lamb button..?/o unit

mymach

Hi everyone...
I have ten lamb button with input output....
1. button X+    6.button is X-
2.button Y+     7.button Y-
3.button Z+       8. button Z-   and
4.button  50 mm
5.button 100mm
9.button 200mm
10. button is start button
? have to make a program with this buttons 
when ? press 1.,4. and 10. button robot must move 50 mm X+
when ? press 7. 9. 10. robot must move 200 mm direction of Y-.......like offset...how can ? make this.....?
? need your helps ....thanks

Marcel

Hi

 

Try this.

 

Best regards

 

Marcel

 

MODULE Module1

 ! data

 ! Value

 VAR num nValueX;

 VAR num nValueY;

 VAR num nValueZ;

 ! Distance

 VAR num nDistance;

 ! actual position

 PERS robtarget pActual:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

 ! tool

 PERS tooldata tEndEffector:=[TRUE,[[0,0,0],[1,0,0,0]],[30,[0,0,0],[1,0,0,0],10,10,10]];

 

 PROC main()

 ! main program flow

 ! initialisation

 SetDO doStart,0;

 SetDO doDist050,0;

 SetDO doDist100,0;

 SetDO doDist200,0;

 SetDO doPlusX,0;

 SetDO doMinusX,0;

 SetDO doPlusY,0;

 SetDO doMinusY,0;

 SetDO doPlusZ,0;

 SetDO doMinusZ,0;

 nValueX:=0;

 nValueY:=0;

 nValueZ:=0;

 nDistance:=0;

 ! wait for start

 WaitDI diStart,1;

 SetDO doStart,1;

 ! read actual position

 pActual:=CRobT(Tool:=tEndEffectorWObj:=wobj0);

 ! read buttons

 IF diButtonDist050=1 THEN

  SetDO doDist050,1;

  nDistance:=50;

 ELSEIF diButtonDist100=1 THEN

  SetDO doDist100,1;

  nDistance:=100;

 ELSEIF diButtonDist200=1 THEN

  SetDO doDist200,1;

  nDistance:=200;

 ENDIF

 IF diButtonPlusX=1 THEN

  SetDO doPlusX,1;

  nValueX:=nDistance;

 ELSEIF diButtonMinusX=1 THEN

  SetDO doMinusX,1;

  nValueX:=-nDistance;

 ELSEIF diButtonPlusY=1 THEN

  SetDO doPlusY,1;

  nValueY:=nDistance;

 ELSEIF diButtonMinusY=1 THEN

  SetDO doMinusY,1;

  nValueY:=-nDistance;

 ELSEIF diButtonPlusZ=1 THEN

  SetDO doPlusZ,1;

  nValueZ:=nDistance;

 ELSEIF diButtonMinusZ=1 THEN

  SetDO doMinusZ,1;

  nValueZ:=-nDistance;

 ENDIF

 ! move to position

 IF nValueX<>0 OR nValueY<>0 OR nValueZ<>0 THEN

  MoveL Offs(pActual,nValueX,nValueY,nValueZ),v300,fine,tEndEffector;

 ENDIF

 ! wait for releas of start button

 WaitDI diStart,0;

 ENDPROC

ENDMODULE

mymach

I really appreciated for your helps....thanks so much 

mymach

I made this thanks for your helps


MODULE MainModule
     VAR num VALX:=0;
    VAR num VALY:=0;
    VAR num VALZ:=0;
  VAR num DIST:=0;
  VAR bool TEKHIZ:=FALSE;
  VAR bool TEKX:=FALSE;
  VAR bool TEKY:=FALSE;
  VAR bool TEKZ:=FALSE;    
  CONST robtarget p10:=[[832.51,-0.02,1130.19],[0.258803,1.62466E-05,0.96593,-4.18923E-07],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

    PROC main()
!***************************************************    
  Init:
    WHILE TRUE DO
!==============    
        LampChk;
!==============    
  IF BUTONSTART=1 THEN
  MOVECHK;
  IF TEKHIZ AND (TEKX OR TEKY OR TEKZ ) OYNA;
  ENDIF      
 ENDIF
 
 ENDWHILE
!********************************************************
ENDPROC
!********************************************************
!********************************************************
PROC OYNA()
VALX:=0;
VALY:=0;
VALZ:=0;
!======
IF (Buton50=1 AND Buton100=0 AND Buton200=0) DIST:=50;
IF (Buton50=0 AND Buton100=1 AND Buton200=0) DIST:=100;
IF (Buton50=0 AND Buton100=0 AND Buton200=1) DIST:=200;
!======
IF (ButonXP=1 AND ButonXM=0) VALX:=DIST;
IF (ButonXP=0 AND ButonXM=1) VALX:=-DIST;
!======
IF (ButonYP=1 AND ButonYM=0) VALY:=DIST;
IF (ButonYP=0 AND ButonYM=1) VALY:=-DIST;
!======
IF (ButonZP=1 AND ButonZM=0) VALZ:=DIST;
IF (ButonZP=0 AND ButonZM=1) VALZ:=-DIST;
!===============================================
p10:=CRobT();
MoveL Offs(p10,VALX,VALY,VALZ),v100,z0,tool0;
ENDPROC


!********************************************************
!********************************************************
PROC MOVECHK()
IF ((Buton50=1 AND Buton100=0 AND Buton200=0) OR (Buton50=0 AND Buton100=1 AND Buton200=0) OR (Buton50=0 AND Buton100=0 AND Buton200=1))
THEN TEKHIZ:=TRUE;
ELSE TEKHIZ:=FALSE;
ENDIF
!=========================       
IF (ButonXP=1 AND ButonXM=0) OR (ButonXP=0 AND ButonXM=1)
THEN TEKX:=TRUE
ELSE TEKX:=FALSE     
ENDIF
!=========================       
IF (ButonYP=1 AND ButonYM=0) OR (ButonYP=0 AND ButonYM=1)
THEN TEKY:=TRUE
ELSE TEKY:=FALSE     
ENDIF
!=========================       
IF (ButonZP=1 AND ButonZM=0) OR (ButonZP=0 AND ButonZM=1)
THEN TEKZ:=TRUE
ELSE TEKZ:=FALSE     
ENDIF
!=========================       
ENDPROC
!********************************************************
!********************************************************
!********************************************************
!********************************************************
    PROC LampChk()
   IF ButonXP = 1 THEN
   Set LambaXP;
   ELSE
   Reset LambaXP;
   ENDIF
!========================
   IF ButonXM = 1 THEN
   Set LambaXM;
   ELSE
   Reset LambaXM;
   ENDIF
!========================
   IF ButonYP = 1 THEN
   Set LambaYP;
   ELSE
   Reset LambaYP;
   ENDIF
!========================
   IF ButonYM = 1 THEN
   Set LambaYM;
   ELSE
   Reset LambaYM;
   ENDIF
!========================
   IF ButonZP = 1 THEN
   Set LambaZP;
   ELSE
   Reset LambaZP;
   ENDIF
!========================
   IF ButonZM = 1 THEN
   Set LambaZM;
   ELSE
   Reset LambaZM;
   ENDIF
!========================
   IF Buton50 = 1 THEN
   Set Lamba50;
   ELSE
   Reset Lamba50;
   ENDIF
!========================
   IF Buton100 = 1 THEN
   Set Lamba100;
   ELSE
   Reset Lamba100;
   ENDIF
!========================
   IF Buton200 = 1 THEN
   Set Lamba200;
   ELSE
   Reset Lamba200;
   ENDIF
!========================
    ENDPROC
   
    PROC Init()
  ENDPROC    
 
ENDMODULE