DEF RoboDKsync36 () ;------------------------------------------------- ;定义数字输入与探针DECL中断5美元在ProbeTriggered [1] () ;------------------------------------------------- INT io_id INT j_id INT program_id BAS (# INITMOV,0) PTP AXIS_ACT ORI_TYPE美元= # VAR CIRC_TYPE = #基地或者美元。Ori1 = 200 $ vel。Ori2 = 200 $ acc。Ori1 = 100 $ acc。Ori2 = 100 $ vel。CP = 3 ACC美元。Cp =10 $ base = {frame: x 0, y 0, z 0, a 0, b 0, c 0} $ tool = {frame: x 0, y 0, z 0, a 0, b 0, c 0} $ advance = 0 com_roundm = -1 com_action = 0 com_actcnt = 0 $ apo。CPTP = 0 $ apo。cis = 0 while com_action >= 0 switch com_action case 1;无所事事COM_ACTCNT = COM_ACTCNT + 1 COM_ACTION = 0例2如果COM_ROUNDM > = 0然后PTP COM_E6AXIS C_PTP其他PTP COM_E6AXIS ENDIF COM_ACTION = 0 3如果COM_ROUNDM > = 0然后林COM_FRAME C_DIS其他林COM_FRAME ENDIF COM_ACTION = 0 4如果COM_ROUNDM > = 0然后保监会COM_POS COM_FRAME C_DIS保监会COM_POS, COM_FRAME ENDIF COM_ACTION = 0例5 COM_ACTCNT = COM_ACTCNT + 1美元工具= COM_FRAME COM_ACTION = 0例6 COM_ACTCNT = COM_ACTCNT + 1或者美元。Cp = com_value1 com_action = 0 case 7 com_actcnt = com_actcnt + 1 if com_value1 > 0 then $ vel。Cp = com_value1 endif if com_value2 > 0 then;$ vel . Ori1 = com_value2;ORI2 = COM_VALUE2 FOR j_id=1 TO 6 IF COM_VALUE2 > 100 THEN $VEL_AXIS[j_id] = 100 ELSE $VEL_AXIS[j_id] = COM_VALUE2 ENDIF ENDFOR ENDIF IF COM_VALUE3 > 0 THEN $ACC。Cp = com_value3 endif if com_value4 > 0 then;$ acc . Ori1 = com_value4;ORI2 = COM_VALUE4 FOR j_id=1 TO 6 IF COM_VALUE4 > 100 THEN $ACC_AXIS[j_id] = 100 ELSE $ACC_AXIS[j_id] = COM_VALUE4 ENDIF ENDFOR ENDIF COM_ACTION = 0 CASE 8 COM_ACTCNT = COM_ACTCNT + 1 IF COM_ROUNDM >= 0 THEN IF COM_ROUNDM > 100 THEN $APO。CPTP = 100 else $ apo。CPTP = com_roundm endif $ apo。Cdis = com_roundm $ advance = 1 else $ apo。CPTP = 0 $ apo。cdi = 0美元推进= 0 ENDIF COM_ACTION = 0例9 COM_ACTCNT = COM_ACTCNT + 1秒等待COM_VALUE1 COM_ACTION = 0例10 COM_ACTCNT = COM_ACTCNT + 1 io_id = COM_VALUE1如果COM_VALUE2 > 0.5然后出其他[io_id] = TRUE出美元[io_id] = FALSE ENDIF COM_ACTION = 0例11 PTP COM_E6AXIS林COM_FRAME等待秒0 COM_ACTION = 0例12 COM_ACTCNT = COM_ACTCNT + 1 io_id = COM_VALUE1如果COM_VALUE2 > 0.5美元然后等待在[io_id] = = TRUE其他等待在美元[io_id] = = FALSE ENDIF COM_ACTION = 0例13;——运行 program COM_VALUE1 --------- ; (to trigger from RoboDK: use robot.RunCodeCustom("program id", INSTRUCTION_CALL_PROGRAM) program_id = COM_VALUE1 SWITCH program_id CASE 1 ; -- run program 1 -- ; Drill() ; ------------------- CASE 2 ; -- run program 2 -- ; Cut() ; ------------------- ENDSWITCH ;-------------------------------------------- COM_VALUE1 = 0 COM_ACTION = 0 CASE 14 COM_VALUE1 = 0 INTERRUPT ON 5 ; arm interrupt LIN COM_FRAME INTERRUPT OFF 5 ; nothing detected, disarm the interrupt COM_ACTION = 0 ; DEFAULT ; COM_ACTION = 0 ENDSWITCH ENDWHILE END ;-------------------------------------------- DEF ProbeTriggered() ; Disarm interrupt to prevent double-triggers INTERRUPT OFF 5 ; Change the global variable so we can read if the probe was triggered COM_VALUE1 = 1 ;- BRAKE ; Halt motion ;- LIN_REL {Z 100} ; move straight up 100mm ;- RESUME ; cancel MovTowardsP2 subroutine, send pointer back into top-level program END