Code example

INFORMATION

The following example can be imported in the IEC Editor. In the IEC Editor, open the menu [Tools] > [Scripting] > [Scripts] > [R], and select the menu entry [Robotics_Examples.py].

The rotary table is parameterized in the PRG_ExampleRotaryTable.Init() method.

In the PRG_ExampleRotaryTable.HighPrio() method, the position profile of the rotary table is assigned cyclically to the fbRotaryTable block.

The two methods should be called in the USER_PRG.Init() and USER_PRG.HighPrio() actions, and the name of the robot node assigned by the user in MOVISUITE^® (e.g. MyRobot) should be transferred.

User_PRG.Init()

If additional Init() signals are depicted in the USER_PRG.Init() action, all of them must be linked.

xInitDone := (* xInitDone AND *)

PRG_ExampleRotaryTableTracking.Init(

rInterface_Robot :=Interface_MyRobot,

rHMI_Robot := HMI_MyRobot);

User_PRG.HighPrio()

PRG_ExampleRotaryTableTracking.HighPrio(