Hello
I want to create a message "Défaut fermeture pince" at this line when i dont have $IN14 for 2 seconde
;FOLD WAIT FOR IN 14 'SQ1 Pince Fermee' State= TRUE ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT_FOR,%VWAIT_FOR,%P 1:0, 2:14, 3:'SQ1 Pince Fermee', 5:TRUE, 6:
WAIT FOR $IN[14]==TRUE
;ENDFOLD
I don't know how
Can someone explain me?
Code
&ACCESS RVP
&REL 15
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Roller_1( )
DECL INT NBRANGEE
DECL INT COLONNE2
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;FOLD A20 INI;%{E}%V3.2.0,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI)
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2)
ENDIF
;ENDFOLD (A20 INI)
;FOLD A10 INI;%{E}%V3.2.0,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT ON 5
A10_INI ( )
ENDIF
;ENDFOLD (A10 INI)
;FOLD GRIPPER INI;%{E}%V3.2.0,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPER INI)
;FOLD SPOT INI;%{E}%V3.2.0,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT(#INIT)
;ENDFOLD (SPOT INI)
;FOLD TOUCHSENSE INI;%{E}%V3.2.0,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0)
H70 (1,CD0 )
ENDIF
;ENDFOLD (TOUCHSENSE INI)
;FOLD USER INI;%{E}%V3.2.0,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD INITIALISATION VARIABLES
;INITIALISATION VARIABLES
;FOLD OUT 16 'Fermeture Pince' State= FALSE CONT;%{PE}%R 4.1.7,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:16, 3:'Fermeture Pince', 5:FALSE, 6:CONTINUE
CONTINUE
$OUT[16]=FALSE
NBRANGEE = 0
COLONNE2 = 0
BASE_DATA[10] = BASE_DATA[2]
;ENDFOLD
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
REPEAT
;FOLD WAIT FOR IN 13 'Autorisation Prise Boite' State= TRUE ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT_FOR,%VWAIT_FOR,%P 1:0, 2:13, 3:'Autorisation Prise Boite', 5:TRUE, 6:
WAIT FOR $IN[13]==TRUE
;ENDFOLD
;FOLD PTP Approche_Prise_Boite_1 CONT Vel= 100 % PDAT1 Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:Approche_Prise_Boite_1, 3:C_PTP, 5:100, 7:PDAT1
$BWDSTART = FALSE
PDAT_ACT=PPDAT1
BAS(#PTP_DAT)
FDAT_ACT=FApproche_Prise_Boite_1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XApproche_Prise_Boite_1 C_PTP
;ENDFOLD
;FOLD LIN Approche_Prise_Boite_2 CONT Vel= 2 m/s CPDAT1 Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Approche_Prise_Boite_2, 3:C_DIS, 5:2, 7:CPDAT1
$BWDSTART = FALSE
LDAT_ACT=LCPDAT1
BAS(#CP_DAT)
FDAT_ACT=FApproche_Prise_Boite_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApproche_Prise_Boite_2 C_DIS
;ENDFOLD
;FOLD LIN Prise_Boite CONT Vel= 2 m/s CPDAT2 Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Prise_Boite, 3:C_DIS, 5:2, 7:CPDAT2
$BWDSTART = FALSE
LDAT_ACT=LCPDAT2
BAS(#CP_DAT)
FDAT_ACT=FPrise_Boite
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XPrise_Boite C_DIS
;ENDFOLD
;FOLD WAIT Time= 0.5 sec;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.5
WAIT SEC 0.5
;ENDFOLD
;FOLD OUT 16 'Fermeture Pince' State= TRUE CONT;%{PE}%R 4.1.7,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:16, 3:'Fermeture Pince', 5:TRUE, 6:CONTINUE
CONTINUE
$OUT[16]=TRUE
;ENDFOLD
;FOLD WAIT FOR IN 14 'SQ1 Pince Fermee' State= TRUE ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT_FOR,%VWAIT_FOR,%P 1:0, 2:14, 3:'SQ1 Pince Fermee', 5:TRUE, 6:
WAIT FOR $IN[14]==TRUE
;ENDFOLD
;FOLD LIN Approche_Prise_Boite_2 CONT Vel= 2 m/s CPDAT3 Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Approche_Prise_Boite_2, 3:C_DIS, 5:2, 7:CPDAT3
$BWDSTART = FALSE
LDAT_ACT=LCPDAT3
BAS(#CP_DAT)
FDAT_ACT=FApproche_Prise_Boite_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApproche_Prise_Boite_2 C_DIS
;ENDFOLD
;FOLD LIN Approche_Prise_Boite_1 CONT Vel= 2 m/s CPDAT4 Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Approche_Prise_Boite_1, 3:C_DIS, 5:2, 7:CPDAT4
$BWDSTART = FALSE
LDAT_ACT=LCPDAT4
BAS(#CP_DAT)
FDAT_ACT=FApproche_Prise_Boite_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApproche_Prise_Boite_1 C_DIS
;ENDFOLD
IF COLONNE2 == 0 THEN
;FOLD PTP App_1_Dep_Boite_COL_1 CONT Vel= 100 % PDAT2 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:App_1_Dep_Boite_COL_1, 3:C_PTP, 5:100, 7:PDAT2
$BWDSTART = FALSE
PDAT_ACT=PPDAT2
BAS(#PTP_DAT)
FDAT_ACT=FApp_1_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XApp_1_Dep_Boite_COL_1 C_PTP
;ENDFOLD
;FOLD LIN App_2_Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT5 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_2_Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT5
$BWDSTART = FALSE
LDAT_ACT=LCPDAT5
BAS(#CP_DAT)
FDAT_ACT=FApp_2_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_2_Dep_Boite_COL_1 C_DIS
;ENDFOLD
IF NBRANGEE == 0 THEN
BASE_DATA[10] = BASE_DATA[2]
ElSE
BASE_DATA[10] = BASE_DATA[10]:{X 0,Y 0,Z 200,A 0,B 0,C 0};Decalage de base
ENDIF
;FOLD LIN App_3_Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT6 Tool[1]:Pince Base[10];%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_3_Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT6
$BWDSTART = FALSE
LDAT_ACT=LCPDAT6
BAS(#CP_DAT)
FDAT_ACT=FApp_3_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_3_Dep_Boite_COL_1 C_DIS
;ENDFOLD
;FOLD LIN Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT7 Tool[1]:Pince Base[10];%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT7
$BWDSTART = FALSE
LDAT_ACT=LCPDAT7
BAS(#CP_DAT)
FDAT_ACT=FDep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XDep_Boite_COL_1 C_DIS
;ENDFOLD
;FOLD WAIT Time= 0.5 sec;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.5
WAIT SEC 0.5
;ENDFOLD
;FOLD OUT 16 'Fermeture Pince' State= FALSE CONT;%{PE}%R 4.1.7,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:16, 3:'Fermeture Pince', 5:FALSE, 6:CONTINUE
CONTINUE
$OUT[16]=FALSE
;ENDFOLD
;FOLD WAIT FOR IN 15 'SQ2 Pince Ouverte' State= TRUE ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT_FOR,%VWAIT_FOR,%P 1:0, 2:15, 3:'SQ2 Pince Ouverte', 5:TRUE, 6:
WAIT FOR $IN[15]==TRUE
;ENDFOLD
;FOLD LIN App_3_Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT8 Tool[1]:Pince Base[10];%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_3_Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT8
$BWDSTART = FALSE
LDAT_ACT=LCPDAT8
BAS(#CP_DAT)
FDAT_ACT=FApp_3_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_3_Dep_Boite_COL_1 C_DIS
;ENDFOLD
;FOLD LIN App_2_Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT9 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_2_Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT9
$BWDSTART = FALSE
LDAT_ACT=LCPDAT9
BAS(#CP_DAT)
FDAT_ACT=FApp_2_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_2_Dep_Boite_COL_1 C_DIS
;ENDFOLD
;FOLD LIN App_1_Dep_Boite_COL_1 CONT Vel= 2 m/s CPDAT10 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_1_Dep_Boite_COL_1, 3:C_DIS, 5:2, 7:CPDAT10
$BWDSTART = FALSE
LDAT_ACT=LCPDAT10
BAS(#CP_DAT)
FDAT_ACT=FApp_1_Dep_Boite_COL_1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_1_Dep_Boite_COL_1 C_DIS
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
COLONNE2 = 1
ElSE
;FOLD PTP App_1_Dep_Boite_COL_2 CONT Vel= 100 % PDAT2 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:App_1_Dep_Boite_COL_2, 3:C_PTP, 5:100, 7:PDAT2
$BWDSTART = FALSE
PDAT_ACT=PPDAT2
BAS(#PTP_DAT)
FDAT_ACT=FApp_1_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XApp_1_Dep_Boite_COL_2 C_PTP
;ENDFOLD
;FOLD LIN App_2_Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT5 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_2_Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT5
$BWDSTART = FALSE
LDAT_ACT=LCPDAT5
BAS(#CP_DAT)
FDAT_ACT=FApp_2_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_2_Dep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD LIN App_3_Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT6 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_3_Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT6
$BWDSTART = FALSE
LDAT_ACT=LCPDAT6
BAS(#CP_DAT)
FDAT_ACT=FApp_3_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_3_Dep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD LIN Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT7 Tool[1]:Pince Base[10];%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT7
$BWDSTART = FALSE
LDAT_ACT=LCPDAT7
BAS(#CP_DAT)
FDAT_ACT=FDep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XDep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD WAIT Time= 0.5 sec;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.5
WAIT SEC 0.5
;ENDFOLD
;FOLD OUT 16 'Fermeture Pince' State= FALSE CONT;%{PE}%R 4.1.7,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:16, 3:'Fermeture Pince', 5:FALSE, 6:CONTINUE
CONTINUE
$OUT[16]=FALSE
;ENDFOLD
;FOLD WAIT FOR IN 15 'SQ2 Pince Ouverte' State= TRUE ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT_FOR,%VWAIT_FOR,%P 1:0, 2:15, 3:'SQ2 Pince Ouverte', 5:TRUE, 6:
WAIT FOR $IN[15]==TRUE
;ENDFOLD
;FOLD LIN App_3_Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT8 Tool[1]:Pince Base[10];%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_3_Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT8
$BWDSTART = FALSE
LDAT_ACT=LCPDAT8
BAS(#CP_DAT)
FDAT_ACT=FApp_3_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_3_Dep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD LIN App_2_Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT9 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_2_Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT9
$BWDSTART = FALSE
LDAT_ACT=LCPDAT9
BAS(#CP_DAT)
FDAT_ACT=FApp_2_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_2_Dep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD LIN App_1_Dep_Boite_COL_2 CONT Vel= 2 m/s CPDAT10 Tool[1]:Pince Base[2]:Roller 1;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:App_1_Dep_Boite_COL_2, 3:C_DIS, 5:2, 7:CPDAT10
$BWDSTART = FALSE
LDAT_ACT=LCPDAT10
BAS(#CP_DAT)
FDAT_ACT=FApp_1_Dep_Boite_COL_2
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XApp_1_Dep_Boite_COL_2 C_DIS
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V3.2.0,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
COLONNE2 = 0
NBRANGEE = NBRANGEE + 1
ENDIF
UNTIL NBRANGEE == 4
;Si 4 rangees empilees
END
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