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ROBOTICATULIO
www.roboticatulio.com
CONTEDO
1. Introduo
2. Misso da ROBOTICATULIO
3. Componentes do RT2
4. Placa do PLC-T1000
5. Conjunto de Instrues do PLC-T1000
6. Como utilizar o PLC-T1000
7. Placa de controle de velocidade
8. Sistema de Piloto Automtico
9. Software de controle e navegao
10.Caractersticas tcnicas do RT2
11.Exemplos de programao do RT2
12.Cabo de conexo HP50G / PLC-T1000
13.Instalando a HP50G no RT2
14.Substituindo a bateria do RT2
15.Instalando a placa do PLC-T1000
16.Conectando os sensores ao PLC-T1000
17.Usando o RT2. Ligando o sistema RT2
18.Ligando a HP50G , programa de navegao
19.Navegando com o Piloto Automtico
20.Circuito dos sensores Infravermelhos
INTRODUO
MISSO :
____________________________________________________________
____________________________________________________________
Desliga Canais de Sada
____________________________________________________________
INSTRUES DE ENTRADA
____________________________________________________________
Placa de Controle de Velocidade
Modelo 1
Modelo 2
SISTEMA DE PILOTO ATOMTICO
DIR
TBAT2
\>>
LE6
\<< 1 69
FOR E PC
NEXT CAD
\>>
CH1
\>>
LE1
\<< 1 64
FOR E PC
NEXT CAD
\>>
LE2
\<< 1 65
FOR E PC
NEXT CAD
\>>
LE3
\<< 1 66
FOR E PC
NEXT CAD
\>>
LE4
\<< 1 67
FOR E PC
NEXT CAD
\>>
LE5
\<< 1 68
FOR E PC
NEXT CAD
\>>
BA 2.90625
NAV2
\<< 3 WAIT LC1 5 WAIT DL1 LC2 2 WAIT LC1 1 WAIT DL2 5 WAIT
DL1 NAV2
\>>
LC1
\<< 1 31
FOR C PC T1
NEXT PL Z WAIT
\>>
LC2
\<< 1 32
FOR C PC T1
NEXT PL Z WAIT
\>>
LC3
\<< 1 33
FOR C PC T1
NEXT PL Z WAIT
\>>
LC4
\<< 1 34
FOR C PC T1
NEXT PL Z WAIT
\>>
DL1
\<< 1 15
FOR D PC T1
NEXT PL Z WAIT
\>>
DL2
\<< 1 16
FOR D PC T1
NEXT PL Z WAIT
\>>
DL3
\<< 1 17
FOR D PC T1
NEXT PL Z WAIT
\>>
DL4
\<< 1 18
FOR D PC T1
NEXT PL Z WAIT
\>>
INICIO
\>>
NAV1
\<< LC1 2 WAIT LC2 DL1 2 WAIT LC4 3 WAIT DL4 NAV1
\>>
RTT1
\>>
RTTEST1
\<< LC1 2.5 WAIT DL1 LC3 LC1 2 WAIT DL3 2 WAIT DL1
\>>
TESTG
DIR
LETRA10
\>>
LETRA9
\>>
LETRA8
\>>
LETRA7
\>>
LETRA6
\>>
LETRA5
\>>
LETRA4
\<< "4.0" 2 \->GROB PICT SWAP { # 32d # 39d } SWAP GXOR 7
FREEZE { # 0d # 0d } PVIEW LETRA5
\>>
LETRA3
\>>
LETRA2
\>>
LETRA1
\>>
GRF
\>>
GRF1
\<< ERASE -3 4
STEP
\>>
GRF2
STEP
\>>
GRF3
STEP
\>>
VGR1
\<< -1.3 2
STEP VGR1
\>>
END
OVN2
\<< 1800 .5 BEEP 1500 .5 BEEP 1400 .5 BEEP 1600 .5 BEEP 1000 .5
BEEP 1500 .5 BEEP
\>>
OVN1
\<< 1000 .5 BEEP 1500 .5 BEEP 1400 .5 BEEP 1600 .5 BEEP 1800 .5
BEEP 1500 .5 BEEP
\>>
STA
\>>
RTU
\<< P T P TL T T T TL T P P P TL T T T TL T TL P P TL T P T P TL P
T TL T TL P P T TL P T P P TL P P TL T T T
\>>
RT
\>>
LUZA
\<< "LUZ E D" 2 \->GROB PICT SWAP { # 42d # 72d } SWAP GXOR
7 FREEZE { # 0d # 0d } PVIEW LZA1
\>>
BATE
\>>
LZAD
\<< -3 -.4
\>>
BATD
\<< -3 3
\>>
RMU1
\<< 0 .8
STEP
\>>
RMU0
\<< 0 3
\>>
CH8
\>>
CH7
\>>
CH6
\<< "CH6" 2 \->GROB PICT SWAP { # 0d # 50d } SWAP GXOR 7
FREEZE { # 0d # 0d } PVIEW CH7
\>>
CH5
\>>
CH4
\>>
CH3
\>>
CH2
\>>
C8
\<< -3.5 -3
STEP RMU0
\>>
C7
\<< -2.5 -2
STEP C8
\>>
C6
\<< -1.5 -1
STEP C7
\>>
C5
\<< -.5 0
STEP C6
\>>
C4
\<< .5 1
STEP C5
\>>
C3
\<< 1.5 2
FOR B -4.5 B R\->C -4 B R\->C TLINE { # 0d # 0d } PVIEW 7
FREEZE .1
STEP C4
\>>
C2
\<< 2.5 3
STEP C3
\>>
C1
\<< 3.5 4
STEP C2
\>>
BATD1
\<< -3. BA
STEP
\>>
LZA1
\<< -3 -1
\>>
SESD
\<< -3 -.4
STEP
\>>
SESE
\<< -3 -.4
STEP SESD
\>>
TL
\>>
\>>
\>>
MORSE
\<< RTU
\>>
CW
DIR
TL
\<< .3 WAIT
\>>
RTU
\<< P T P TL T T T TL T P P P TL T T T TL T TL P P TL T P T P TL P
T TL T TL P P T TL P T P P TL P P TL T T T
\>>
\>>
\>>
END
DISPL
DIR
BATD1
\<< -3 2.5
STEP
\>>
LZA1
\<< -3 -1
STEP
\>>
SESD
\<< -3 -.4
STEP
\>>
SESE
\<< -3 -.4
STEP SESD
\>>
RT
\>>
LUZA
\>>
BATE
\>>
LZAD
\<< -3 -.4
\>>
BATD
\<< -3 3
\>>
RMU1
\<< 0 .8
STEP
\>>
RMU0
\<< 0 3
\>>
CH8
\>>
CH7
\>>
CH6
\>>
CH5
\>>
CH4
\>>
CH3
\>>
CH2
\<< "CH2" 2 \->GROB PICT SWAP { # 0d # 10d } SWAP GXOR 7
FREEZE { # 0d # 0d } PVIEW CH3
\>>
CH1
\>>
C8
\<< -3.5 -3
STEP RMU0
\>>
C7
\<< -2.5 -2
STEP C8
\>>
C6
\<< -1.5 -1
STEP C7
\>>
C5
\<< -.5 0
STEP C6
\>>
C4
\<< .5 1
STEP C5
\>>
C3
\<< 1.5 2
STEP C4
\>>
C2
\<< 2.5 3
STEP C3
\>>
C1
\<< 3.5 4
FOR C -4.5 C R\->C -4 C R\->C TLINE { # 0d # 0d } PVIEW 7
FREEZE .2
STEP C2
\>>
END
RADAR
DIR
VL4
\>>
VL3
\>>
VL2
\>>
VL1
\>>
H50
H50A
\>>
H50B
\>>
H50E
\<< 0 3.14
STEP H50F
\>>
H50F
\<< 3.14 0
STEP H50E
\>>
\<< ERASE
\>>
RAD2
RAD1
\>>
AR3
\>>
AR2
\>>
AR1
\>>
END
RTCM
\<< 800 .1 BEEP .1 WAIT 800 .3 BEEP .1 WAIT 800 .1 BEEP .2 WAIT
800 .3 BEEP
\>>
LOP1
\<< CLEAR 1 7
FOR I LE1
NEXT
\>>
SCA4
\<< RPTC .1 WAIT LE1 .1 WAIT RPTD LE1 .1 WAIT RPTA LE1 .1
WAIT RPTB LE1 .1 WAIT SCA4
\>>
SCA3
\>>
PL
\>>
PC
\>>
LC5
\<< 1 35
FOR C PC T1
NEXT PL Z WAIT
\>>
LC6
\<< 1 36
FOR C PC T1
NEXT PL Z WAIT
\>>
LC7
\<< 1 37
FOR C PC T1
NEXT PL Z WAIT
\>>
LC8
\<< 1 38
FOR C PC T1
NEXT PL Z WAIT
\>>
LC9
\<< 1 39
FOR C PC T1
NEXT PL Z WAIT
\>>
LC10
\<< 1 40
FOR C PC T1
NEXT PL Z WAIT
\>>
LC11
\<< 1 41
FOR C PC T1
NEXT PL Z WAIT
\>>
LC12
\<< 1 42
FOR C PC T1
NEXT PL Z WAIT
\>>
LC13
\<< 1 43
FOR C PC T1
NEXT PL Z WAIT
\>>
LC14
\<< 1 44
FOR C PC T1
NEXT PL Z WAIT
\>>
LC15
\<< 1 45
FOR C PC T1
NEXT PL Z WAIT
\>>
LC16
\<< 1 46
FOR C PC T1
NEXT PL Z WAIT
\>>
DL5
\<< 1 19
FOR D PC T1
NEXT PL Z WAIT
\>>
DL6
\<< 1 20
FOR D PC T1
NEXT PL Z WAIT
\>>
DL7
\<< 1 21
FOR D PC T1
NEXT PL Z WAIT
\>>
DL8
\<< 1 22
FOR D PC T1
NEXT PL Z WAIT
\>>
DL9
\<< 1 23
FOR D PC T1
NEXT PL Z WAIT
\>>
DL10
\<< 1 24
FOR D PC T1
NEXT PL Z WAIT
\>>
DL11
\<< 1 25
FOR D PC T1
NEXT PL Z WAIT
\>>
DL12
\<< 1 26
FOR D PC T1
NEXT PL Z WAIT
\>>
DL13
\<< 1 27
FOR D PC T1
NEXT PL Z WAIT
\>>
DL14
\<< 1 28
FOR D PC T1
NEXT PL Z WAIT
\>>
DL15
\<< 1 29
FOR D PC T1
NEXT PL Z WAIT
\>>
DL16
\<< 1 30
FOR D PC T1
NEXT PL Z WAIT
\>>
LE7
\<< 1 70
FOR E PC
NEXT CAD
\>>
LE8
\<< 1 71
FOR E PC
NEXT CAD
\>>
LE9
\<< 1 72
FOR E PC
NEXT CAD
\>>
LE10
\<< 1 73
FOR E PC
NEXT CAD
\>>
LE11
\<< 1 74
FOR E PC
NEXT CAD
\>>
LE12
\<< 1 75
FOR E PC
NEXT CAD
\>>
LE13
\<< 1 76
FOR E PC
NEXT CAD
\>>
LE14
\<< 1 77
FOR E PC
NEXT CAD
\>>
LE15
\<< 1 78
FOR E PC
NEXT CAD
\>>
LE16
\<< 1 79
FOR E PC
NEXT CAD
\>>
RPTB
\<< DL16 Y WAIT DL15 Y WAIT DL14 Y WAIT DL13 Y WAIT DL12
Y WAIT DL11 Y WAIT DL10 Y WAIT DL9 Y WAIT DL8 Y WAIT DL7
Y WAIT DL6 Y WAIT DL5 Y WAIT DL4 Y WAIT DL3 Y WAIT DL2 Y
WAIT DL1
\>>
RPTC
\<< LC16 X WAIT LC15 X WAIT LC14 X WAIT LC13 X WAIT LC12
X WAIT LC11 X WAIT LC10 X WAIT LC9 X WAIT LC8 X WAIT LC7
X WAIT LC6 X WAIT LC5 X WAIT LC4 X WAIT LC3 X WAIT LC2 X
WAIT LC1
\>>
CAD
\>>
RPTD
\<< DL1 Y WAIT DL2 Y WAIT DL3 Y WAIT DL4 Y WAIT DL5 Y
WAIT DL6 Y WAIT DL7 Y WAIT DL8 Y WAIT DL9 Y WAIT DL10 Y
WAIT DL11 Y WAIT DL12 Y WAIT DL13 Y WAIT DL14 Y WAIT
DL15 Y WAIT DL16
\>>
RPTA
\<< LC1 X WAIT LC2 X WAIT LC3 X WAIT LC4 X WAIT LC5 X
WAIT LC6 X WAIT LC7 X WAIT LC8 X WAIT LC9 X WAIT LC10 X
WAIT LC11 X WAIT LC12 X WAIT LC13 X WAIT LC14 X WAIT
LC15 X WAIT LC16
\>>
Z .02
T1
\>>
Y .01
X .01
END
____________________________________________________________
CARACTERSTICAS TCNICAS DO RT2
Programa 1
Programa 2
Programa
Programa 3
Programa 4
SUBSTITUINDO A BATERIA
Bateria ligada
Terminais positivo e negativo sendo desconectados e bateria sendo retirada
do compartimento. s puxar.
Bateria retirada do compartimente e outra colocada no lugar. Os terminais
positivo e negativo sendo conectados.
Bateria recolocada e terminais positivo e negativo conectados.
INSTALANDO A PLACA DO PLC-T1000
A placa do PLC tem 4 furos nos cantos que so encaixados nos parafusos
dos chassis. Ligar o conector USB na fmea corresponde e em seguida
conectar os canais de sada e entrada do PLC. Por ltimo conectar o plug
P4 da bateria na fmea correspondente.
Cabos de ligao dos sensores IR, Luz ambiente e nvel de bateria ligados
aos canais de entrada do PLC-T1000. Da esquerda para a direita temos
canal 1 (sensor frente direito), canal 2 (sensor lateral direito), canal 3(frente
esquerdo), canal 4 (lateral esquerdo), canal 5(luz ambiente) e canal 6 (nvel
de bateria).
CONECTORES USB E P4 (Bateria)
O conector DB9 s utilizado quando a placa for usada com a HP48. Ela
no utilizada com a HP50G.
USANDO O RT2