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FlexPendant irá aparecer
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por ela.

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og • ~ 110 s. @Evert!._!:~{:._ _-~-_. • Pressione o botão "OK" ~ • f!) 14·SIl175 r- fteom. e ABa G~!)'iP Ma.. i~~=--i~ii~: =~ =z~ ~~~. • Peça autorização de escrita ao controlador.~te"i'file . aperte o botão "Backup" na aba "Controller".-.~~ Aniatleb!dc.. • Execute novamente o programa e veja a diferença. Na tela que irá abrir selecione o nome do backup. --_ ___-_.._ ..._-~-_ ~~~:~~~~-_._-_. 2014 ! suce :·17 .- l~]E.pNer:>e: ..PID I~~~~~cb.RobotStudio Criando um backup • Para fazer um backup através do RobotStudio._ l«n:r~ ._ .. a pasta onde ele será salvo.fem o {jR<... __ . 23._--_.. • Faça um backup através do computador._._. I I .ç»: : ~l Exercício • Conecte no controlador usando o RobotStudio. • Modifique as zonas e velocidades do seu programa usando o RobotStudio.

'. 2'~14 ~$Iid<::1~S . 2014 i suce :·18 Instruções básicas de saídas digitais • Para ligar uma saída digital utilize o comando "Set": • Set doFechaGarra. · SetDo doSopro. • Para desligar uma saída digital utilize o comando "Reset": · Reset doAbreGarra. 23.~. • O argumento opcional "Plength" aponta o tempo que a saída ficará ligada.88 G:D'. O comando "SetDo" pode ser utilizado no lugar do "Set" e do "Reset": · SetDo doVacuo. 1.~AeeG::x:p Ma. (i. O. O comando "Pulse Do" é usado para pulsar uma saída digital: • PulseDo\Plength:=0. 2:5. • O comando "lnvertOo" é usado para inverter o estado lógico de uma saída digital: • InvertDo doSopro. doMaquinaPronta.P Ma.2.

_~TWU3WI) i~ L :" abbl •• TJW8l/~ l~..'. MoveL p50 vl0CO.Influência da zona em instruções lógicas p40 PROC rs 16 17 mamO MoveJ pHone.ABB G!0'i.'.~(Z. 20ú i Slic9 . toolC.V1000. iu [18 M SI. MoveL pl0 iu MoveL p20 ( vl000. ü vlOOO . 1 z50.U"·t:Igr_:.'D. eco z50. I ~MoveL ~20. HoveL p. .J .el~-~l~)L~ •••••in z50. j t.co.c r z50. Gr~p. z50. p40.t\. 009 MoveL "'1 ~ l'R~~v:~~~~me. toolO··'-O.: Ma.__ 1.-:ro~~'-:::~i p20 . teolO. vl000 I r.OOO ( zSO .. fine. vl000. z50[ toola. Influência da zona em instruções lógicas p40 .".23. Set do9_Gríp.. Hov e'L pSO El-t"DP. t.5: . z50..". McveL p40. 117~Move~ ~19 ~20 [21 ~set 1OI"IIXI . MoveL pt vl000..ROC I vl000.lfl(j)o. z50.••. I p30. f lbJutfles tecla.'E v1000.• .L .oo ENDPROC 21 p20 DT • OT indica um tempo variável em função da carga do processador. z50.·I~' -6\ 1'.. fazendo com que a saída seja acionada antes do esperado e sem precisão de posição.' f Lü : z50! teola. :... vl. tC01C. toolO. vl000.". t.30 vl0CO..Lo r p30 • Nesse caso o sinal será disparado exatamente após o robô parar no ponto p30.

utilize o comando WaitTime e especifique quantos segundo deseja esperar: • WaitTime 5. • O ponteiro do programa ficará parado na instrução até que o tempo especificado decorra.Instruções de espera • Para esperar pelo acionamento de uma entrada digital utilize o comando WaitDI. 1. É preciso especificar qual a entrada e qual o valor a esperar (1 ou O): · WaitDI Entrada. 20'1.03 .. M3: 23.\ l snoe . • O ponteiro do programa ficará parado na instrução WaitDI até que a entrada tenha o valor especificado.ir) May 23.:2 Instruções de espera • Para esperar por um tempo.lJH3G'i). 2:l!:1 i SI:ó." . 0.08 G~O. "'I.:!.'.

20!41 Sl. A condição deve retornar verdadeiro ou falso. Reinicie o processo. c) Utilize os sinais doVacuo e doSopro para acionar a ventosa.'.. ) AIIII 1G4 Exercício • Crie um novo programa com a lógica a seguir: ~ Ar. Aguarde o sinal "diPeçaPronta" estar ligado para pegar novamente a peça no torno e leva-Ia para a estação "saída".Instruções de espera • Para esperar por uma condição.:55 1. 5. Robô aguarda em uma posição de segurança. 3. utilize o comando WaitUntil e especifique uma condição lógica. Quando a entrada "dilniciaProcesso" for ligada o robô deve pegar uma peça na estação "alimentador 1".:1."f} Ma.::~ Ma): :::3. 2. • * Multiplicação • ANDE • I Divisão • • DIV Divisão inteira MOD Modulo da divisão • + Soma < Menor • > Maior • <= Menor igual >= Maior igual • . 1snce . Caso a condição seja falsa o ponteiro do programa ficará parado na instrução aguardando que a condição se torne verdadeira . • WaitUntil Entrada1 =1 ANO Entrada2=O. O robô deve colocar a peça na estação "torno" e ir para uma posição de segurança.d~ ( .Subtração • = Igual • NOT Não • <> Diferente • OROU XOR OU exclusivo 0AE8G'::. 23.m G1:}. b} Utilize os sinais doAbreGarra e doFechaGarra para acionar a pinça. Ligue o sinal "doLigaTorno" para começar o processo de torneamento. 4. . 20. a) Utilize a tela "Exercícios" para começar a operação.

c ~ eu Ol :::::i o eu Ü'> Q) n.Exercício -Horne eu o ê o •. o.·1 i SI. ""O ""O -Torno ".:.!!) G'n.:! 155 ~ Ar. 20.....:!. 2014 ! snce ~61 .:_ Ma..: 23-.'AeaG'!X.) May2S.

.""". 201... _~~:: 5.x.. Fácil para testar o programa • Fácil para alterar o programa • Fácil para identificar falhas • Facilidade para leitura e compreensão ~.w.•...':'08 Programação estruturada • Método de programação estruturada utilizando subrotinas: • Diminui tamanho do programa por reutilizar instruções que se repetem.'lm G~n~iD Ma. ENDPROC .Programação estruturada Programação estruturada • Seqüência. ... abbl 1 HODULE I'.. "* •••.""'.. . 159 '1t:.'..i.Jt : P·'i·)·1o".nModule PR~~i::~~~ll . Alt •• A •••• ~A9!3G:'...'::"""..'j. 201:1 i SI...~ i $licE.'! .Processo chamado na programação de repetição de uma ou mais ações..< Instrução rsq-~are..:~ May23.~.\ i ProcCall .. h r R(lJl/~e/majn M2.~)J-. • Iteração .. ~.... • Decisão.... cs...

Pressione a tecla "ABC . Depois pressione o botão "OK".Criando rotinas • Dentro do "Editor do programa".. Tipo: Parãmetros: Tipo de dados: Módulo: Dedaração Identificador 100l1: erros: r Manípulé'ldor para trás: C .". Criando rotinas • Aperte no menu "Arquivo" e selecione a opção "Nova rotina .. • Irá aparecer uma tela com a lista de todas as rotinas do programa. O programa sempre terá uma rotina chamada "rnain"." e digite um nome no teclado alfanumérico. pressione o menu "Rotinas".. que é a rotina inicial de todo programa. • Na tela seguinte escolha um nome para a rotina.

Editando rotinas • Para programar as rotinas. 1=~~.\. PROC main(J Circulo. ~ 17:~. entre no menu de rotinas e dê dois apertos em cima da rotina que deseja editar ou selecione a rotina e aperte o botão "Mostrar rotina".~·~~t~!?·-·:. 201:1.". no menu "Adicionar instrução" selecione a instrução "ProcCall" TI :r.i:: êaay 2:3.•. i $1. 1.:r:~··_·'·-'--~-~_···_···-·.a~~[.n Cl Tri.. fi'f"'··i*fR ENDPROC Também é possível chamar uma rotina a partir de outra rotina.IO jl.~ngulo • Uma tela com as rotinas do seu programa irá aparecer.: - 1 i.

B8Gm.~!!..ai.1 . as A IIU '''11111 . ~J6-~IC8RQOC. Adicione as instruções a sua rotina no menu "Adicionar instrução". Selecione a rotina desejada e pressione "OK".••__ •••• ~l_} IIIrXJ . ~ A. .-.l~) . Quadrado. ~. ~~-.•.~~I~ uadradoO :é:é-'::):f4~ MalnModrne Procedere Main"'odule Procedere MainModule Pl'OOOdure MalnModule Procedure • A rotina selecionada irá aparecer na tela. • Para adicionar uma rotina para ser executada.IJ.IJ Chamando as rotinas no seu programa • Todo programa inicia pela rotina "main" e portanto as suas rotinas devem ser colocadas aqui para que possam ser executadas. @. filtro ativo. . I. -. Adidonar Instrução .

Intereses relacionados

B8Gm.~!!..ai.1 . as A IIU '''11111 . ~J6-~IC8RQOC. Adicione as instruções a sua rotina no menu "Adicionar instrução". Selecione a rotina desejada e pressione "OK".••__ •••• ~l_} IIIrXJ . ~ A. .-.l~) . Quadrado. ~. ~~-.•.~~I~ uadradoO :é:é-'::):f4~ MalnModrne Procedere Main"'odule Procedere MainModule Pl'OOOdure MalnModule Procedure • A rotina selecionada irá aparecer na tela. • Para adicionar uma rotina para ser executada.IJ.IJ Chamando as rotinas no seu programa • Todo programa inicia pela rotina "main" e portanto as suas rotinas devem ser colocadas aqui para que possam ser executadas. @. filtro ativo. . I. -. Adidonar Instrução .

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