产品详情:BSM90C-375UAX ABB机器人外部轴电机

目前主要是机器人未端需要安装一个活动吸盘，可以根据需求，让这个吸盘左右移动，注意这个是双吸盘结构，电机需要带动一个吸盘，从而达到实时调整两个吸盘间距的目的。

1.codesys软件:原有的控制基础都是在这上面做的2.状态机:工业控制中都是通过这个去控制，也非常好用;

3.matab状态机: matlab里面的这个状态机工具非常好用，可以仿真复杂的状态之间的跳转，辅助开发复杂的工程逻辑，之前一直想用起来，这次会加上去，正好用这个实际的工程案例测试一下怎么用的问题，后续再遇到类似的场景就可以先仿真逻辑，不用边写边改。

entry动作-以关键字entry或en开始一个新行，后跟冒号，再后面是用一行或多行表示的一个或多个动作语句。要在同一行上分隔多个动作，请使用逗号或分号。

您可以在状态名称所在的同一行上开始entry动作。在这种情况下，要以正斜杠()(而不是entry关键字)开始entry动作。

exit动作一以关键字exit或ex开始一个新行，后跟冒号，再后面是用一行或多行表示的一个或多个动作语句。要在同一行上分隔多个动作，请使用逗号或分号。

during动作一以关键字during或 du 开始一个新行，后跟冒号，再后面是用一行或多行表示的一个或多个动作语句。要在同一行上分隔多个动作，请使用逗号或分号。

bind动作-以关键字bind开始一个新行，后跟冒号，再后面是用一行或多行表示的一个或多个数据或事件。要在同一行上分隔多个动作，请使用逗号或分号。

on动作-以关键字on开头，后跟空格和事件或消息的名称，后跟冒号，然后是用一行或多行表示的一个或多个动作语句，例如on ev1: exit();

要在同一行上分隔多个动作，请使用逗号或分号。如果您需要用不同事件触发不同动作，请在状态标签中输入多个on代码块。一个代码块指定一个特定事件或消息的动作，例如:

on ev1: action1(); on ev2: action20;

您为状态输入的动作的执行仅取决于其动作类型，而不取决于您在标签中输入动作的顺序。如果没有为语句显式指定一种动作类型，则 Statef

low

图会将该语句视为一个entry 动作。

>Product details: BSM90C-375UAX ABB robot external axis motor

At present, the main issue is that the robot needs to install a movable suction cup at the end, which can be moved left and right according to needs. Note that this is a dual suction cup structure, and the motor needs to drive a suction cup to achieve real-time adjustment of the distance between the two suction cups.

1. Codesys software: The original control foundation was built on this. 2. State machine: It is commonly used in industrial control to control and is very user-friendly;

3. Matab State Machine: The state machine tool in Matlab is very useful, which can simulate complex transitions between states and assist in developing complex engineering logic. I have always wanted to use it before, but this time I will add it to test how to use it using this actual engineering case. If you encounter similar scenarios in the future, you can first simulate the logic without having to write and modify it.

Entry Action - Starts a new line with the keywords entry or en, followed by a colon, and then one or more action statements represented by one or more lines. To separate multiple actions on the same line, use a comma or semicolon.

You can start the entry action on the same line as the status name. In this case, start the entry action with a forward slash () instead of the entry keyword.

Exit action one starts a new line with the keyword exit or ex, followed by a colon, and then one or more action statements represented by one or more lines. To separate multiple actions on the same line, use a comma or semicolon.

During action one starts a new line with the keyword during or du, followed by a colon, and then one or more action statements represented by one or more lines. To separate multiple actions on the same line, use a comma or semicolon.

Bind action - Start a new line with the keyword bind, followed by a colon, and then one or more data or events represented by one or more lines. To separate multiple actions on the same line, use a comma or semicolon.

On action - starts with the keyword on, followed by a space and the name of the event or message, followed by a colon, followed by one or more action statements represented by one or more lines, such as on ev1: exit();

To separate multiple actions on the same line, use a comma or semicolon. If you need to trigger different actions with different events, please enter multiple on code blocks in the status label. A code block specifies an action for a specific event or message, such as:

On ev1: action1(); On ev2: action20;

The execution of the action you enter for the state depends only on its action type, not on the order in which you enter the action in the label. If no action type is explicitly specified for the statement, then Statef

Low

The diagram will treat this statement as an entry action.

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