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advanced.pdf

advanced

tigerxI1S
2013-02-22 0人阅读 举报 0 0 0 暂无简介

简介:本文档为《advancedpdf》,可适用于高等教育领域

ArtnoHACAdvancedMotionCONTENTSPagecorrdescrCorrectiongeneratordescriptorDescriptionExampleCharacteristicsRelatedinformationCorrConConnectstoacorrectiongeneratorExampleArgumentsExampleLimitationsSyntaxRelatedinformationCorrWriteWritestoacorrectiongeneratorExampleArgumentsExampleLimitationsSyntaxRelatedinformationCorrReadReadsthecurrenttotaloffsetsExampleReturnvalueDatatype:posExampleSyntaxRelatedinformationCorrDisconDisconnectsfromacorrectiongeneratorExampleArgumentsExampleSyntaxRelatedinformationCorrClearRemovesallcorrectiongeneratorsExampleSyntaxRelatedinformationHollowWristResetResethollowwristforIRBandIRBDescriptionAdvancedMotionAdvancedMotionArtnoHACPageExampleLimitationsSyntaxRelatedinformationIndAMoveIndependentAbsolutepositionMovementExampleArgumentsProgramexecutionLimitationsExampleErrorhandlingSyntaxRelatedinformationIndCMoveIndependentContinuousMovementExampleArgumentsProgramexecutionLimitationsExampleErrorhandlingSyntaxRelatedinformationIndDMoveIndependentDeltapositionMovementExampleArgumentsProgramexecutionLimitationsExampleErrorhandlingSyntaxRelatedinformationIndRMoveIndependentRelativepositionMovementExampleArgumentsProgramexecutionLimitationsAdvancedMotionExamplesArtnoHACAdvancedMotionPageErrorhandlingSyntaxRelatedinformationIndSpeedIndependentSpeedstatusExampleReturnvalueDatatype:boolArgumentsLimitationErrorhandlingSyntaxRelatedinformationIndInposIndependentInpositionstatusExampleReturnvalueDatatype:boolArgumentsLimitationsErrorhandlingSyntaxRelatedinformationIndResetIndependentResetExampleArgumentsProgramexecutionLimitationsExampleErrorhandlingSyntaxRelatedinformationTuneServoTuningservosDescriptionArgumentsExampleProgramexecutionLimitationsSyntaxRelatedinformationAdvancedMotionAdvancedMotionArtnoHACPageAdvancedMotionAdvancedMotioncorrdescrcorrdescrCorrectiongeneratordescriptorCorrdescr(Correctiongeneratordescriptor)isusedbycorrectiongeneratorsAcorrectiongeneratoraddsgeometricoffsetsinthepathcoordinatesystemDescriptionDataofthetypecorrdescrcontainsareferencetoacorrectiongeneratorConnectiontoacorrectiongeneratorisdonebytheinstructionCorrConandthedescriptor(thereferencetothecorrectiongenerator)canbeusedtodelivergeometricoffsetsinthepathcoordinatesystemwiththeinstructionCorrWriteOffsetsprovidedearliercanberemovedbydisconnectingacorrectiongeneratorwiththeinstructionCorrDisconAllconnectedcorrectiongeneratorscanberemovedwiththeinstructionCorrClearThefunctionCorrReadreturnsthesumofallthedeliveredoffsetssofar(includesallconnectedcorrectiongenerators)ExampleVARcorrdescridVARposoffsetCorrConidoffset:=,,CorrWriteid,offsetAcorrectiongeneratorisconnectedwiththeinstructionCorrConandreferencedbythedescriptoridOffsetsarethendeliveredtothecorrectiongenerator(withreferenceid)usingtheinstructionCorrWriteCharacteristicsCorrdescrisanonvaluedatatypeAdvancedMotioncorrdescrAdvancedMotionRelatedinformationDescribedin:ConnectstoacorrectiongeneratorInstructionsCorrConDisconnectsfromacorrectiongeneratorInstructionsCorrDisconWritestoacorrectiongeneratorInstructionsCorrWriteReadsthecurrenttotaloffsetsFunctionsCorrReadRemovesallcorrectiongeneratorsInstructionsCorrClearCharacteristicsofnonvaluedatatypesBasicCharacteristicsDataTypesAdvancedMotionAdvancedMotionCorrConCorrConConnectstoacorrectiongeneratorCorrConisusedtoconnecttoacorrectiongeneratorExampleVARcorrdescridCorrConidThecorrectiongeneratorreferencecorrespondstothevariableidreservationArgumentsCorrConDescrDescrDatatype:corrdescrDescriptorofthecorrectiongeneratorExamplePathcoordinatesystemAllpathcorrections(offsetsonthepath)areaddedinthepathcoordinatesystemThepathcoordinatesystemisdefinedas:FigurePathcoordinatesystemP=PathcoordinatesystemT=ToolcoordinatesystemPathdirection>ZTYTXTYPZPXPToolAdvancedMotionCorrConAdvancedMotionPathcoordinateaxisXisgivenasthetangentofthepathPathcoordinateaxisYisderivedasthecrossproductoftoolcoordinateaxisZandpathcoordinateaxisXPathcoordinateaxisZisderivedasthecrossproductofpathcoordinateaxisXandpathcoordinateaxisYApplicationexampleAnexampleofanapplicationusingpathcorrectionsisarobotholdingatoolwithtwosensorsmountedonittodetecttheverticalandhorizontaldistancestoaworkobjectFigurePathcorrectiondeviceProgramexampleCONSTnumTARGETDIST:=CONSTnumSCALEFACTOR:=VARintnumintnoVARcorrdeschoriid:VARcorrdescvertidVARpostotaloffsetVARsignalaihorisigVARsignalaivertsigVARposwriteoffsetPROCPathRoutine()!ConnecttothecorrectiongeneratorsforhorizontalandverticalcorrectionCorrConhoriidCorrConvertid!SetupaHztimerinterruptThetraproutinewillreadthesensorvaluesand!computethepathcorrectionsCONNECTintnoWITHReadSensorsITimersingel,intnoXPZPYPSensorforverticalcorrectionSensorforhorizontalcorrectionPathcoordinatesystemToolAdvancedMotionAdvancedMotionCorrCon!PositionforstartofcontourtrackingMoveJp,v,z,tool!RunMoveLwithbothverticalandhorizontelcorrectionMoveLp,v,z,toolCorr!Readthetotalcorrectionsaddedbyallconnectedcorrectiongeneratorstotaloffset:=CorrRead()!WritethetotalverticalcorrectionontheTeachPendantTPWrite“Thetotalverticalcorrectionis:”Num:=totaloffsetz!Disconnectthecorrectiongeneratorforverticalcorrection!HorizontalcorrectionswillbeunaffectedCorrDisconvertid!RunMoveLwithonlyhorizontelcorrectionMoveLp,v,z,toolCorr!Removealloutstandingconnectedcorrectiongenerators!Inthiscase,theonlyconnectedcorrectiongeneratoristheoneforhorizontal!correctionCorrClear!RemovethetimerinterruptIDeleteintnoENDPROCTRAPReadSensors!Computethehorizontalcorrectionvaluesandexecutethecorrectionwriteoffsetx:=writeoffsety:=(horisigTARGETDIST)*SCALEFACTORwriteoffsetz:=CorrWritehoriid,writeoffset!Computetheverticalcorrectionvaluesandexecutethecorrectionwriteoffsetx:=writeoffsety:=writeoffsetz:=(vertsigTARGETDIST)*SCALEFACTORCorrWritevertid,writeoffset!SetupinteruptagainIDeleteintnolCONNECTintnoWITHReadSensorsITimersingel,intnoENDTRAPProgramexplanationTwocorrectiongeneratorsareconnectedwiththeinstructionCorrConEachcorrectiongeneratorisreferencedbyauniquedescriptor(horiidandvertid)ofthetypecorrdescThetwosensorswilluseonecorrectiongeneratoreachAdvancedMotionCorrConAdvancedMotionAtimerinterruptissetuptocallthetraproutineReadSensorswithafrequencyofHzTheoffsets,neededforpathcorrection,arecomputedinthetraproutineandwrittentothecorrespondingcorrectiongenerator(referencedbythedescriptorshoriidandvertid)bytheinstructionCorrWriteAllthecorrectionswillhaveimmediateeffectonthe

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