ABB UNS2880B-P, V1 3BHE014967R0001 Power Plant Chemical Plant Module

Description

UNS2880B-P, V1 double station reservation procedure
1) The following double station production
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2) The process is as follows:
UNS2880B-P, V1 Press the button di after manually completing the feeding of station 1 #_ 1 (The button does not have a hold, that is, the manual release signal is 0)) Robot welding station 1 #.
In this process, manually load and unload materials at station 2 #, and press di_ 2 Complete the appointment (that is, it is not necessary to wait for the robot to complete 1 # work).
After the robot completed 1 # work, due to receiving di_ 2 Appointment signal, the robot will automatically complete station 2

3) We do this by interrupting.
4) The significance of the interruption is that the robot background is constantly scanning (similar to PLC), and the UNS2880B-P, V1 and robot foreground movements do not conflict. When the background scans the signal in real time, it will execute the set interrupt program. There is no movement instruction in the interrupt program, and the foreground robot will not stop, which will not affect the movement
5) Create a new routine named tr_ 1. Note: Select the type of trap
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6) Enter the interrupt program and insert the following instructions, that is, when the robot executes the interrupt program, set true to bool
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Set the second interrupt program in the same way
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7) Enter the main program and set the interrupt and corresponding io signal
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37 line means that at any time di_ 1 signal changes from 0 to 1, and tr execution will be triggered_ 1 Interrupt the program, i.e. set flag1 to true
The 35-40 line program only needs to be run once. It is similar to the setting switch and does not need to be run repeatedly
8) The main procedures are as follows. That is, if no one gives the di signal, the robot will wait in the home position.
9）
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05
PART
Data Processing and Extraction of Socket Transceiving Communication with Camera
1) The camera usually sends strings to the robot, such as “1.23, 4.56, 7.89D”, that is, x is 1.23, y is 4.56, z angle is 7.89, D is used as the terminator, and data are separated by “,”.
2) If the robot receives the above string, how to extract the string and pay the variables deltaX, deltaY, and thetaZ?
3) Create several num variables to store procedure data, such as StartBit1, which indicates the starting position of x data, Endbit1 which indicates the ending position of x data, Lenbit1 which indicates the length of x data, and s1 which indicates the string of extracted x value
4）
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5) Assume that the first bit of x is 1, and assign Startbit1 a value of 1
6) Insert the function strfind, find the first “,” and get the EndBit1 value
7）
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8) EndBit1 minus StartBit1 is the data length of x
9) Similarly, get the information of y and theta
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10) Use the StrPart function to extract the string from StartBit1 to LenBit1, that is, the string of the value of x
11）
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12) Similarly, get the strings of y and z
13) Convert s1 to num type through StrToVal function and pay delta_ x. The feedback value of StrToVal function is a bool quantity, that is, if the conversion succeeds, it will be true. If the conversion fails, it will be false
14) Similarly, get delta_ Y and delta_ theta
15) Can write screen test after success

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