SR1 V5.1 Gelenkarmroboter

[SR1 V5.1]

Das ist mein Erster Roboter : SR1 V5.1 (Servomotor Roboter 1 Version 5.1)


NEU jetzt mit Videos:
http://www.youtube.com/user/YellowSR1


Hier ein Auszug aus einem "ALTEN" Programm:

10 '
20 KEY OFF
30 CLS
40 '
50 OPEN "COM1:9600,N,8,1,CS,DS" AS #1 'Aufsetzen RS-232

100 ' Grundstellung
101 'Achse 0
105 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(0);CHR$(5);
106 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(0);CHR$(15);
107 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(0);CHR$(72);
108 'Achse 1
115 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(1);CHR$(31);
116 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(1);CHR$(15);
117 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(1);CHR$(70);
118 'Achse 2
125 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(2);CHR$(31);
126 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(2);CHR$(15);
127 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(2);CHR$(110);
128 'Achse 3
135 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(3);CHR$(31);
136 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(3);CHR$(15);
137 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(3);CHR$(10;
138 'Achse 4
145 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(4);CHR$(31);
146 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(4);CHR$(15);
147 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(4);CHR$(65);
148 'Achse 5
155 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(5);CHR$(31);
156 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(5);CHR$(15);
157 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(5);CHR$(85);

199 IN$ = INKEY$:IF IN$ = "" THEN 199 'Abfrage Tastatur
200 ' Vorposition Greifer offen Bauteil 1
201 'Achse 0
205 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(0);CHR$(5);
206 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(0);CHR$(15);
207 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(0);CHR$(57);
211 'Achse 1
215 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(1);CHR$(31);
216 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(1);CHR$(15);
217 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(1);CHR$(79);
221 'Achse 2
225 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(2);CHR$(31);
226 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(2);CHR$(15);
227 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(2);CHR$(10);
231 'Achse 3
235 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(3);CHR$(31);
236 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(3);CHR$(15);
237 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(3);CHR$(90);
238 'Achse 4
245 PRINT #1,CHR$(12;CHR$(1);CHR$(0);CHR$(4);CHR$(31);
246 PRINT #1,CHR$(12;CHR$(1);CHR$(1);CHR$(4);CHR$(15);
247 PRINT #1,CHR$(12;CHR$(1);CHR$(2);CHR$(4);CHR$(65);

299 IN$ = INKEY$:IF IN$ = "" THEN 299 'Abfrage Tastatur