Denso RC5 Especificaciones descargar pdf (Pagina 85)

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Chapter 2 Program Flow

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[ 1 ] Palletizing Program Customization

Q. How do you change a palletizing program to execute to 1?

A. Change the value of “pltIndex” in “PRO1” and “PRO2” to “1.”

Q. How do you change the menber of palletizing partitions to 5 for side and 3

for lengthwise?

A. Change “3” and “5” of the second and third parameters of “pltInitialize” to

“5” and “3” respectively.

* CALL pltInitialize (pltIndex, 5, 3, 3, 50, 50, 10, 52, 53, 54, 55)

Q. How do you change the number of palletizing programs available?

A. Change “31” of “#DEFINE mcPaltMax 31” the in “pltKernel” program to any

number you like and the number of palletizing programs can be set.

Q. How do you set a palletizing dodge point?

A. If you add a dodge point of X = 10, Y = 10, Z = -10 to the approach

direction, add a command to move a point with parallel deviation “(10, 10, -10)

H” added to a point P[mcNextPos] in the file “paltmove1. pac”.

* MOVE P, P[mcNextPos] + (10, 10, -10)H 'Moves to the dodge point of

'X=10, Y=10, Z=-10.

Q. How do you obtain N1, M1 and K1?

A. Add the program libraries “pltGetK1”, “pltGetM1”, and “pltGetN1.”

* call pltGetK1(Index, iValue)

* call pltGetM1(Index, iValue)

* call pltGetN1(Index, iValue)

'Index . . . Palletizing program No.

'iValue. . . Number of type I variable to which K1, M1, and N1

values are returned.

Example) #define pltIndex 0 'Palletizing program No.

Program Exmp

DefInt Index, iValue

Index = pltIndex 'Inserts a palletizing program

'number into Index register.

call pltGetK1(Index, iValue) 'Returns the value of

'K1tothetypeI

'variable

'designated with

'iValue.

call pltGetM1(Index, iValue) 'Returns the value of

'M1tothetypeI

'variable

'designated with

'iValue.

call pltGetN1(Index, iValue) 'Returns the value of

'N1tothetypeI

'variable

'designated with

'iValue.

End

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