485 lines
80 KiB
Plaintext
485 lines
80 KiB
Plaintext
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<diagram id="gSyyY7gJ6ufjq6_XFINc" name="Алгоритм 8">
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<mxCell style="verticalAlign=top;align=center;overflow=width;vsdxID=7;fillColor=#f2f2f2;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);dashed=1;dashPattern=2.00 2.00;strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" vertex="1" parent="1">
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<UserObject label="<div style="font-size: 1px"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>Начало<br/></b></font></div>" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-2">
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<mxCell style="verticalAlign=middle;align=center;overflow=width;vsdxID=2;fillColor=#FFFFFF;gradientColor=none;shape=stencil(tVJBDsIgEHwNRxoKNuq51n8QSwsRoVnQ1t8LUmO1aS/G2+zO7G4GBrHSSd4JRInzYM+iV7WXiB0QpcpIAcoHhFiFWNlYEC3Yq6lT3fGojOhib3HDkObyTUb3cYqS+9gh5Fkfk1wrM5Hvimybr8k5nAIH8+0w6oskX1744jEflMNgPffKmg9Oc2gFDqdwo3k7nkqU64XoJu0VL3PrPzlZfsm/eAng/aeN0jpFYsp/ZyC0Un5Y9QA=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[0.5,1,0],[0.5,0,0],[0,0.5,0],[1,0.5,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<mxCell style="verticalAlign=middle;align=center;overflow=width;vsdxID=3;fillColor=none;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=none;points=[];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<UserObject label="<div style="font-size: 1px"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><i><b>ПЧ<br/></b></i></font></div>" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-4">
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<mxCell style="verticalAlign=top;align=center;overflow=width;vsdxID=6;fillColor=#f2f2f2;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);dashed=1;dashPattern=2.00 2.00;strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<UserObject label="<div style="font-size: 1px"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><i><b>ТСК<br/></b></i></font></div>" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-5">
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<mxCell style="verticalAlign=top;align=center;overflow=width;vsdxID=7;fillColor=#f2f2f2;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);dashed=1;dashPattern=2.00 2.00;strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<UserObject label="<div style="font-size: 1px"><p style="text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Сварка в точке завершена, сварочный контроллер передал сигнал о завершении сварки. Режим синхронного перемещения электродов с роботом выключен. И</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">з управляющей программы загружены целевые координаты, в которые должен выйти каждый из электродов (получены при обучении)<br/></font><font style="font-size:11.29px;font-family:Calibri;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br/></font></p></div>" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-6">
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<mxCell style="verticalAlign=middle;align=center;overflow=width;vsdxID=4;fillColor=#FFFFFF;gradientColor=none;shape=stencil(tZLdEoIgEIWfhkscfnLw3uo9mERlInBWSnv7IGxSG29quts9+x04DIt42beyU4iR3oM7q0FXvkV8jxjTtlWgfagQPyBe1g5UA+5qq9R3MpKxurhbPGFMPhIdjNxTV4gsfwrHxBptN1myDVLyNbpOIOEUhvCiqcgETQaYHPlOZIVI2oTlG2eSEctR9xicl147u3iWkdAoHO7DtZHNYtQPSnUf8i8J/xyQzgOG4v37tTYmLc98vt6WIKVN44cH);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0,0],[0.5,0.88,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<UserObject label="" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-7">
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<mxCell style="vsdxID=12;fillColor=#FFFFFF;gradientColor=none;shape=stencil(UzV2Ls5ILEhVNTIoLinKz04tz0wpyVA1dlE1MsrMy0gtyiwBslSNXVWNndPyi1LTi/JL81Ig/IJEkEoQKze/DGRCBUSfAUiHkUElhGcK4bpBVOZk5iGpNEVVikeloQHZpsK0YlWLz1QgA+HFtMycHEgIIcujBwlQCBKcxq4A);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<mxCell id="f65yGzDH3uQXDGXIQOhu-8" value="<div style="font-size: 1px"><p style="text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Усилие отрицательное и меньше порога</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">?<br/></font></p></div>" style="text;vsdxID=12;fillColor=none;gradientColor=none;strokeColor=none;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;verticalAlign=middle;align=center;overflow=width;;html=1;" parent="f65yGzDH3uQXDGXIQOhu-7" vertex="1">
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<mxGeometry x="11.08" y="9.3" width="110.75" height="60.6" as="geometry" />
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<UserObject label="" tags="Фон" id="f65yGzDH3uQXDGXIQOhu-9">
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<mxCell style="vsdxID=13;fillColor=none;gradientColor=none;strokeColor=none;points=[];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<mxGeometry x="664" y="277" width="212" height="88" as="geometry" />
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<mxCell id="f65yGzDH3uQXDGXIQOhu-10" value="<div style="font-size: 1px"><p style="text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Принимает из внутренней базы данных ТСК парамтеры начальных скоростей и </font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">ускорений</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">&nbsp;</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">перемещения нижнего и верхнего электрода, целевые координаты раскрытия, в которые нужно выйти.</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br></font></p></div>" style="verticalAlign=middle;align=center;overflow=width;vsdxID=14;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-9" vertex="1">
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<mxCell id="f65yGzDH3uQXDGXIQOhu-11" value="<div style="font-size: 1px"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>Контроллер ТСК<br/></b></font></div>" style="verticalAlign=middle;align=center;overflow=width;vsdxID=15;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-9" vertex="1">
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<mxCell style="vsdxID=16;fillColor=none;gradientColor=none;strokeColor=none;points=[];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<mxGeometry x="664" y="393" width="212" height="88" as="geometry" />
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<mxCell id="f65yGzDH3uQXDGXIQOhu-13" value="<div style="font-size: 1px"><p style="text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Передает скорости перемещения, ускорения и целевые координаты </font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">раскрытия</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">, в которые нужно выйти. </font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Передает импульс запуска</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br/></font></p></div>" style="verticalAlign=middle;align=center;overflow=width;vsdxID=17;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-12" vertex="1">
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<mxCell id="f65yGzDH3uQXDGXIQOhu-14" value="<div style="font-size: 1px"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>Контроллер ТСК<br/></b></font></div>" style="verticalAlign=middle;align=center;overflow=width;vsdxID=18;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-12" vertex="1">
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<UserObject label="" tags="Фон" id="f65yGzDH3uQXDGXIQOhu-15">
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<mxCell style="vsdxID=19;fillColor=none;gradientColor=none;strokeColor=none;points=[];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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<mxGeometry x="68" y="392" width="232" height="90" as="geometry" />
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<mxCell id="f65yGzDH3uQXDGXIQOhu-16" value="<div style="font-size: 1px"><p style="text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Принимает скорость и ускорение перемещения</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"> </font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">и </font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">целевые координаты раскрытия</font><font style="font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br/></font></p></div>" style="verticalAlign=middle;align=center;overflow=width;vsdxID=20;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-15" vertex="1">
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<UserObject label="<div style=""><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">Входные параметры:</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">1) Начальные скорости и ускорения перемщеения нижнего и верхнего электрода</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">2) Необходимые разъезды верхнего и нижнего электрода для отрыва заготовки (наименьшее малое перемещение для отрыва)</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">3) Порог усилия для разъезда верхнего электрода</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">4) Таймаут на снятие усилия</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">5) Минимиальное отрицательное усилие</span></font></p><p style="text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;"><font face="Century Gothic"><span style="font-size: 11.29px;">6) Максимальное отрицательное усилие</span></font></p></div>" tags="Блок-схема" id="rXSbIlquuvR6_JU7jN9j-3">
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