五月婷婷欧美视频_少女频道在线观看高清_欧美日韩视频一区二区三区_7777精品伊久久久大香线蕉语言

首頁 > KUKA示教器維修 > KUKA庫卡機器人編程如何log數據(日志)

KUKA庫卡機器人編程如何log數據(日志)

日期:2020-01-03   人氣:  來源:互聯網
簡介:下面講下如何將一些數據log下來,可以基于機器人本身的CWRITE指令來實現此功能: (1).Log文件自動以時間命名; (2).每隔10秒log一次; (3).每條信息獨立一行; 具體實現過程如下: 1.在SmartPad上創建一個xxx.src,如下: DEF Write_File( ) DECL INT handle……

下面講下如何將一些數據log下來,可以基于機器人本身的CWRITE指令來實現此功能:
 
(1).Log文件自動以時間命名;
 
(2).每隔10秒log一次;
 
(3).每條信息獨立一行;
 
具體實現過程如下:
 
1.在SmartPad上創建一個xxx.src,如下:

	
 
DEF Write_File( )
DECL INT handle
DECL STATE_T STAT
DECL MODUS_T MODE
DECL CHAR AxisPos[256]
DECL CHAR ProState[256]
DECL CHAR ErrorID[256]
DECL CHAR FILENAME[256]
DECL INT  Offset
DECL BOOL bok
DECL char LF 
MODE = #SYNC
HANDLE = 0
OFFSET=0
bOK=STRCLEAR(AXISPos[])
BOK=STRCLEAR(Prostate[])
BOK=STRCLEAR(ERRORID[])
LF = 10
 
SWRITE(AxisPos[],STAT,Offset,"%S:%F|%F|%F|%F|%F|%F","Current Axis Position",$AXIS_ACT.A1,$AXIS_ACT.A2,$AXIS_ACT.A3,$AXIS_ACT.A4,$AXIS_ACT.A5,$AXIS_ACT.A6)
Offset=0
SWITCH $PRO_STATE1
  CASE #P_ACTIVE
    ProState[]="Program State: RobotProgram is selected and running!"
    CASE #P_FREE
    ProState[]="Program State: RobotProgram is deselected!"
    CASE #P_END
    ProState[]="Program State: RobotProgram is selected and the end of program has been reached!"
    CASE #P_RESET
    ProState[]="Program State: RobotProgram is selected and has been stopped and reset!"
    CASE #P_STOP
    ProState[]="Program State: RobotProgram is selected and has been stopped!"
ENDSWITCH
SWRITE(ERRORID[],STAT,offset,"ErrorINFO: ERRORID-%D|LINENR-%D|PROG-%S|SUB-%S",$ERR.NUMBER,$ERR.LINE_NR,$ERR.MODULE[],$ERR.UP_NAME[])
offset=0
IF STRCLEAR(FILENAME[])THEN
SWRITE(FILENAME[],STAT,offset,"%D%D%D-%Dh%Dm%Ds.txt",($DATE.year),($DATE.MONTH),($DATE.DAY),($DATE.HOUR),($DATE.MIN),($DATE.SEC))
ENDIF
WAIT FOR TIMER_LIMIT(10)     
CWRITE($FCT_CALL,STAT,MODE, "krl_fopen",FILENAME[], "w", HANDLE)
CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, AxisPos[])
CWRITE($FCT_CALL, STAT, MODE, "krl_fputc", HANDLE, LF)        
CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, PROSTATE[])
CWRITE($FCT_CALL, STAT, MODE, "krl_fputc", HANDLE, LF)        
CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, ErrorID[])
CWRITE($FCT_CALL, STAT, MODE, "krl_fclose", HANDLE)
END
2.在SPS里調用該程序:
3.確保SPS運行:
4.在機器人控制器路徑下C:\KRC\Roboter\Userfiles看生成的log文件:
5.查看具體log文件:
免責聲明:本網部分文章和信息來源于互聯網,本網轉載出于傳遞更多信息和學習之目的。如轉載稿涉及版權等問題,請立即聯系網站所有人,我們會予以更改或刪除相關文章,保證您的權利。
主站蜘蛛池模板: 海南省| 北海市| 东至县| 响水县| 资源县| 那坡县| 和硕县| 萝北县| 涞水县| 繁昌县| 和顺县| 呼和浩特市| 海丰县| 阳春市| 彩票| 安徽省| 德州市| 芜湖市| 灵川县| 禹城市| 崇左市| 德保县| 永德县| 洪泽县| 元氏县| 剑河县| 明溪县| 汝阳县| 东源县| 江安县| 泾源县| 天等县| 沈阳市| 兖州市| 威海市| 儋州市| 河西区| 上虞市| 胶州市| 长顺县| 余姚市|