How to establish and use KUKA subroutines / functions

HI Hello, everyone , It's time for small farmers to talk about robots . Some time ago, some people reported that small farmers are getting lazier and lazier , Twitter doesn't write technical articles anymore . I am very ashamed to hear that . So today we must have something without any technical content .

kuka

Subroutines and functions

Any programming ape should have learned what subroutines and functions are before losing his hair . In the field of robotics, the concept is not so clear ,kuka Any program in the robot can call other programs , Or here we call it module , Programmers can set a module as the main program , Even if his name is subroutine .

Of course, it also distinguishes between global subroutines and local subroutines

As the name suggests, the global subroutine is a program that anyone can call .

A part is a program written under a module , It's called a local subroutine , This program can only be used under this module .

Then the function here can be called a function block , It is a function block that cannot execute motion instructions and cannot run alone . Or simply call it function . It has no dat file , And there will be a return value to the program that calls it .

Of course, it is also divided into global functions and local functions .

1

Subroutines / function

DEF mainPROG( )
; This is the main program 
...
END
_______________________________________
DEF PROG1( )
; This is a local subroutine  1
...
END
_______________________________________
DEF PROG2( )
; This is a local subroutine  2
...
END
_______________________________________
DEF PROG3( )
; This is a local subroutine  3
...
END

Copy

Let's first look at the local subroutines , Write in the module END Line is followed by the local subroutine , Subroutines can be called by the main program in the whole file . And they can call each other . You can also pass parameters .

Let's take a look at the fact that a local function is in DEF Add... To the back FCT, And give the return type of this function . You can think of it as a variable that can operate .

Because you need to use a variable of the same type to receive its return value

DEF mainPROG( )
; This is the main program 
INT I
I = PROG2（ ）
END
_______________________________________
DEFFCT BOOL PROG1( )
; This is a local subroutine  1
...
ENDFCT
_______________________________________
DEFFCT INT PROG2( )
; This is a local subroutine  2
...
ENDFCT
_______________________________________
DEFFCT REAL PROG3( )
; This is a local subroutine  3
...
ENDFCT

Copy

---

After knowing the local subroutine, it is easy to think of the global subroutine . Take each independent module directly as a subroutine

DEF  Subroutines （ ）
; This is the main program 
 The main program （ ）
END

Copy

DEF  The main program （ ）
; This is a subroutine 
END

Copy

So the global subroutine can be called freely . So look at the global functions

DEF MAINPROG（ ）
BOOL B1
B1 = FUNC1（ ）
END

Copy

DEFFCT BOOL FUNC1（）

ENDFCT

Copy

1

Use of subroutines and functions

It seems that many friends prefer example demonstration , So I don't say much , Go straight up

DEF MAIN1（ ）
; This is a camera capture process 
PTP HOME
LOOP  ; Main circulation 
PICK1（）; Call the crawler 1
DROP1（）; Call the placer 1
PICK2（）; Call the crawler 2
DROP1（）; Call the placer 1
ENDLOOP
END

Copy

DEF PICK1( )
; This is the crawl program 1
PTP P1
POS_N = CAMERA（1）; Call the camera to take photos , Pass in the camera program number , Return location information 
XPN = PDAT（POS_N）; Call the calculator , Pass in the location information obtained by the camera , Return to xpn
PTP XPN; Run to the xpn（ Where the calculation is completed ） Carry out crawling work  
GRIP(#CLO)
...
END  ; Return to the main program after completion 
_______________________________________ 
DEFFCT POS PDAT（N）; The calculation of each program is different, so the local ...
P.X = N.X + P.X
P.Y = N.Y + P.Y
P.Z = N.Z + P.Z
P.A = N.A + P.A
P.B = N.B + P.B
P.C = N.C + P.C

RETURN P
ENDFCT

Copy

DEF PICK2( )
; This is the crawl program 2
PTP P1
POS_N = CAMERA（2）; Call the camera to take photos , Pass in the camera program number , Return location information 
XPN = PDAT（POS_N）; Call the calculator , Pass in the location information obtained by the camera , Return to xpn
PTP XPN; Run to the xpn（ Where the calculation is completed ） Carry out crawling work  
GRIP(#CLO)
...
END  ; Return to the main program after completion 
_______________________________________ 
DEFFCT POS PDAT（ ）; The calculation of each program is different, so the local 
...
RETURN P
ENDFCT

Copy

DEF DROP1()
; This is the placement program 1
PTP P1
XPN = DDAT（ ） Calculate the amount of cheap money placed according to the price obtained by grabbing 
PTP XPN
GRIP(#OPN) 
...
END ; After placing, return to the main program 
_______________________________________ 
DEFFCT POS DDAT（ ）; The calculation of each program is different, so the local 
...
RETURN P
ENDFCT

Copy

DEFFCT POS CAMERA（N:IN）; It is used by more programs, so it is established as a global 
; This is the camera trigger program 
$OUT[N] = TRUE
WAIT FOR $IN[N]==TRUE
RETURN SIGNAL_N
ENDFCT

Copy

DEF GRIP（N：IN）
SWITCH N
  CASE #OPN
    OPEN（ ）
  CASE #CLO
    CLOS（ ）
ENDSWITCH
END
DEF OPEN（ ）
$OUT[2]=TRUE
WAIT FOR $IN[2]
END
DEF CLOS（ ）
$OUT[2]=FALSE
WAIT FOR NOT $IN[2]
END

Copy

1

Program explanation

I wrote a lot of code , But smart you should be able to see that this is a program framework , So how to explain it? Let's see

in addition KUKA There are many system functions , These functions do not require us to write , Just use it directly

The absolute value ABS(x)

root SQRT(x)

sine SIN(x)

cosine COS(x)

tangent TAN(x)

Arccosine ACOS(x)

Anyway ATAN2(y,x)

Determine the string length when declaring StrDeclLen(x)

Length of string variable after initialization StrLen(x)

Delete the contents of string variables StrClear(x)

Extended string variables StrAdd(x,y)

Compare the contents of string variables StrComp( x,y,z)

Copy string variables StrCopy(x,y)

Generate information Set_KrlMsg(a,b,c,d)

Generate dialogue Set_KrlDLg(a,b,c,d)

Check information Exists_KrlMsg(a)

Check dialogue Exists_KrlDlg(a,b)

Delete the information Clear_KrlMsg(a)

Read information buffer Get_MsgBuffer(a)