lamb button..?/o unit

RobotStudio
1

Hi everyone…
I have ten lamb button with input output…

  1. button X+ 6.button is X-
    2.button Y+ 7.button Y-
    3.button Z+ 8. button Z- and
    4.button 50 mm
    5.button 100mm
    9.button 200mm
  2. button is start button
    ? have to make a program with this buttons
    when ? press 1.,4. and 10. button robot must move 50 mm X+
    when ? press 7. 9. 10. robot must move 200 mm direction of Y-…like offset…how can ? make this…?
    ? need your helps …thanks:worried:
2

Hi

Try this.

Best regards

Marcel

MODULE Module1
! data
! Value
VAR num nValueX;
VAR num nValueY;
VAR num nValueZ;
! Distance
VAR num nDistance;
! actual position
PERS robtarget pActual:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
! tool
PERS tooldata tEndEffector:=[TRUE,[[0,0,0],[1,0,0,0]],[30,[0,0,0],[1,0,0,0],10,10,10]];

PROC main()
! main program flow
! initialisation
SetDO doStart,0;
SetDO doDist050,0;
SetDO doDist100,0;
SetDO doDist200,0;
SetDO doPlusX,0;
SetDO doMinusX,0;
SetDO doPlusY,0;
SetDO doMinusY,0;
SetDO doPlusZ,0;
SetDO doMinusZ,0;
nValueX:=0;
nValueY:=0;
nValueZ:=0;
nDistance:=0;
! wait for start
WaitDI diStart,1;
SetDO doStart,1;
! read actual position
pActual:=CRobT(Tool:=tEndEffectorWObj:=wobj0);
! read buttons
IF diButtonDist050=1 THEN
SetDO doDist050,1;
nDistance:=50;
ELSEIF diButtonDist100=1 THEN
SetDO doDist100,1;
nDistance:=100;
ELSEIF diButtonDist200=1 THEN
SetDO doDist200,1;
nDistance:=200;
ENDIF
IF diButtonPlusX=1 THEN
SetDO doPlusX,1;
nValueX:=nDistance;
ELSEIF diButtonMinusX=1 THEN
SetDO doMinusX,1;
nValueX:=-nDistance;
ELSEIF diButtonPlusY=1 THEN
SetDO doPlusY,1;
nValueY:=nDistance;
ELSEIF diButtonMinusY=1 THEN
SetDO doMinusY,1;
nValueY:=-nDistance;
ELSEIF diButtonPlusZ=1 THEN
SetDO doPlusZ,1;
nValueZ:=nDistance;
ELSEIF diButtonMinusZ=1 THEN
SetDO doMinusZ,1;
nValueZ:=-nDistance;
ENDIF
! move to position
IF nValueX<>0 OR nValueY<>0 OR nValueZ<>0 THEN
MoveL Offs(pActual,nValueX,nValueY,nValueZ),v300,fine,tEndEffector;
ENDIF
! wait for releas of start button
WaitDI diStart,0;
ENDPROC
ENDMODULE

3

I really appreciated for your helps…thanks so much :+1:

4

I made this thanks for your helps:clap:

MODULE MainModule
VAR num VALX:=0;
VAR num VALY:=0;
VAR num VALZ:=0;
VAR num DIST:=0;
VAR bool TEKHIZ:=FALSE;
VAR bool TEKX:=FALSE;
VAR bool TEKY:=FALSE;
VAR bool TEKZ:=FALSE;
CONST robtarget p10:=[[832.51,-0.02,1130.19],[0.258803,1.62466E-05,0.96593,-4.18923E-07],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC main()
!***************************************************
Init:
WHILE TRUE DO
!==============
LampChk;
!==============
IF BUTONSTART=1 THEN
MOVECHK;
IF TEKHIZ AND (TEKX OR TEKY OR TEKZ ) OYNA;
ENDIF
ENDIF

ENDWHILE
!********************************************************
ENDPROC
!********************************************************
!********************************************************
PROC OYNA()
VALX:=0;
VALY:=0;
VALZ:=0;
!======
IF (Buton50=1 AND Buton100=0 AND Buton200=0) DIST:=50;
IF (Buton50=0 AND Buton100=1 AND Buton200=0) DIST:=100;
IF (Buton50=0 AND Buton100=0 AND Buton200=1) DIST:=200;
!======
IF (ButonXP=1 AND ButonXM=0) VALX:=DIST;
IF (ButonXP=0 AND ButonXM=1) VALX:=-DIST;
!======
IF (ButonYP=1 AND ButonYM=0) VALY:=DIST;
IF (ButonYP=0 AND ButonYM=1) VALY:=-DIST;
!======
IF (ButonZP=1 AND ButonZM=0) VALZ:=DIST;
IF (ButonZP=0 AND ButonZM=1) VALZ:=-DIST;
!===============================================
p10:=CRobT();
MoveL Offs(p10,VALX,VALY,VALZ),v100,z0,tool0;
ENDPROC

!********************************************************
!********************************************************
PROC MOVECHK()
IF ((Buton50=1 AND Buton100=0 AND Buton200=0) OR (Buton50=0 AND Buton100=1 AND Buton200=0) OR (Buton50=0 AND Buton100=0 AND Buton200=1))
THEN TEKHIZ:=TRUE;
ELSE TEKHIZ:=FALSE;
ENDIF
!=========================
IF (ButonXP=1 AND ButonXM=0) OR (ButonXP=0 AND ButonXM=1)
THEN TEKX:=TRUE
ELSE TEKX:=FALSE
ENDIF
!=========================
IF (ButonYP=1 AND ButonYM=0) OR (ButonYP=0 AND ButonYM=1)
THEN TEKY:=TRUE
ELSE TEKY:=FALSE
ENDIF
!=========================
IF (ButonZP=1 AND ButonZM=0) OR (ButonZP=0 AND ButonZM=1)
THEN TEKZ:=TRUE
ELSE TEKZ:=FALSE
ENDIF
!=========================
ENDPROC
!********************************************************
!********************************************************
!********************************************************
!********************************************************
PROC LampChk()
IF ButonXP = 1 THEN
Set LambaXP;
ELSE
Reset LambaXP;
ENDIF
!========================
IF ButonXM = 1 THEN
Set LambaXM;
ELSE
Reset LambaXM;
ENDIF
!========================
IF ButonYP = 1 THEN
Set LambaYP;
ELSE
Reset LambaYP;
ENDIF
!========================
IF ButonYM = 1 THEN
Set LambaYM;
ELSE
Reset LambaYM;
ENDIF
!========================
IF ButonZP = 1 THEN
Set LambaZP;
ELSE
Reset LambaZP;
ENDIF
!========================
IF ButonZM = 1 THEN
Set LambaZM;
ELSE
Reset LambaZM;
ENDIF
!========================
IF Buton50 = 1 THEN
Set Lamba50;
ELSE
Reset Lamba50;
ENDIF
!========================
IF Buton100 = 1 THEN
Set Lamba100;
ELSE
Reset Lamba100;
ENDIF
!========================
IF Buton200 = 1 THEN
Set Lamba200;
ELSE
Reset Lamba200;
ENDIF
!========================
ENDPROC

PROC Init()
ENDPROC

ENDMODULE