I dunno what kinds of cutting unit for fabric.
2 years ago, we test simple system.
1. robot start from custom "Home Position".
2. PLC send each step's X, Y, Z value
3. one step moving and Stop. record current position. (ie - pos2)
4. PLC given X,Y,Z value to Robot
5. Robot "pos2" cartesian mix with PLC data.
6. repeat 3, 4, 5 ~
so.. we are consider where can apply this system.
less comfortable but, Laser cutting? or Air_Blowing? possible. maybe.
anyway, Need more robot's moving similar NC unit (continues move) ...
I think this AS Language possible assign each Location data.
Code
.PROGRAM pos_quantity()
; Define Quantity of Position
; Copy each Position from Origin Target
; Max 255
;
WAIT BITS(1001,8)<>0;
.pos_count = BITS(1001,8)
PULSE 1,2; Pos Quantity Received
;
.count = 0
;
;
; Create Dummy Position
WHILE .count == .pos_count DO
.count = .count+1
POINT pos[.count] = origin
END
;
RETURN
;
.END
.PROGRAM get_value()
; Assign each Position value from PLC
;
.count = 0
;
WHILE .count == .pos_count DO
BREAK
DELAY 0.1
TWAIT 0.1
;
.count = .count+1
BITS (1001,8) = .count; Robot's Prepare Position
SIGNAL 9; XYZ Value Request
WAIT SIG(1033); Data Trans
;
.get_x = BITS(1009,8); X value from PLC
.get_y = BITS(1017,8); Y value from PLC
.get_z = BITS(1025,8); Z value from PLC
;
IF SIG(1041) THEN
.get_x = .get_x*(-1)
END
IF SIG(1042) THEN
.get_y = .get_y*(-1)
END
IF SIG(1043) THEN
.get_z = .get_z*(-1)
END
;
POINT/X pos[.count] = pos[.count]+.get_x
POINT/Y pos[.count] = pos[.count]+.get_y
POINT/Z pos[.count] = pos[.count]+.get_z
;
SIGNAL -9;
WAIT SIG(-1033);
END
;
RETURN
.END
.PROGRAM cut_start()
; Cut Process
;
SPEED 100
ACCURACY 100
JMOVE cut_ready
;
.count = 0
;
WHILE .count == .pos_count DO
BREAK
.count = .count+1
SPEED 30
ACCURACY 0
LMOVE pos[.count]
END
;
SPEED 100
ACCURACY 100
JMOVE cut_ready
;
RETURN
.END
