VASS 06 Virtual Axis Folder Description

VASS 06 Virtual Axis Folder DescriptionVASS 06 Virtual Axis Folder DescriptionVASS 06 Virtual Axis Folder Description

VA_Virtuelle-Achsen refers to the control of virtual axes.

VASS 06 Virtual Axis Folder Description

VW_IPO_USR_R file is used for the virtual lead time of drag.*Ipo clock technology package**SynchroMove

Determination of dead time

CASE 104 ;Main group 1, Subgroup 4

;FOLDTotzeitermittlung

Ipo_Interface(#USR_MAKRO,CMD_SEL,PAR1,PAR2,PAR3,PAR4,PAR5,PAR6,PAR7,PAR8,PAR9)

To ensure correct communication between robot control and gripper control, dead time determination (IPO clock determination) must be performed.

Makro901

EZ1/SP1/KE1Determination of dead time

Makro902

EZ2/SP2/KE2Determination of dead time

Makro903

EZ3/SP3/KE3Determination of dead time

Makro904

NZ1Determination of dead timeg

Makro905

NZ2Determination of dead time

Makro906

CZ1Determination of dead time

Makro907

CZ2Determination of dead time

Example KE1, with 3 docking grippers

KE1 Z1 ➔Execute Makro901KE1 Z2 ➔Execute Makro901KE1 Z3 ➔Execute Makro901

In this example, KE1

Macro901

VASS 06 Virtual Axis Folder Description

VW_VA_USR_R() file is used to configure the welding parameters of the virtual welding gripper *VA virtual axis technology package*

Gripper parameters

According to the data sheet (speed, braking acceleration ramp, transmission ratio, software limit switch), the various settings of the gripper are located in the corresponding macros in the Tech call entries 911-946.

Makro911

EZ1SP1KE1 Z1 Parameter

Makro912

EZ1SP1KE1 Z2 Parameter

Makro913

EZ1SP1KE1 Z3 Parameter

Makro914

EZ1SP1KE1 Z4 Parameter

Makro918

EZ2SP2KE2 Z1 Parameter

Makro919

EZ3SP3KE3 Z1 Parameter

Makro921

NZ1 Z1 Parameter

Makro922

NZ1 Z2 Parameter

Makro923

NZ1 Z3 Parameter

Makro924

NZ1 Z4 Parameter

Makro929

NZ2 Z1 Parameter

Makro931

CZ1 Z1 Parameter

Makro932

CZ1 Z2 Parameter

Makro933

CZ1 Z3 Parameter

Makro934

CZ1 Z4 Parameter

Makro939

CZ2 Z1 Parameter

Makro941

RW1 Z1 Parameter

Makro942

RW1 Z2 Parameter

Makro943

RW1 Z3 Parameter

Makro944

RW1 Z4 Parameter

Makro949

RW2 Z1 Parameter

In this example, the stationary KE1 acts as external tool 2.

VASS 06 Virtual Axis Folder Description

Macro911

CASE 701 ;Main group 7, Subgroup 4

;FOLDParameter virtual axis

Virtual axis parameters VA_Interface(#USR_MAKRO,CMD_SEL,PAR1,PAR2,PAR3,PAR4,PAR5,PAR6,PAR7,PAR8,PAR9)

;ENDFOLD

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