FANUC在线测量程序
程序简介
功能说明 |
用户从机器人侧触发Mech-Metrics使用Mech-MSR进行测量，并向Mech-Metrics返回测量结果。 |
文件路径 |
Mech-MSR和Mech-Metrics软件安装目录下 |
所需资源 |
Mech-MSR方案和Mech-Metrics工程 |
使用前提 |
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| 此样例程序仅是示例程序。用户需根据实际情况在此基础上进行修改，请勿直接使用该程序。 |
程序解读
以下为MSR_Metrics_Sample1样例程序的代码及相关解释说明。
1: !-------------------------------- ;
2: !FUNCTION: MSR_Metrics_Sample1 ;
3: !Mech-Mind, 2024-05-27 ;
4: !-------------------------------- ;
5: ;
6: !set current uframe NO. to 0 ;
7: UFRAME_NUM=0 ;
8: !set current tool NO. to 1 ;
9: UTOOL_NUM=1 ;
10: !move to robot home position ;
11: J P[4] 100% FINE ;
12: !Init Socket!Modify IP Address ;
13: CALL MSR_INIT_SKT('8','192.168.1.20',30000,5) ;
14: !Set Custom Values ;
15: CALL MSR_MEAS_PAR(0,0,0,0,0,0,0,0) ;
16: !Start Measurement Task ;
17: CALL MSR_ST_MEAS(1,1,2,10,10,53) ;
18: !check whether metrics project ;
19: !has been triggered successfully ;
20: IF (R[53]<>8100),JMP LBL[99] ;
21: !Import Part ID During ;
22: !Measurement ;
23: CALL MSR_SET_WP(1,2,53) ;
24: !check whether Part ID has ;
25: !been imported successfully ;
26: IF (R[53]<>8103),JMP LBL[99] ;
27: !move to 1st image-capturing ;
28: !position ;
29: J P[1] 100% FINE ;
30: !Set Robot_Id,Index ;
31: !R No.2:MM Status ;
32: CALL MSR_MEAS_FEAT(1,3,53) ;
33: !check whether feature measureme- ;
34: !nt has been run successfully ;
35: IF (R[53]<>8101),JMP LBL[99] ;
36: !move to 2ed image-capturing ;
37: !position ;
38: J P[2] 100% FINE ;
39: !Set Robot_Id,Index ;
40: !R No.2:MM Status ;
41: CALL MSR_MEAS_FEAT(1,3,53) ;
42: !check whether feature measureme- ;
43: !nt has been run successfully ;
44: IF (R[53]<>8101),JMP LBL[99] ;
45: !move to 3rd image-capturing ;
46: !position ;
47: J P[3] 100% FINE ;
48: !Set Robot_Id,Index ;
49: !R No.2:MM Status ;
50: CALL MSR_MEAS_FEAT(1,3,53) ;
51: !check whether feature measureme- ;
52: !nt has been run successfully ;
53: IF (R[53]<>8101),JMP LBL[99] ;
54: CALL MSR_END_MEAS(1,11,12,13,14,53) ;
55: !check whether metrics project ;
56: !has been ended successfully ;
57: IF (R[53]<>8102),JMP LBL[99] ;
58: !Query Part Historical Data ;
59: CALL MSR_VIEW_WP(1,2,53) ;
60: !check whether part historical ;
61: !data has been viewed ;
62: !successfully ;
63: IF (R[53]<>8104),JMP LBL[99] ;
64: WAIT 1.00(sec) ;
65: END ;
66: ;
67: LBL[99:handling error] ;
68: !add error handling logic here ;
69: !according to different ;
70: !error codes ;
71: !e.g.: R[53]=-99 means ;
72: !failed to open socket ;
73: PAUSE ;下表为上述程序的逻辑解读。在上述代码中，被注释掉的内容以!开头，下表不解释被注释掉的内容。
| 流程 | 代码及说明 | ||||
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设置坐标系 |
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移动到指定位置 |
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初始化通信 |
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设置自定义参数 |
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开始测量 |
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测量中传入工件SN |
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移动机器人到指定位置并进行特征测量 |
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结束测量 |
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查询历史数据 |
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结束程序与错误处理 |
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