本节展示了Beckhoff TwinCAT PLC与RoboDK OPC UA服务器通信的示例程序。

项目主要

VAR

bConnected: BOOL;

StationPointer:力;

iStep: INT;

bStart: BOOL;;

我:INT;

吨:吨;

bReset: BOOL;

bWrite: BOOL;

TON2:吨;

bShow: BOOL: = TRUE;

英属维尔京群岛:BOOL: = True;

END_VAR

VAR

Robot_name: STRING(80): =“ABB_RB1”;

Item_ID: ULINT;

arrJoints: ARRAY [0 . .LREAL 11);

strJoints:字符串(80):= ";

arrJointsFromStr: ARRAY [1 . .LREAL 11);

sSeparator:STRING(1):= '，';

arrJointsCommand: ARRAY [1 . .LREAL 11);

strJointsCommand:字符串(80);

END_VAR

VAR常数

cStepWaitCmd: INT: = 0;

cStepInit: INT: = 5;

cStepGetItem: INT: = 10;

cStepGetItemReset: INT: = 20;

cStepGetItemError: INT: = 990;

cStepGetJoints: INT: = 30;

cStepGetJointsReset: INT: = 40;

cStepGetJointsError: INT: = 991;

cStepGetJointsStr: INT: = 50;

cStepGetJointsStrReset: INT: = 60;

cStepGetJointsStrError: INT: = 992;

cStepSetJointStrDelay: INT: = 69;

cStepSetJointsStr: INT: = 70;

cStepSetJointsStrReset: INT: = 80;

cStepSetJointsStrError: INT: = 993;

cStepEnd: INT: = 300;

cStepWaitReset: INT: = 999;

END_VAR

VAR

aSplit: ARRAY [1 . .[11] of string (80);

bResultSplit: BOOL;

调试: BOOL;

URL:字符串:= ' http://192.168.3.42:8091 ';

END_VAR

bConnected: = OPCUA_VirtualClient_RoboDK_Station.bConnected;

案例1 .步骤1

cStepWaitCmd:

如果启动，那么

iStep: = cStepInit;

bStart: = FALSE;

END_IF

cStepInit:

StationPointer: = 0;

对于i:=1到11

arrJoints[我]:= 0.0;

arrJointsFromStr[我]:= 0.0;

aSplit[我]:= ";

END_FOR

如果不是，OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

而不是opcua_virtualclient_robodk_station . getitem . error

而不是OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

而不是opcua_virtualclient_robodk_station . getjoints . error

而不是OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

而不是opcua_virtualclient_robodk_station . getjointsstr . error

而不是OPCUA_VirtualClient_RoboDK_Station.setJoints.bBusy

而不是opcua_virtualclient_robodk_station . setjoints . error

而不是OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bBusy

而不是opcua_virtualclient_robodk_station . setjointsstr . error

然后

iStep: = cStepGetItem;

END_IF

iStep: = cStepGetItem;

cStepGetItem:

如果OPCUA_VirtualClient_RoboDK_Station.getItem。bDone然后

iStep: = cStepGetItemReset;

Item_ID: = OPCUA_VirtualClient_RoboDK_Station.getItem.Item_ID;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getItem。bError然后

iStep: = cStepGetItemError;

END_IF

cStepGetItemReset:

如果不是，opcua_virtualclient_robodk_station . getitem . error

而不是OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

然后

iStep: = cStepGetJoints;

END_IF

cStepGetJoints:

如果OPCUA_VirtualClient_RoboDK_Station.getJoints.bDone

而不是OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

然后

iStep: = cStepGetJointsReset;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getJoints。bError然后

iStep: = 991;

END_IF

cStepGetJointsReset:

如果不是，opcua_virtualclient_robodk_station . getitem . error

而不是OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

然后

iStep: = cStepGetJointsStr;

END_IF;

cStepGetJointsStr:

如果OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bDone

而不是OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

然后

iStep: = cStepGetJointsStrReset;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getJointsStr。bError然后

iStep: = cStepGetJointsStrError;

END_IF

cStepGetJointsStrReset:

如果不是，opcua_virtualclient_robodk_station . getjointsstr . error

而不是OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

然后

iStep: = cStepSetJointStrDelay;

END_IF;

cStepSetJointStrDelay:

strJointsCommand: = ";strJointsCommand: = CONCAT (LREAL_TO_STRING (arrJointsCommand [1]), strJointsCommand);