2026-02-06 19:32:09 +08:00
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&ACCESS RV
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DEF ReFeedBeltPick ( )
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
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XPickH=XPick
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XPickH.Z=XPick.Z+500
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2026-02-06 20:19:20 +08:00
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;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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2026-02-06 19:32:09 +08:00
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XPickH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
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;ENDFOLD
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CONTINUE
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WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
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CONTINUE
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Q_AreaEnter1=TRUE
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2026-02-06 20:19:20 +08:00
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;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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2026-02-06 19:32:09 +08:00
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
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;ENDFOLD
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SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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GripClose()
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2026-02-06 20:19:20 +08:00
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;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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2026-02-06 19:32:09 +08:00
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
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;ENDFOLD
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SLIN XPickH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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Q_AreaEnter1=FALSE
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ActionReturn(1)
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END
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