PLC/6040-003
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zhusenlin
2026-02-08 11:26:25 +08:00
parent 45144a2db2
commit 6818a94e30
4 changed files with 17 additions and 14 deletions
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26
6040-003上下料 V2.1.Device.Application.xml
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@@ -1975,20 +1975,22 @@
<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="276" nativesize="276" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
<TypeUserDef name="T_U1_EM00_Data" size="284" nativesize="284" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
<UserDefElement iecname="bWcsEnable" type="T_BOOL" byteoffset="0" vartype="VAR" />
<UserDefElement iecname="BatteryRowSet" type="T_INT" byteoffset="2" vartype="VAR" />
<UserDefElement iecname="BatteryColumnSet" type="T_INT" byteoffset="4" vartype="VAR" />
<UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="8" vartype="VAR" />
<UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="36" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="64" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="66" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="68" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="70" vartype="VAR" />
<UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="72" vartype="VAR" />
<UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="172" vartype="VAR" />
<UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="272" vartype="VAR" />
<UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="274" 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="PalletWaterBatteryIndex1" type="T_INT" byteoffset="72" vartype="VAR" />
<UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="74" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="76" vartype="VAR" />
<UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="78" vartype="VAR" />
<UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="80" vartype="VAR" />
<UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="180" vartype="VAR" />
<UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="280" vartype="VAR" />
<UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="282" 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" />
@@ -2253,7 +2255,7 @@
<Comment>伺服预测维护数据</Comment>
</Node>
<Node name="SVData" type="T_ARRAY__0__40__OF_UDT_AxisParam" access="ReadWrite" directaddress="%MB256992" />
<Node name="U1_EM00_Data" type="T_U1_EM00_Data" access="ReadWrite" directaddress="%MB137012" />
<Node name="U1_EM00_Data" type="T_U1_EM00_Data" access="ReadWrite" directaddress="%MB137648" />
<Node name="U1_EM01_Data" type="T_U1_EM01_Data" access="ReadWrite" directaddress="%MB131912" />
<Node name="UnitOverride" type="T_ARRAY__0__10__OF_REAL" access="ReadWrite" directaddress="%MB131860">
<Comment>整机倍率设定</Comment>

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6040-003上下料 V2.1.project
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5
README.md
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@@ -8,8 +8,9 @@
- [ ] kuka功能块验证
- [x] 其他工位HMI IO显示
- [x] 轴画面不能设负数
- [ ] 界面少在原位标志
- [ ] 机器人程序增加中断保护，防止撞击，防止放料时下方有物料
- [x] 界面少在原位标志
- [x] 机器人程序增加中断保护，防止撞击，
- [ ] 机器人放料前检测下方是否有电池
## 机器人命令程序号

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doc/~$KUKA机器人PLC通信地址.xlsx Normal file
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