1160 G1 X15.65 Y7.0
+N1170 G3 X12.19 Y10.645 CR=3.65
+N1180 G1 X-12.0 Y10.65
+N1190 G3 X-15.645 Y7.19 CR=3.65
+N1200 G1 X-15.65 Y-7.0
+N1210 G3 X-12.0 Y-10.65 CR=3.65
+N1220 G1 X1.0
+N1230 G3 X2.0 Y-9.65 CR=1.0
+N1240 G1 Y-8.65
+N1250 G0 Z4.7
+N1260 CYCLE832(0,_OFF,1)
+N1270 TRAFOOF
+N1280 TRANS
+N1290 ROT
+N1300 ; EILGANG ZU WERKZEUGWECHSEL
+N1310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N1320 G0 SUPA X-644.763 Y-291.443
+N1330 D1
+ 
+N1340 M5 M9
+N1350 CYCLE832(0,_OFF,1)
+N1360 TRAFOOF
+N1370 TRANS
+N1380 ROT
+N1390 CYCLE800()
+N1400 M30
+ 
+ ; ============ ENDE ===============
+ 
+ 
+ 
+

MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF

@@ -0,0 +1,8 @@
+MSG($A_IN[1]<<$A_IN[2]<<$A_IN[3]<<$A_IN[4])
+
+M0
+
+
+MSG("ZUSTAND OUTPUT 1: "<<$A_OUT[1]<<" 2: "<<$A_OUT[2]<<" 3: "<<$A_OUT[3]<<" 4: "<<$A_OUT[4])
+M0
+M30

MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF

@@ -0,0 +1,22 @@
+; SENT0000
+COM_RESET
+
+; WAIT 1111
+WHILE NOT (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+; SENT 1111
+$A_OUT[1]=1
+$A_OUT[2]=1
+$A_OUT[3]=1
+$A_OUT[4]=1
+STOPRE
+
+; WAIT NOTT 1111
+WHILE (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+M17
+

MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF

@@ -0,0 +1,9 @@
+STOPRE
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+STOPRE
+
+M17
+

MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF

@@ -0,0 +1,12 @@
+PROC COM_SENT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+STOPRE
+$A_OUT[1]=BB1
+$A_OUT[2]=BB2
+$A_OUT[3]=BB3
+$A_OUT[4]=BB4
+STOPRE
+G4 F1
+
+M17
+

MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF

@@ -0,0 +1,8 @@
+PROC COM_WAIT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+WHILE NOT ($A_IN[1]==BB1) AND ($A_IN[2]==BB2) AND ($A_IN[3]==BB3) AND ($A_IN[4]==BB4)
+ENDWHILE
+STOPRE
+G4 F1
+
+M17

MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF

@@ -0,0 +1,120 @@
+N0 EXTERN COM_SENT (INT,INT,INT,INT)
+N5 EXTERN COM_WAIT(INT,INT,INT,INT)
+
+N15 COM_RESET
+
+;INITIALISIEREN DER VARIABLEN
+
+
+;Int_ABL:
+;0 = Kein Teil in der Maschine
+;1 = Teil In Maschine
+;2 = Teil Fertig
+;3 = Teil Falsch eingespannt
+;102 - Am Bearbeiten
+
+;Bit Belegung: 
+
+;Input
+;0000 Keine Teile mehr zum bearbeiten
+;0100 Maschine Reinigen und auf Beladeposition fahren
+;0001 TEIL WURDE VON ROBOTER BELADEN
+
+;Output
+;0001 Maschine ist gereinigt und Teil kann beladen werden
+;0010 Teil Entladen
+;0011 Rohteil Entladen
+;0100 Teil ist Beladen und bearbeitung wurde gestartet
+
+N25 STARRT:
+N25 COM_HANDSH_DMU
+
+N30	IF ($A_IN[1] == 0) AND ($A_IN[2] == 1) AND	($A_IN[3] == 0) AND ($A_IN[4] == 0) ; M
+;N35 aschine Reinigen
+N45 MSG("REINIGUNG MASCHINE")
+N50 
+
+N55 CALL "CLEAN.SPF"
+N60 MSG()
+		
+N65		REPEAT BELADEN_START BELADEN_END	;Werkzeug entladen und auf Position für Be/Entladen fahren
+
+N70	ENDIF
+	
+	;Beginn der Bearbeitung
+N75 IF ($A_IN[1] == 0) AND ($A_IN[2] == 0) AND	($A_IN[3] == 0) AND ($A_IN[4] == 1) ; MASCHINE STARTEN
+
+N85	B_MEAS_WKS = TRUE
+	
+	;Unterprogramm zum Teil vermessen
+N90	
+
+MEAS_WKS
+	
+	;Wenn das Teil richtig liegt und der Schraubstock gespannt ist kann mit der Bearbeitung begonnen werden
+N100	STOPRE
+N105	IF (B_MEAS_WKS == TRUE)
+N110 CALL "4E_4148_2_OP2.MPF"
+
+N115	REPEAT ENTLADEN_START ENTLADEN_END	;Werkzeug entladen und auf Position für Be/Entladen fahre
+N120	ELSE ; Wenn beim Messen ein fehler aufgetreten ist soll das Rohmaterial wieder entladen werden
+N125	REPEAT ENTLADEN_START ENTLADEN_END
+
+N130	ENDIF	
+N135 ENDIF
+
+N140 GOTOB STARRT
+;N245 CLEAN()	;Maschine reinigen
+
+N145 REPEAT LBL1 LBL2
+
+;Programm Ende
+
+N150 STOPRE 
+N155; COM_SENT(1,1,1,1) ; AUSGANGSSIGNAL MASCHINE FERTIG
+
+N160 M30
+
+N165 BELADEN_START:
+
+N170 G57
+
+N175 T0	;Werkzeug versorgen
+N180 M6
+;Fahren auf Heimposition
+
+N185 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N190 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N195 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N200 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,-90,0,0,0,1,,0)
+
+N205		STOPRE
+			
+N210		COM_SENT(0,0,0,1) ;Ausgangssignal geben um Teil zu beladen
+									
+N215 M0
+N220 BELADEN_END:
+
+N225 ENTLADEN_START:
+MSG()
+N230 G57
+
+N235 T0	;Werkzeug versorgen
+N240 M6
+;Fahren auf Heimposition
+
+N245 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N250 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N255 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N260 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,-90,0,0,0,1,,0)
+
+N265 IF B_MEAS_WKS == TRUE
+N270 COM_SENT(0,0,1,1)
+N275 ELSE
+N280 COM_SENT(0,0,1,0)
+ENDIF
+MSG($A_OUT[1]<<$A_OUT[2]<<$A_OUT[3]<<$A_OUT[4])
+N285 M0
+N290 ENTLADEN_END:

MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF

@@ -0,0 +1,29 @@
+N0 G17 G64 G90 G710
+N5 RTLION
+N10 CYCLE800()
+N15 TRAFOOF
+N20 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+ 
+N25 G57 ; NP-Anwahl
+ 
+; (WERKZEUG: 9999)
+N30 T="WPF_D25_Z4_EL41_GL117"
+N35 M6
+N40 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N45 D1
+N50 S3000 M3
+N55 G60
+
+
+
+N70 T0	;Werkzeug versorgen
+N75 M6
+;Fahren auf Heimposition
+
+N80 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N85 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N90 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N95 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,0,0,0,0,1,,0)
+
+M17

MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF

@@ -0,0 +1,38 @@
+; CFG FILE FOR DMU50 AUTOMATION
+; GENERATED: 250318_185125
+; ---------------------------------------------------
+INL_X_NUM = 6
+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
+; ---------------------------------------------------
+CLP_BACKENWEITE = 35
+CLP_BACKENHOHE = 32
+CLP_SPANNHOHE = 6
+CLP_AUFLAGETIEFE = 5.6
+MESSPOS_X = 0
+MESSPOS_Y = 0
+MESSPOS_Z = 0
+MESSPOS_TOL = 0
+; ---------------------------------------------------
+PRB_BOD_RE_X = 0
+PRB_BOD_RE_Y = 0
+PRB_BOD_LI_X = 0
+PRB_BOD_LI_Y = 0
+PRB_SEI_HI_X = 0
+PRB_SEI_HI_Z = 0
+PRB_SEI_VO_X = 0
+PRB_SEI_VO_Z = 0
+PRB_VERS_X_Y = 0
+PRB_VERS_X_Z = 0
+; ---------------------------------------------------
+M17

MPF/ROB/AUTO_ROB/CFG_INL.SPF

@@ -0,0 +1,12 @@
+; CFG FILE FOR DMU50 AUTOMATION
+; GENERATED: 250318_185415
+; ---------------------------------------------------
+WP_X[0]=0.0
+WP_Y[0]=0.0
+WP_X[1]=120.0
+WP_Y[1]=0.0
+WP_X[2]=240.0
+WP_Y[2]=0.0
+WP_NUM=3
+; ---------------------------------------------------
+M17

MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF

@@ -0,0 +1,32 @@
+EXTERN SETKOS(INT)
+
+DEFINE TOLER AS 10
+DEFINE XMESS AS 5
+DEFINE YMESS AS 5
+DEFINE ZMESS AS 250
+R83=0
+R90=0
+
+SOFT
+
+;HOME
+SETKOS(0)
+TRAORI
+
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+XMESS   Y=R52+YMESS   Z=ZMESS A0 B0 C0 G94
+
+;MESSE
+IF $A_DBR[20] < (ZMESS+OFFSET_LASER_Z-TOLER)
+R90=1
+ENDIF
+
+
+SETKOS(1)
+;HOME
+
+
+M17

MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF

@@ -0,0 +1,42 @@
+EXTERN SETKOS(INT)
+
+DEFINE TOL_OFFZ AS 2.5
+DEFINE TOL_CHECK AS 10
+DEFINE XMESS AS 5
+DEFINE YMESS AS 5
+DEFINE ZMESS AS 250
+R83=0
+R90=0
+
+SOFT
+
+;HOME
+SETKOS(0)
+TRAORI
+
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+XMESS   Y=R52+YMESS   Z=ZMESS A0 B0 C0 G94
+
+; PRUFE ISTHERE PART
+R9=$A_DBR[20]
+IF TOL_CHECK < (ZMESS+OFFSET_LASER_Z-R9)
+R90=1
+
+; BESTIMME HOHE BAUTEIL UND OFFSETZ_GRIFFHOHE
+CYC_MESSZ1
+R83 = (ZMESS+OFFSET_LASER_Z-R9)-WPR_Z
+IF ABS(R83) > TOL_OFFZ
+MSG("BAUTEILHOEHE AUSSERHALB TOLERANZ: "<<R83)
+M0
+ENDIF
+
+ENDIF
+
+SETKOS(1)
+;HOME
+
+
+M17

MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF

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

MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF

@@ -0,0 +1,5 @@
+M91
+G4 F1
+
+M17
+

MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF

@@ -0,0 +1,5 @@
+M92
+G4 F1
+
+M17
+

MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF

@@ -0,0 +1,13 @@
+EXTERN WAIT_SENSOR(INT)
+
+WHILE NOT ($A_DBB[3]==1)
+M65
+G4 F1
+ENDWHILE
+
+; TUR AUF BIS SENSOR ERREICHT
+M71
+WAIT_SENSOR(1)
+
+M17
+

MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF

@@ -0,0 +1,13 @@
+EXTERN WAIT_SENSOR(INT)
+
+M72
+WAIT_SENSOR(2)
+G4 F1
+
+WHILE NOT ($A_DBB[3]==0)
+M65
+G4 F1
+ENDWHILE
+
+M17
+

MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF

@@ -0,0 +1,19 @@
+; WAIT 0000
+WHILE NOT (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==0) AND ($A_IN[4]==0))
+ENDWHILE
+STOPRE
+
+; SENT 1111
+$A_OUT[1]=1
+$A_OUT[2]=1
+$A_OUT[3]=1
+$A_OUT[4]=1
+STOPRE
+
+; WAIT 1111
+WHILE NOT (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+M17
+

MPF/ROB/AUTO_ROB/COM_RESET.MPF

@@ -0,0 +1,9 @@
+STOPRE
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+STOPRE
+
+M17
+

MPF/ROB/AUTO_ROB/COM_RESET_R.MPF

@@ -0,0 +1,18 @@
+STOPRE
+
+R51=0
+R52=0
+R53=0
+
+R70=0
+R71=0
+R72=0
+R73=0
+
+R83=0
+
+R90=0
+
+STOPRE
+
+M17

MPF/ROB/AUTO_ROB/COM_SENT.MPF

@@ -0,0 +1,25 @@
+PROC COM_SENT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+; START BUTTON
+COM_RESET
+M66
+G4 F1
+;HANDSHAKE
+COM_HANDSH_ROB
+
+STOPRE
+$A_OUT[1]=BB1
+$A_OUT[2]=BB2
+$A_OUT[3]=BB3
+$A_OUT[4]=BB4
+STOPRE
+
+;$A_OUT[1]=0
+;$A_OUT[2]=0
+;$A_OUT[3]=0
+;$A_OUT[4]=0
+;G4 F0.5
+
+
+M17
+

MPF/ROB/AUTO_ROB/COM_WAIT.MPF

@@ -0,0 +1,9 @@
+PROC COM_WAIT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+WHILE NOT (($A_IN[1]==BB1) AND ($A_IN[2]==BB2) AND ($A_IN[3]==BB3) AND ($A_IN[4]==BB4))
+ENDWHILE
+STOPRE
+G4 F1
+
+M17
+

MPF/ROB/AUTO_ROB/DMU_DRY.MPF

@@ -0,0 +1,29 @@
+DEF REAL ANGLE
+DEF REAL WAIT_TIME
+ANGLE=110
+WAIT_TIME=2
+
+TRAFOOF
+BRISK
+
+F10000
+;
+G91 G1 RA6=+ANGLE
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=-ANGLE*2
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=+ANGLE*2
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=-ANGLE
+
+SOFT
+TRAORI
+G90 
+
+M17

MPF/ROB/AUTO_ROB/DMU_PUT.MPF

@@ -0,0 +1,35 @@
+; SCHWENKE
+HOME_DMU
+CMD_SPANNER_AUF
+; FAHRE IN DMU REIN
+TRAORI
+G500
+F17000
+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
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 Z=-30+1
+
+; GREIFER AUF
+M51
+G4 F2
+CMD_SPANNER_ZU
+; FAHRE INKR HOCH
+G91 G1 Z30.0
+
+; FAHRE AUS DMU RAUS
+G500
+F17000
+G90 G1 X0.000 Y-1000.000 Z1300.000 A0.000 B0.000 C-90.000
+
+; HOME
+HOME_DMU
+
+
+M17
+

MPF/ROB/AUTO_ROB/DMU_TAKE.MPF

@@ -0,0 +1,50 @@
+; SCHWENKE
+HOME_DMU
+
+; GREIFER AUF
+M51
+
+; FAHRE IN DMU REIN
+TRAORI
+G500
+F17000
+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
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 Z=-30
+
+; SCHRAUBSTOCK AUF
+CMD_SPANNER_AUF
+
+; GREIFER ZU
+M52
+G4 F4
+
+; FAHRE INKR HOCH
+G91 G1 Z30.0
+
+; FAHRE ZURUCK
+G500
+F17000
+G90 G1 Y-1500
+
+; TROCKNEN
+IF R70==1
+DMU_DRY
+ENDIF
+
+; FAHRE AUS DMU RAUS
+;F17000
+;G90 G1 X0.000 Y-1000.000 Z1300.000 A0.000 B0.000 C-90.000
+
+; HOME
+HOME_DMU
+
+
+M17
+

MPF/ROB/AUTO_ROB/INLAY_PUT.MPF

@@ -0,0 +1,33 @@
+SOFT
+
+; HOME
+HOME
+
+; FAHRE UBER INLAY
+TRAORI
+;G500
+;F13000
+;G1 PTP X1400 Y-100 Z700 A0 B0 C0 G94
+
+; 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
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 CP Z=-60
+
+; GREIFER AUF
+M51
+G4 F2
+
+; FAHRE INKR HOCH
+G91 G1 Z60
+G90
+
+; HOME
+;HOME
+
+
+M17

MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF

@@ -0,0 +1,36 @@
+SOFT
+
+; HOME
+;HOME
+
+; GREIFER AUF
+M51
+
+; FAHRE UBER INLAY
+TRAORI
+;G500
+;F13000
+;G1 PTP X1400 Y-100 Z700 A0 B0 C0 G94
+
+; 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
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 CP Z-60
+
+; GREIFER ZU
+M52
+G4 F3
+
+; FAHRE INKR HOCH
+G91 G1 X5 Y5 Z60
+G90
+
+; HOME
+HOME
+
+
+M17

MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF

@@ -0,0 +1,53 @@
+EXTERN COM_SENT(INT, INT, INT, INT)
+EXTERN COM_WAIT(INT, INT, INT, INT)
+
+
+; TÜR ZU
+CMD_TUR_ZU
+
+; +++ START - REINIGUNG
+COM_SENT(0,1,0,0)
+
+; ROHTEIL AUS INLAY HOLEN - HOME POSITION FAHREN
+INLAY_TAKE
+
+; WARTE - BIS MASCHINE GEREINIGT WURDE 
+COM_WAIT(0,0,0,1)
+COM_RESET
+
+; SCHRAUBSTOCK AUF
+
+; TÜR AUF
+CMD_TUR_AUF
+
+; ROHTEIL IN DMU LEGEN
+DMU_PUT
+
+; SCHRAUBSTOCK ZU
+
+; TUR ZU
+CMD_TUR_ZU
+
+; +++ START - BEARBEITEN AUFSPANNUNG1
+COM_SENT(0, 0, 0, 1)
+
+; WARTE - BIS TEIL BEARBEITET IST
+WHILE NOT (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==1))
+ENDWHILE
+G4 F1
+COM_RESET
+CMD_GREIFER_OFFSET
+
+; TÜR AUF
+CMD_TUR_AUF
+
+; TEIL AUS DMU HOLEN
+DMU_TAKE
+
+; TEIL INS INLAY LEGEN
+INLAY_PUT
+
+; RESETTE R VARIABLE
+COM_RESET_R
+
+M17

MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF

@@ -0,0 +1,33 @@
+; SCHRAUBSTOCK AUF
+CMD_SPANNER_AUF
+
+; TÜR AUF
+CMD_TUR_AUF
+
+; ROHTEIL AUS INLAY HOLEN - HOME POSITION FAHREN
+INLAY_TAKE
+
+; ROHTEIL IN DMU LEGEN
+DMU_PUT
+
+; SCHRAUBSTOCK ZU
+CMD_SPANNER_ZU
+
+; TUR ZU
+CMD_TUR_ZU
+
+CMD_GREIFER_OFFSET
+
+; TÜR AUF
+CMD_TUR_AUF
+
+; TEIL AUS DMU HOLEN
+DMU_TAKE
+
+; TEIL INS INLAY LEGEN
+INLAY_PUT
+
+; RESETTE R VARIABLE
+COM_RESET_R
+
+M17

MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF

@@ -0,0 +1,33 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX= 1 TO 4
+R52=(( IDX-1) MOD 2)*125*4
+R51=(( IDX-1) DIV 2)*120*2
+
+; MAIN KERNEL RUN
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+

MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF

@@ -0,0 +1,33 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX=0 TO WP_NUM-1
+R51=WP_X[IDX]
+R52=WP_Y[IDX]
+
+; MAIN KERNEL RUN
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+

MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF

@@ -0,0 +1,37 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX=0 TO WP_NUM-1
+R51=WP_X[IDX]
+R52=WP_Y[IDX]
+
+CHECKLAS_ISTHEREP_OFFZ
+IF R90==1 
+
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+

MPF/ROB/AUTO_ROB/SETKOS.MPF

@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17

MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF

@@ -0,0 +1,7 @@
+PROC WAIT_SENSOR(INT CHANN)
+
+WHILE NOT ($A_DBB[CHANN]==1)
+ENDWHILE
+
+M17
+

MPF/ROB/AUTO_ROB/_REF_G54.MPF

@@ -0,0 +1,13 @@
+DEF REAL CUR_X
+DEF REAL CUR_Y
+DEF REAL CUR_Z
+
+CUR_X=$VA_IW[X]
+CUR_Y=$VA_IW[Y]
+CUR_Z=$VA_IW[Z]
+ 
+
+
+$P_UIFR[1]=CTRANS(X,CUR_X,Y,CUR_Y,Z,CUR_Z):CROT(X,0.000000,Y,-0.000000,Z,0.000000)
+
+M17

MPF/ROB/AUTO_ROB/_REF_G55.MPF

@@ -0,0 +1,13 @@
+DEF REAL CUR_X
+DEF REAL CUR_Y
+DEF REAL CUR_Z
+
+CUR_X=$VA_IW[X]
+CUR_Y=$VA_IW[Y]
+CUR_Z=$VA_IW[Z]
+ 
+
+
+$P_UIFR[2]=CTRANS(X,CUR_X,Y,CUR_Y,Z,CUR_Z):CROT(X,0.000000,Y,-0.000000,Z,0.000000)
+
+M17

MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF

@@ -0,0 +1,7 @@
+NN1010:
+
+MSG("ZUSTAND INPUT:  "<<$A_IN[1]<<" "<<$A_IN[2]<<" "<<$A_IN[3]<<" "<<$A_IN[4])
+G4 F1
+GOTOB NN1010
+
+M30

MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF

@@ -0,0 +1,6 @@
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+
+M30

MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF

@@ -0,0 +1,7 @@
+NN1010:
+
+MSG("ZUSTAND INPUT:  "<<$A_DBB[1]<<" "<<$A_DBB[2]<<" "<<$A_DBB[3]<<" "<<$A_DBB[4])
+G4 F1
+GOTOB NN1010
+
+M30

MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF

@@ -0,0 +1,54 @@
+;>>>>> G54:A = +R8 <<<<<
+;>>>>> G54:B = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -50
+DEFINE YSTART AS 15
+DEFINE ZSTART AS 290
+DEFINE XDIFF AS 600
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+SETKOS(0)
+TRAORI
+G54
+
+;P1
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[Z]
+STOPRE
+M01
+
+;P2
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[Z]
+STOPRE
+M01
+
+;P3
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[Z]
+STOPRE
+M01
+
+
+SETKOS(1)
+
+
+
+; BERECHNE
+R8=ATAN((R1-R0)/XDIFF)
+R9=ATAN((R2-R1)/YDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF

@@ -0,0 +1,86 @@
+;>>>>> G54:A = +R8 <<<<<
+;>>>>> G54:B = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 20
+DEFINE YSTART AS 20
+DEFINE ZSTART AS 275
+DEFINE XDIFF AS 600
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F500
+
+;P1
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R10=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+1 Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R11=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART Y=YSTART+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R12=$AA_MW[Z]
+STOPRE
+M01
+
+;P2
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R20=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+1 Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R21=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART Y=YSTART+YDIFF+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R22=$AA_MW[Z]
+STOPRE
+M01
+
+;P3
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R30=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+XDIFF+1 Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R31=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R32=$AA_MW[Z]
+STOPRE
+M01
+
+
+SETKOS(1)
+
+
+; BERECHNE
+R0=(R10+R11+R12)/3
+R1=(R20+R21+R22)/3
+R2=(R30+R31+R32)/3
+
+R8=ATAN((R1-R0)/XDIFF)
+R9=ATAN((R2-R1)/YDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF

@@ -0,0 +1,40 @@
+;>>>>> G54:C = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -60
+DEFINE YSTART AS 25
+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-10
+
+SETKOS(0)
+TRAORI
+G54
+
+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
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R1-R0
+R9=ATAN(R2/YDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF

@@ -0,0 +1,45 @@
+;>>>>> G54:X = +R8 <<<<<
+;>>>>> G54:Y = +R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 30
+DEFINE YSTART AS 30
+DEFINE ZSTART AS 250
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 300.0
+
+R8=0
+R9=0
+H1=ZSTART+OFFSET_LASER_Z-1.5
+
+SETKOS(0)
+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
+R8=$AA_MW[X]
+STOPRE
+M01
+
+;Y
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R9=$AA_MW[Y]
+STOPRE
+M01
+
+
+M0
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17

MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF

@@ -0,0 +1,25 @@
+;>>>>> RUNTERFAHREN MIT GREIFER BIS PAPIER KLEMMT <<<<<
+;>>>>> ABLESEN Z <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 30
+DEFINE YSTART AS 30
+DEFINE ZSTART AS 300
+DEFINE ZEND AS 50
+DEFINE FEED_FAST AS 13000.0
+
+
+SETKOS(1)
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C0 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 Z=ZEND F=FEED_FAST
+
+
+M17

MPF/ROB/CALIB/CALIB_LASER_A.MPF

@@ -0,0 +1,38 @@
+;>>>>> $MC_ROBX_TTCFL_RPY[2] = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 1090+480
+DEFINE YSTART AS 450
+DEFINE ZSTART AS 850.0
+DEFINE ZDIFF AS 300.0
+DEFINE FEED_FAST AS 5000.0
+DEFINE FEED_MESS AS 200.0
+
+SETKOS(0)
+TRAORI
+
+G90 G1 A0 B0 C0 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 G53 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[Y]
+STOPRE
+M01
+
+
+G90 G1 Y=YSTART Z=ZSTART-ZDIFF F=FEED_FAST
+G91 G1 G53 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[Y]
+STOPRE
+
+SETKOS(1)
+M94   ;LASER AUS
+
+
+; BERECHNE
+R2=R0-R1
+R9=ATAN(R2/ZDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_LASER_B.MPF

@@ -0,0 +1,40 @@
+;>>>>> $MC_ROBX_TTCFL_RPY[0] = R9 <<<<<
+
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 950.0
+DEFINE YSTART AS -400
+DEFINE ZSTART AS 750.0
+DEFINE ZDIFF AS 300.0
+DEFINE FEED_FAST AS 5000.0
+DEFINE FEED_MESS AS 200.0
+
+
+SETKOS(0)
+TRAORI
+
+G90 G1 A0 B0 C30 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 G53 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Z=ZSTART-ZDIFF F=FEED_FAST
+G91 G1 G53 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R0-R1
+R9=ATAN(R2/ZDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_LASER_XY.MPF

@@ -0,0 +1,68 @@
+;>>>>> IN SETKOS.MPF:LASER        <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[0] = -X_L = -R8 <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[2] = -Y_L = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+DEFINE THETA1 AS 10
+DEFINE THETA2 AS 90
+DEFINE THETA3 AS 130
+
+H1=370.0
+R1=0
+R2=0
+R3=0
+R4=0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C=THETA1 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C=THETA2 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C=THETA3 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R3=$AA_MW[X]
+STOPRE
+M01
+
+
+
+; BERECHNE
+;(* Compute X_L *)
+R8 = ((R2 - R1) * (-SIN(THETA3) + SIN(THETA1)) - (R3 - R1) * (-SIN(THETA2) + SIN(THETA1))) / ((COS(THETA2) - COS(THETA1)) * (-SIN(THETA3) + SIN(THETA1)) - (COS(THETA3) - COS(THETA1)) * (-SIN(THETA2) + SIN(THETA1)))
+
+;(* Compute Y_L *)
+R9 = ((R2 - R1) - (COS(THETA2) - COS(THETA1)) * R8) / (-SIN(THETA2) + SIN(THETA1))
+
+
+
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17

MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF

@@ -0,0 +1,35 @@
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C45 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C90 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C130 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+
+SETKOS(1)
+
+
+M17

MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF

@@ -0,0 +1,65 @@
+;>>>>> IN SETKOS.MPF:LASER        <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[0] = -X_L <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[2] = -Y_L <<<<<
+
+
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+H1=370.0
+R1=0
+R2=0
+R3=0
+R4=0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C45 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C90 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R3=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C130 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R4=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+
+M17

MPF/ROB/CALIB/CALIB_LASER_Z.MPF

@@ -0,0 +1,34 @@
+;>>>>> LASER_DIST - Z_KOSGRIP    = R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 15.0
+DEFINE YSTART AS 15.0
+DEFINE ZSTART AS 250
+DEFINE FEED_FAST AS 11000.0
+
+
+R9=0
+H1=370.0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C0 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M01
+
+CYC_MESSZ1
+
+; BERECHNE
+OFFSET_LASER_Z = R9 - ZSTART
+
+M0
+
+G90 G1 A0 B0 C0 F1700
+;HOME
+SETKOS(1)
+
+
+M17

MPF/ROB/CALIB/CALIB_WP_C.MPF

@@ -0,0 +1,40 @@
+;>>>>> G55:C = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -60
+DEFINE YSTART AS -25
+DEFINE ZSTART AS 250
+DEFINE YDIFF AS 50
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+H1=ZSTART+OFFSET_LASER_Z-10
+
+SETKOS(0)
+TRAORI
+G55
+
+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
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R1-R0
+R9=ATAN(R2/YDIFF)
+
+M17

MPF/ROB/CALIB/CALIB_WP_XYZ.MPF

@@ -0,0 +1,53 @@
+;>>>>> X = OFFSET_WP_X <<<<<
+;>>>>> Y = OFFSET_WP_Y <<<<<
+;>>>>> Z = OFFSET_WP_Z <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XAPPROX AS 30
+DEFINE XPLUS AS 60
+DEFINE YAPPROX AS 30
+DEFINE YPLUS AS 60
+DEFINE ZSTART AS 300
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 300.0
+
+H1=ZSTART+OFFSET_LASER_Z-10
+
+SETKOS(0)
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX+XPLUS Y=YAPPROX Z=ZSTART F=FEED_FAST
+G91 G1 X=-XPLUS F=FEED_MESS MEAS=1
+STOPRE
+OFFSET_WP_X=$AA_MW[X]/2
+STOPRE
+M01
+
+;Y
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX Y=YAPPROX+YPLUS Z=ZSTART F=FEED_FAST
+G91 G1 Y=-YPLUS F=FEED_MESS MEAS=1
+STOPRE
+OFFSET_WP_Y=$AA_MW[Y]/2
+STOPRE
+M01
+
+;Z
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX Y=YAPPROX Z=ZSTART F=FEED_FAST
+CYC_MESSZ1
+OFFSET_WP_Z = -(R9 - OFFSET_LASER_Z -ZSTART)
+
+
+
+M0
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17

MPF/ROB/CALIB/SETKOS.MPF

@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17

MPF/ROB/CALIB/SETKOS_GRIPPER.MPF

@@ -0,0 +1,6 @@
+EXTERN SETKOS(INT)
+
+
+SETKOS(1)
+
+M17

MPF/ROB/CALIB/SETKOS_LASER.MPF

@@ -0,0 +1,5 @@
+EXTERN SETKOS(INT)
+
+SETKOS(0)
+
+M17