Page 181 - Welding Robots Technology, System Issues, and Applications

where channel identifies the RPC socket open between the robot controller and the
remote computer. Robotic Welding: Application Examples 169
__________________________________________________________________
PROC main()
TPErase; TPWrite "Welding Server ...";
reset_signals;
p1:=CRobT(\Tool:=trj_tool\WObj:=trj_wobj);
MoveJ p1,v100,fine,trj_tool\WObj:=trj_wobj;
joints_now:=CJointT();
decision1:=123; varmove:=0;
WHILE TRUE DO
TEST decision1
CASE 9100:
x:=0; y:=0; z:=0; rx:=0; ry:=0; rz:=0; move:=0;
p1:=CRobT(\Tool:=trj_tool);
WHILE (decision1=9100) DO
IF (move <> 0) THEN
p1:=RelTool(p1,x,y,z\Rx:=rx\Ry:=ry\Rz:=rz);
x:=0; y:=0; z:=0; rx:=0; ry:=0; rz:=0; move:=0;
ENDIF
IF varmove <> 198 THEN
MoveJ p1,v100,fine,trj_tool\WObj:=trj_wobj;
ELSE
MoveL p1,v100,fine,trj_tool\WObj:=trj_wobj;
ENDIF
ENDWHILE
decision1:=123; varmove:=0;
CASE 9101:
joints_now:=CJointT();
WHILE decision1=9101 DO
MoveAbsJ joints_now,v100,fine,trj_tool\WObj:=trj_wobj;
ENDWHILE
decision1:=123;
CASE 9401:
weld;
decision1:=123;
p1:=CRobT(\Tool:=trj_tool);
MoveJ RelTool(p1,0,0,-200),v100,fine,trj_tool\WObj:=trj_wobj;
CASE 9301:
weld_sim;
decision1:=123;
ENDTEST
ENDWHILE
ENDPROC
__________________________________________________________________

Figure 5.17. Simple welding server running on the robot controller