PLC/6040-003
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zhusenlin
2026-02-09 21:10:48 +08:00
parent 1c4f599405
commit 61ed212487
6 changed files with 47 additions and 23 deletions
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56
6040-003上下料 V2.1.Device.Application.xml
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@@ -460,7 +460,7 @@
<UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="42" vartype="VAR" />
<UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="43" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Port">
<TypeUserDef name="T_U1_EM00_Port" size="43" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Port">
<UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
<UserDefElement iecname="bFeedScanFromWcsDone2" type="T_BOOL" byteoffset="1" vartype="VAR" />
<UserDefElement iecname="dFeedScanFromWcsCode1" type="T_DINT" byteoffset="4" vartype="VAR" />
@@ -492,8 +492,10 @@
<UserDefElement iecname="bPlallet1FromRobotPlaceDone" type="T_BOOL" byteoffset="38" vartype="VAR" />
<UserDefElement iecname="bPlallet2ToRobotPlaceRequest" type="T_BOOL" byteoffset="39" vartype="VAR" />
<UserDefElement iecname="bPlallet2FromRobotPlaceDone" type="T_BOOL" byteoffset="40" vartype="VAR" />
<UserDefElement iecname="bPlallet1PlaceRequest" type="T_BOOL" byteoffset="41" vartype="VAR" />
<UserDefElement iecname="bPlallet2PlaceRequest" type="T_BOOL" byteoffset="42" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM00_ToRobot" size="88" nativesize="32" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
<TypeUserDef name="T_U1_EM00_ToRobot" size="92" nativesize="36" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
<UserDefElement iecname="bParity" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
<UserDefElement iecname="bPgnoValid" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
<UserDefElement iecname="bExtStart" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
@@ -564,12 +566,14 @@
<UserDefElement iecname="iGripPosIndexRet" type="T_INT" byteoffset="70" vartype="VAR" />
<UserDefElement iecname="iGripPosCountRet" type="T_INT" byteoffset="72" vartype="VAR" />
<UserDefElement iecname="iGripPosResult" type="T_INT" byteoffset="74" vartype="VAR" />
<UserDefElement iecname="iPlaceOffsetX" type="T_INT" byteoffset="76" vartype="VAR" />
<UserDefElement iecname="iPlaceOffsetY" type="T_INT" byteoffset="78" vartype="VAR" />
<UserDefElement iecname="iCountX" type="T_INT" byteoffset="80" vartype="VAR" />
<UserDefElement iecname="iCountY" type="T_INT" byteoffset="82" vartype="VAR" />
<UserDefElement iecname="iPickOffsetX" type="T_INT" byteoffset="84" vartype="VAR" />
<UserDefElement iecname="iPickOffsetY" type="T_INT" byteoffset="86" vartype="VAR" />
<UserDefElement iecname="iPlaceCountX" type="T_INT" byteoffset="76" vartype="VAR" />
<UserDefElement iecname="iPlaceCountY" type="T_INT" byteoffset="78" vartype="VAR" />
<UserDefElement iecname="iPickOffsetX" type="T_INT" byteoffset="80" vartype="VAR" />
<UserDefElement iecname="iPickOffsetY" type="T_INT" byteoffset="82" vartype="VAR" />
<UserDefElement iecname="iPickOffsetZ" type="T_INT" byteoffset="84" vartype="VAR" />
<UserDefElement iecname="iPlaceOffsetX" type="T_INT" byteoffset="86" vartype="VAR" />
<UserDefElement iecname="iPlaceOffsetY" type="T_INT" byteoffset="88" vartype="VAR" />
<UserDefElement iecname="iPlaceOffsetZ" type="T_INT" byteoffset="90" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM01_Data" size="8" nativesize="8" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM01_Data">
<UserDefElement iecname="relCamOffsetMax" type="T_REAL" byteoffset="0" vartype="VAR" />
@@ -1978,24 +1982,30 @@
<UserDefElement iecname="audintSetNumberLimits" type="T_ARRAY__1__16__OF_UDINT" byteoffset="64" vartype="VAR" />
<UserDefElement iecname="RelayName" type="T_ARRAY__1__16__OF_PredicitiveRelay_Name" byteoffset="128" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM00_Data" size="286" nativesize="288" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
<TypeUserDef name="T_U1_EM00_Data" size="310" nativesize="312" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
<UserDefElement iecname="PdtType" type="T_INT" byteoffset="0" vartype="VAR" />
<UserDefElement iecname="bWcsEnable" type="T_BOOL" byteoffset="2" vartype="VAR" />
<UserDefElement iecname="BatteryRowSet" type="T_INT" byteoffset="4" vartype="VAR" />
<UserDefElement iecname="BatteryColumnSet" type="T_INT" byteoffset="6" vartype="VAR" />
<UserDefElement iecname="BatteryRowOffset" type="T_REAL" byteoffset="8" vartype="VAR" />
<UserDefElement iecname="BatteryColumnOffset" type="T_REAL" byteoffset="12" vartype="VAR" />
<UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="16" vartype="VAR" />
<UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="44" vartype="VAR" />
<UserDefElement iecname="bGripExist" type="T_BOOL" byteoffset="72" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="74" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="76" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="78" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="80" vartype="VAR" />
<UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="82" vartype="VAR" />
<UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="182" vartype="VAR" />
<UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="282" vartype="VAR" />
<UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="284" vartype="VAR" />
<UserDefElement iecname="BatteryLengthB" type="T_REAL" byteoffset="8" vartype="VAR" />
<UserDefElement iecname="BatteryWidthB" type="T_REAL" byteoffset="12" vartype="VAR" />
<UserDefElement iecname="BatteryHeightB" type="T_REAL" byteoffset="16" vartype="VAR" />
<UserDefElement iecname="PalletColWidth" type="T_REAL" byteoffset="20" vartype="VAR" />
<UserDefElement iecname="PalletRowWidth" type="T_REAL" byteoffset="24" vartype="VAR" />
<UserDefElement iecname="BatteryLength" type="T_REAL" byteoffset="28" vartype="VAR" />
<UserDefElement iecname="BatteryWidth" type="T_REAL" byteoffset="32" vartype="VAR" />
<UserDefElement iecname="BatteryHeight" type="T_REAL" byteoffset="36" vartype="VAR" />
<UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="40" vartype="VAR" />
<UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="68" vartype="VAR" />
<UserDefElement iecname="bGripExist" type="T_BOOL" byteoffset="96" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="98" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="100" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="102" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="104" vartype="VAR" />
<UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="106" vartype="VAR" />
<UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="206" vartype="VAR" />
<UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="306" vartype="VAR" />
<UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="308" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM00_Error" size="6061" nativesize="6062" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Error">
<UserDefElement iecname="ErrorValves" type="T_ARRAY__0__100__OF_UDT_ValveAlarm" byteoffset="0" vartype="VAR" />
@@ -2078,7 +2088,7 @@
<UserDefElement iecname="Q" type="T_U1_EM00_Output" byteoffset="304" vartype="VAR" />
<UserDefElement iecname="Err" type="T_U1_EM00_Error" byteoffset="360" vartype="VAR" />
<UserDefElement iecname="Port" type="T_U1_EM00_Port" byteoffset="6424" vartype="VAR" />
<UserDefElement iecname="Tag" type="T_U1_EM00_Tag" byteoffset="6465" vartype="VAR" />
<UserDefElement iecname="Tag" type="T_U1_EM00_Tag" byteoffset="6467" vartype="VAR" />
<UserDefElement iecname="HMI" type="T_U1_EM00_HMI" byteoffset="6468" vartype="VAR" />
<UserDefElement iecname="FromRobot" type="T_U1_EM00_Un_FromRobot" byteoffset="6512" vartype="VAR" />
<UserDefElement iecname="ToRobot" type="T_U1_EM00_Un_ToRobot" byteoffset="6512" vartype="VAR" />

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6040-003上下料 V2.1.project
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6040-003上料下侧ZA08.cmtp
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11
README.md
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@@ -1,5 +1,11 @@
# 6040-003
# 电芯尺寸范围
长度：120mm-330mm
宽度：18mm-90mm
高度：75mm-250mm
# 待办工作
- [ ] 轴功能块和触摸屏心跳,防止JOG过程中HMI掉线
- [x] 轴掉线后无法复位
@@ -16,6 +22,11 @@
- [x] 调试水份上线拉带程序
- [x] 调试复投上线程序
- [ ] 机器人所有取放位置都要使用偏移计算，一键换型
- [ ] 机器人基准点放在独立Data文件中
- [x] 机器人程序优化，判断计数不等不要用内部变量,用反馈的PLC的计数
## 机器人命令程序号

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doc/KUKA机器人PLC通信地址.xlsx
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doc/正力银河二期试验线Layout20251109.dwl Normal file
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@@ -0,0 +1,3 @@
35115
DESKTOP-VRPF7F8
2026-02-09 18:22:30