This section shows a sample program of a Beckhoff TwinCAT PLC that communicates with RoboDK OPC UA server.

PROGRAM MAIN

VAR

bConnected :BOOL;

StationPointer :DINT;

iStep :INT;

bStart :BOOL;;

i :INT;

吨:吨;

bReset :BOOL;

bWrite :BOOL;

TON2 :TON;

bShow :BOOL:=TRUE;

bVis :BOOL:=True;

END_VAR

VAR

Robot_name :STRING(80):='ABB_RB1';

Item_ID :ULINT;

arrJoints :ARRAY[0..11]OF LREAL;

strJoints:字符串(80):= ";

arrJointsFromStr:ARRAY[1..11]OF LREAL;

sSeparator :STRING(1) := ',';

arrJointsCommand:ARRAY[1..11]OF LREAL;

strJointsCommand:STRING(80);

END_VAR

VAR CONSTANT

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;

debug:BOOL;

URL :STRING:='http://192.168.3.42:8091';

END_VAR

bConnected:=OPCUA_VirtualClient_RoboDK_Station.bConnected;

CASE iStep OF

cStepWaitCmd:

IF bStart THEN

iStep:=cStepInit;

bStart:=FALSE;

END_IF

cStepInit:

StationPointer:=0;

FOR i :=1 TO 11 DO

arrJoints[i]:=0.0;

arrJointsFromStr[i]:=0.0;

aSplit[i]:='';

END_FOR

IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.setJoints.bBusy

AND NOT OPCUA_VirtualClient_RoboDK_Station.setJoints.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bBusy

AND NOT OPCUA_VirtualClient_RoboDK_Station.setJointsStr.bError

THEN

iStep:=cStepGetItem;

END_IF

iStep:=cStepGetItem;

cStepGetItem:

IF OPCUA_VirtualClient_RoboDK_Station.getItem.bDone THEN

iStep:=cStepGetItemReset;

Item_ID:=OPCUA_VirtualClient_RoboDK_Station.getItem.Item_ID;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getItem.bError THEN

iStep:=cStepGetItemError;

END_IF

cStepGetItemReset:

IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

THEN

iStep:=cStepGetJoints;

END_IF

cStepGetJoints:

IF OPCUA_VirtualClient_RoboDK_Station.getJoints.bDone

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJoints.bBusy

THEN

iStep:=cStepGetJointsReset;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getJoints.bError THEN

iStep:=991;

END_IF

cStepGetJointsReset:

IF NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.getItem.bBusy

THEN

iStep:=cStepGetJointsStr;

END_IF;

cStepGetJointsStr:

IF OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bDone

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

THEN

iStep:=cStepGetJointsStrReset;

ELSIF OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError THEN

iStep:=cStepGetJointsStrError;

END_IF

cStepGetJointsStrReset:

IF NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bError

AND NOT OPCUA_VirtualClient_RoboDK_Station.getJointsStr.bBusy

THEN

iStep:=cStepSetJointStrDelay;

END_IF;

cStepSetJointStrDelay:

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