{"id":1217,"date":"2018-08-15T22:21:28","date_gmt":"2018-08-15T13:21:28","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1217"},"modified":"2018-08-15T23:04:41","modified_gmt":"2018-08-15T14:04:41","slug":"dummy-mpsmemo-4","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1217","title":{"rendered":"Dummy MPS(MEMO 4)"},"content":{"rendered":"<p>\u3055\u3066\uff0cMPS \u306ePLC \u306eRegister \u306e\u89e3\u6790\u3067\u3059\uff0e<\/p>\n<p>\u3056\u304f\u3063\u3068\u8a00\u3048\u3070\uff0cllsf-refbox\/src\/libs\/llsf_sps \u306b\u3066\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">grep -E modbus_.*_registers *<\/pre>\n<p>\u3067\u51fa\u3067\u304d\u305fmodbus\u306eread\u3068write\u3092\u898b\u3066\u3044\u304f\u611f\u3058\u3067\u3059\uff0e<\/p>\n<ul>\n<li>mps_band.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[addr] = 2 \u3067 run the band<br \/>\n\u53d7\u4fe1\uff1areg[addr] \u304ccommand (=3)\u306e\u6642\uff0creg[addr + 1]\u304c\u72b6\u614b\uff08boolean\uff09\u3092\u8868\u3059\uff0e<\/p>\n<li>mps.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[0x0a] \u306b type \u3092\u30bb\u30c3\u30c8\uff0e<br \/>\n\u9001\u4fe1\uff1areg[0x00] = 10 \u3067 resetMachine<br \/>\n\u9001\u4fe1\uff1areg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<\/p>\n<li>mps_deliver.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[0x00] = lane on which lane have to be deliver<br \/>\n\u9001\u4fe1\uff1areg[0x01] = ?<br \/>\n\u9001\u4fe1\uff1areg[0x02] = ?<br \/>\n\u9001\u4fe1\uff1areg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u53d7\u4fe1\uff1areg[0x03] = state\uff081: AVAILABLE, 2: PROCESSING, 3: PROCESSED, \u305d\u308c\u4ee5\u5916: IDLE\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x05] = Delivery \u304c\u6210\u529f\u3057\u305f\u304b\u5426\u304b\uff081: \u6210\u529f\uff0c\u305d\u308c\u4ee5\u5916: \u5931\u6557\uff09 (read_input_registers)<\/p>\n<li>mps_incoming_station.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[0x00] = 1 \u3067 getCap<br \/>\n\u9001\u4fe1\uff1areg[0x01] = color; \/\/ color what kind of workpiece<br \/>\n\u9001\u4fe1\uff1areg[0x02] = side;  \/\/ side on which side workpiece have to be delivere<br \/>\n\u9001\u4fe1\uff1areg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x09] = 1; \/\/ deliverProduct<br \/>\n\u53d7\u4fe1\uff1areg[0x00] = capReady \uff0813:true, \u305d\u308c\u4ee5\u5916: false\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x01] = isEmpty \uff080: false, \u305d\u308c\u4ee5\u5916: true\u304b\u306a\u3041\uff0einput\u30ec\u30b8\u30b9\u30bf\u30fc\u306e\u5024\u304c\u305d\u306e\u307e\u307e\u623b\u308a\u5024\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x03] = state\uff082: PROCESSING, 3: PROCESSED, 4: DELIVER, 5: DELIVERED, 6: RETRIEVED, \u305d\u308c\u4ee5\u5916: IDLE\uff09 (read_input_registers)<\/p>\n<li>mps_pick_place_1.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[0x00] = updown; \/\/ updown set workpiece(1) or get workpiece(2) \/\/ ProduceEnd.<br \/>\n\u9001\u4fe1\uff1areg[0x01] = 1; \/\/ deliverProduct<br \/>\n\u9001\u4fe1\uff1areg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u53d7\u4fe1\uff1areg[0x00] = isEmpty \uff0813: true, \u305d\u308c\u4ee5\u5916: false\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x03] = isReady \uff081: true, \u305d\u308c\u4ee5\u5916: false\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x03] = state\uff081: AVAILABLE, 2: PROCESSING, 3: PROCESSED, 4: DELIVER, 5: DELIVERED, 6: RETRIEVED, \u305d\u308c\u4ee5\u5916: IDLE\uff09 (read_input_registers)<\/p>\n<li>mps_pick_place_2.cpp<\/li>\n<p>\u9001\u4fe1\uff1areg[0x00] = workpiece; \/\/ workpiece what kind of workpiece have to be produce \/\/ produceRing<br \/>\n\u9001\u4fe1\uff1areg[0x01] = 1; \/\/ deliverProduct<br \/>\n\u9001\u4fe1\uff1areg[0x02] = 1\u3092\u9001\u3063\u3066\uff0c\u6b21\u306b0\u3092\u9001\u308b; \/\/ resetCounterSlide<br \/>\n\u9001\u4fe1\uff1areg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u9001\u4fe1\uff1areg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb\uff080:off, 1:on, 2:blinks\uff09<br \/>\n\u53d7\u4fe1\uff1areg[0x00] = ringReady \uff0813:true, \u305d\u308c\u4ee5\u5916: false\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x03] = isEmpty \uff081: false, \u305d\u308c\u4ee5\u5916: true\uff09 (read_input_registers)<br \/>\n\u53d7\u4fe1\uff1areg[0x03-0x04] = state\uff081: AVAILABLE, 2: PROCESSING, 3: PROCESSED, 4: DELIVER, 5: DELIVERED, 6: RETRIEVED, \u305d\u308c\u4ee5\u5916: IDLE\uff09 (read_input_registers)\n<\/ul>\n<p>reg[0x00] &#8211; reg[0x02] = command ? \/\/ clearRegister \u3067\uff0c\u53d6\u308a\u6562\u3048\u305a\u3053\u306e3\u3064\u30920\u306b\u3059\u308b\uff0e<br \/>\nat Delivery MPS<br \/>\nreg[0x00] =  lane; \/\/ lane \u306b\u914d\u9001<br \/>\nat incoming station<br \/>\nreg[0x00] = 1; \/\/ getCap<br \/>\nreg[0x01] = color; \/\/ color what kind of workpiece<br \/>\nreg[0x02] = side;  \/\/ side on which side workpiece have to be delivere<br \/>\nreg[0x09] = deliverProduct; \/\/ (0: no, 1: yes)<br \/>\nat pick place 1<br \/>\nreg[0x00] = updown; \/\/ updown set workpiece(1) or get workpiece(2)<br \/>\nfor all MPS<br \/>\n\u9001\u4fe1<br \/>\nreg[0x00] = 10; \/\/ resetMachine<br \/>\nreg[0x01] =  ?; \/\/ reg[0x00]\u306b\u3088\u308b\uff0e<br \/>\nreg[0x02] =  ?; \/\/ reg[0x00]\u306b\u3088\u308b\uff0e<br \/>\nreg[0x03] = \u7dd1\u306e\u30b7\u30b0\u30ca\u30eb; \/\/\uff080:off, 1:on, 2:blinks\uff09<br \/>\nreg[0x04] = \u9ec4\u306e\u30b7\u30b0\u30ca\u30eb; \/\/\uff080:off, 1:on, 2:blinks\uff09<br \/>\nreg[0x05] = \u8d64\u306e\u30b7\u30b0\u30ca\u30eb; \/\/\uff080:off, 1:on, 2:blinks\uff09<br \/>\nreg[0x0a] = type; \/\/ MPS \u306e\u7a2e\u985e\uff081: IncomingStation, 2: PickPlace1, 3: PickPlace2, 4: Deliver\uff09<br \/>\n\u53d7\u4fe1<br \/>\nreg[0x00] &#8211; reg[0x04]<\/p>\n<p>band \u3063\u3066\u4f55\uff1faddr \u304c\u672a\u4ee3\u5165\u306e\u3088\u3046\u306a\uff1f\u4f7f\u3063\u3066\u3044\u306a\u3044\u306e\u304b\u306a\u3041\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3055\u3066\uff0cMPS \u306ePLC \u306eRegister \u306e\u89e3\u6790\u3067\u3059\uff0e \u3056\u304f\u3063\u3068\u8a00\u3048\u3070\uff0clls &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1217\"> <span class=\"screen-reader-text\">Dummy MPS(MEMO 4)<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2],"tags":[],"class_list":["post-1217","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1217","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1217"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1217\/revisions"}],"predecessor-version":[{"id":1223,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1217\/revisions\/1223"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1217"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1217"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1217"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}