>Basic3D, Version=1.2.0.0, Culture=neutral, PublicKeyToken=null ZMicrosoft.Xna.Framework, Version=2.0.0.0, Culture=neutral, PublicKeyToken=6d5c3888ef60e27dBasic3D.InstalacionBinstallationNameitemsroom floorTextupText frontTextbackTextleftText rightText altoPared anchoPared skyBoxParamstiletiletech landScaperoomTypevisibversioncamPosiccamTargcamViewcamViewY logicName DescriptionAuthortotalInputNumbertotalOutputNumberCharacteristicsgenListwSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.2.0.0, Culture=neutral, PublicKeyToken=null]] System.Collections.ArrayList !Microsoft.Xna.Framework.Vector3[]!Microsoft.Xna.Framework.Vector3[] System.Collections.ArrayListPacking Scara Robot default     AHC A1.3.0  Vector3 pos; float load = -21.2f; float download = -5.2f; int step = 0; BoxObject searchPart = null; float timer1=0; bool newPart = true; public void Init() { pos = machine[5].Position; machine[16].SetTexture (@"Metal\metal2.jpg"); } public void Main(GameTime gameTime) { ////////////////// Forklift Operator Management ///////////////////////////// if(!IO.GetOutput(13)) newPart = true; if(IO.GetOutput(13) && newPart) { newPart = false; IOManager.SetOutput(20, true); // create a new box WorkPart } switch(step) { case 0: searchPart = machine[5].WorkPartCollision(); if(searchPart != null) step = 1; break; case 1: IOManager.SetOutput(20, false); float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/100; pos.Z += 0.2f * fTimeScale; if(pos.Z > download) { pos.Z = download; step = 2; } Editor.Move(5, pos, machine[5].body.Orientation); searchPart.body.MoveTo(new Vector3(pos.X, pos.Y + 0.1f, pos.Z),Matrix.Identity); break; case 2: machine[5].body.ExternalData = new Vector3(0, 0, 2.0f); searchPart = machine[5].WorkPartCollision(); if(searchPart == null) { step = 3; } break; case 3: fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/100; pos.Z -= 0.2f * fTimeScale; if(pos.Z < load) { machine[5].body.ExternalData = Vector3.Zero; pos.Z = load; step = 0; } Editor.Move(5, pos, machine[5].body.Orientation); break; } } public void Draw(GameTime gameTime) { } public void Finish() { } Use the Scara Robot in order to fill the big metallic boxes with four departments with the small boxes. Manage the conveyors to feed the system. R.Izquierdo2 Input conveyors (big boxes). 1 Input conveyor belt (small boxes). 1 Stop table. 1 Scara Robot. 1 Beacon light. 2 Photocells. 8 Inductive switchs. wSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.2.0.0, Culture=neutral, PublicKeyToken=null]]_items_size_versionBasic3D.BasicUnitB[] --System.Collections.ArrayList_items_size_version    Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3XYZ ku[N@^A֯@S@ Ah@pA@og5@ϗ@d@ E_@^(V@)2Q@?jM@rDUA%O@ @?.?QA  Microsoft.Xna.Framework.Vector3[=@kA@O^E@n@<@4v/@͊7@@)X@Ш6KqT@KBE@bQ@s=@ЂuAZB@{@S? ?AA ,C)BBp CZCiCexCCkBn4@ lMzF. |mz8Q &@Basic3D.BasicUnitB ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S  ? w? T C A U V W X A & Y 'Basic3D.BasicUnitBpositionscaleRotYname descriptionid inputList outputListparamsFt paramsStrgenList unionListEelemList textureNametextureEnabled modelNameversionAmbientLightColor DiffuseColor EmissiveColor SpecularColor SpecularPowerMicrosoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3 System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.Generic.Dictionary`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]System.Collections.ArrayListySystem.Collections.Generic.List`1[[Basic3D.UnionJointEB, Basic3D, Version=1.2.0.0, Culture=neutral, PublicKeyToken=null]]wSystem.Collections.Generic.List`1[[Basic3D.BasicUnitB, Basic3D, Version=1.2.0.0, Culture=neutral, PublicKeyToken=null]]Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3Microsoft.Xna.Framework.Vector3 D;dI@>>>\ StaticModel] RobotArea ^ _ ` a b c d fRobots/RobotIslandgY=W=5^:>???>>>A('@5>@M@6@ #??????A)'_IM@7@ #s???rq???A*'p-@M@o@? #< StaticElementGlass3 Glass/glass7.jpgBox gbY=W=5^:>a???`_???A+'^֣?@ ?]9@W@ #< StaticElementGlass4 Glass/glass7.jpgBox gPY=W=5^:>O???NM???A,'LHڿ@ StaticElementOperator Vehicles/forklift g>Y=W=5^:>=???<;A-':"ۿ3!?VK9>L>z> StaticModelWalkArea Miscellaneous/Walk1 g,Y=W=5^:>+???*)???A.'(K׿}>N79@'333?333?333? 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PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]+public void Init() { } public void Main(GameTime gameTime) { } public void Draw(GameTime gameTime) { } public void Finish() { }q       rBasic3D.UnionJointEB             sBasic3D.BasicUnitB        uSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]ttt? twSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]] float rot; float speed; bool start; public void Init() { rot = 0; start = false; speed = IO.Parameter("Speed"); } public void Main(GameTime gameTime) { } public void Draw(GameTime gameTime) { float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/10; if(IO.GetOutput("Advance")) { box[17].body.ExternalData = box[17].body.Orientation.Backward * speed; rot += speed * fTimeScale; if (rot >360) rot = 0; for(int f=1;f<17;f++) Editor.RotateX(f,rot); if(!start) { start = true; box[17].PlaySound("ConveyON"); } } else if(IO.GetOutput("Reverse")) { box[17].body.ExternalData = box[17].body.Orientation.Forward * speed; rot -= speed * fTimeScale; if (rot <0) rot = 360; for(int f=1;f<17;f++) Editor.RotateX(f,rot); if(!start) { start = true; box[17].PlaySound("ConveyON"); } } else { box[17].body.ExternalData = Vector3.Zero; if(start) { start = false; box[17].StopSound(); } } } public void Finish() { }x       yBasic3D.UnionJointEBz Basic3D.BasicUnitB                     |System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]ttt?t~System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]        System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]ttt?tSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]  " # $ % & ' _System.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.Single, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]ttt?tSystem.Collections.Generic.KeyValuePair`2[[System.Int16, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089],[System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089]]-5float d1 = 0; float d2 = 0; float d3 = 0; float d4 = 0; float g1 = 0; float g2 = 0; float g3 = 0; float g4 = 0; Matrix matRotY1 = Matrix.Identity; Matrix matRotY2 = Matrix.Identity; Matrix matRotY4 = Matrix.Identity; BoxObject searchPart; Vector3 pos; float speed; bool close = false; float distance; float detect; Vector3 scal; public void Init() { pos = box[0].body.Position; matRotY1 = Matrix.Identity; g3 = 0; speed = IO.Parameter("Speed"); detect = IO.Parameter("DetectDistance"); for(int f=0;f<3;f++) { box[f].body.DisableBody(); } scal = Editor.ComponentScale(); } public void Main(GameTime gameTime) { /* For Test porpouses if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.Z)) d1 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.X)) d1 -=1.0f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.C)) d2 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.V)) d2 -=1.0f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.B)) d3 +=0.01f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.N)) d3 -=0.01f; if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.K)) d4 +=1.0f; else if (input.KeyboardState.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.L)) d4 -= 1.0f; Editor.ShowText(d1.ToString() + " : " + d2.ToString() + " : " + d3.ToString() + " : " + d4.ToString()); */ float fTimeScale = (float)gameTime.ElapsedGameTime.Milliseconds/10; d1 = IO.GetAnalogOut("Arm_1"); if(g1 < d1) { g1 += speed * fTimeScale; if(g1 >= d1) g1 = d1; if(g1 > 180) g1= 180; IO.SetAnalogInp("Curr_Arm_1",g1); matRotY1 = Matrix.CreateRotationY(MathHelper.ToRadians(g1)); } else if(g1 > d1) { g1 -= speed * fTimeScale; if(g1 <= d1) g1 = d1; if(g1 < -180) g1= -180; IO.SetAnalogInp("Curr_Arm_1",g1); matRotY1 = Matrix.CreateRotationY(MathHelper.ToRadians(g1)); } if(g1 != d1 && g1 > -180 && g1 < 180) box[1].PlaySound("robot2"); else box[1].StopSound(); d2 = IO.GetAnalogOut("Arm_2"); if(g2 < d2) { g2 += speed * fTimeScale; if(g2 >= d2) g2 = d2; if(g2 > 180) g2= 180; IO.SetAnalogInp("Curr_Arm_2",g2); matRotY2 = Matrix.CreateRotationY(MathHelper.ToRadians(g2)); } else if(g2 > d2) { g2 -= speed * fTimeScale; if(g2 <= d2) g2 = d2; if(g2 < -180) g2= -180; IO.SetAnalogInp("Curr_Arm_2",g2); matRotY2 = Matrix.CreateRotationY(MathHelper.ToRadians(g2)); } if(g2 != d2 && g2 > -180 && g2 < 180) box[2].PlaySound("robot2"); else box[2].StopSound(); d3 = IO.GetAnalogOut("Arm_3"); if(g3 < d3) { g3 += speed * fTimeScale/50; if(g3 >= d3) g3 = d3; if(g3 > 0.65f) g3= 0.65f; IO.SetAnalogInp("Curr_Arm_3",g3); } else if(g3 > d3) { g3 -= speed * fTimeScale/50; if(g3 <= d3) g3 = d3; if(g3 < -0.5f) g3= -0.5f; IO.SetAnalogInp("Curr_Arm_3",g3); } if(g3 != d3 && g3 > -0.5 && g3 < 0.5) box[3].PlaySound("robot2"); else box[3].StopSound(); d4 = IO.GetAnalogOut("Arm_4"); if(g4 < d4) { g4 += speed * fTimeScale; if(g4 >= d4) g4 = d4; if(g4 > 180) g4= 180; IO.SetAnalogInp("Curr_Arm_4",g4); matRotY4 = Matrix.CreateRotationY(MathHelper.ToRadians(g4)); } else if(g4 > d4) { g4 -= speed * fTimeScale; if(g4 <= d4) g4 = d4; if(g4 < -180) g4= -180f; IO.SetAnalogInp("Curr_Arm_4",g4); matRotY4 = Matrix.CreateRotationY(MathHelper.ToRadians(g4)); } if(g4 != d4 && g4 > -180 && g4 < 180) box[4].PlaySound("robot2"); else box[4].StopSound(); //Move boxes using I.S.R.O.T sequence // Identity, Scale, Rotation, Orbit, Translation //Arm1 Movement Matrix worldMatrix = Matrix.Identity * Matrix.CreateScale(box[1].Scale) * Matrix.CreateTranslation(0, 1.05f * scal.Y, 0.55f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[1].body.Position = worldMatrix.Translation; box[1].body.Orientation = matRotY1; //Arm2 Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[2].Scale) * Matrix.CreateTranslation(0, 0, 0.55f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.15f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[2].body.Position = worldMatrix.Translation; box[2].body.Orientation = matRotY2 * matRotY1; //Arm3 Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[3].Scale) * Matrix.CreateTranslation(0, g3 * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.13f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[3].body.Position = worldMatrix.Translation; box[3].body.Orientation = matRotY2 * matRotY1; //Grip Movement worldMatrix = Matrix.Identity * Matrix.CreateScale(box[4].Scale) * Matrix.CreateTranslation(0, (g3 - 1.0f) * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.13f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); box[4].body.Position = worldMatrix.Translation; box[4].body.Orientation = matRotY4 * matRotY2 * matRotY1; if(IO.GetOutput("CloseGrip")) { if(close) { close = false; box[4].SetModel("Robots\\GripClosed"); if(searchPart != null) distance = Vector3.Distance(box[4].body.Position, searchPart.body.Position); } if(searchPart != null) TakePart(); } else { if(!close) { close = true; box[4].SetModel("Robots\\GripOpen"); if(searchPart != null) searchPart.body.EnableBody(); } searchPart = box[4].WorkPartDistRayCol(box[4].body.Position, box[4].body.Orientation.Down, detect); bool res = (searchPart != null) ? true:false; IO.SetInput("Part_Detected",res); } } public void Draw(GameTime gameTime) { } public void Finish() { } private void TakePart() { if (searchPart != null) { Matrix worldMatrix = Matrix.Identity * Matrix.CreateScale(box[4].Scale) * Matrix.CreateTranslation(0, (g3 - 1.0f - distance) * scal.Y, 1.1f * scal.Z) * matRotY2 * Matrix.CreateTranslation(0, 0.77f * scal.Y, 1.15f * scal.Z) * matRotY1 * Matrix.CreateTranslation(0, 0, 0.15f * scal.Z) * Matrix.CreateTranslation(pos); searchPart.body.Position = worldMatrix .Translation; searchPart.body.Orientation = box[4].body.Orientation; searchPart.body.DisableBody(); searchPart.body.ClearForces(); } } /4 degreess Scara Robot type. This Robot has a grip mounted on the end to catch WorkParts. Uses 4 Analogic PLC outputs, for the axis possitions destination, where the PLC manage the movement. And 4 Analogic inputs for read the current real possitions, to check where the robot is. The axis speed are configurable form Parameters list. Also is possible ro configure the detection distance to check if a workpart is ready to be catched by the grip. The Robot Arm uses a PLC input that will be active when a workpart is detected to be taked by the grip. 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