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<< 点击显示目录 >> 主页 ACOPOS 6D使用手册 > mapp 6D > 功能块 > McAcp6D > Function blocks > MC_BR_ShRecover_Acp6D > Function description |
在执行该功能块时，输出端 "Busy（忙）"被置位。一旦 ACOPOS 6D 控制器接受指令，托盘将再次受到控制，功能块将设置输出 "确认"。
托盘被移动到相应的悬浮位置（z），并相应对齐（Rx、Ry、Rz）。根据输入"ShortAxesOption"（短轴选项）所选选项的不同，将恢复事故发生前的位置，或者将托盘定位在配置的默认悬停高度，并将所有 3 个旋转轴定位在 0 rad（见装配）。
根据输入"BufferOption（缓冲区选项）"中的选项，将删除运动缓冲区中的指令、保留指令并恢复事故前的运动，或者保留指令并暂停进一步执行，直至恢复运动。
该功能块与功能块MC_BR_AsmGetAccidentSh_Acp6D 一起，在处理事故托盘时发挥核心作用。
This function block is used to be able to control an accident shuttle again.
Output "Busy" is set while the function block is being executed. As soon as the ACOPOS 6D controller accepts the command, the shuttle is controlled again and the function block sets output "Acknowledge".
The shuttle is moved to a corresponding levitating position (z) and aligned accordingly (Rx, Ry, Rz). Depending on the option selected on input "ShortAxesOption", the position before the accident is restored, or the shuttle is positioned at the configured default hover height and positioned in all 3 rotary axes at 0 rad, see Assembly.
Depending on the option selected on input "BufferOption", the commands in the movement buffer are deleted, the commands are retained and the movement before the accident is resumed or the commands are retained and further execution is paused until the movement is resumed.
Together with function block MC_BR_AsmGetAccidentSh_Acp6D, this function block plays a central role in handling accident shuttles.