2026-02-12 14:59:14 +08:00
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&ACCESS RVO1
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2026-02-12 11:51:44 +08:00
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&REL 7
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&PARAM DISKPATH = KRC:\R1\Program\PL
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2026-02-06 19:32:09 +08:00
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DEF ReFeedBeltPick ( )
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2026-02-11 17:34:41 +08:00
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DECL REAL x_offset,y_offset,z_offset
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2026-02-06 19:32:09 +08:00
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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 $IN_HOME2 OR CheckInPos(20.0, END_POS)
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2026-02-11 17:34:41 +08:00
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XPick=XReFeedBeltPick
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x_offset=PickOffsetX_Save/10.0
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y_offset=PickOffsetY_Save/10.0
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z_offset=PickOffsetZ_Save/10.0
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2026-02-12 11:51:44 +08:00
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XPick.X=XReFeedBeltPick.X + x_offset
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XPick.Y=XReFeedBeltPick.Y + y_offset
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XPick.Z=XReFeedBeltPick.Z + z_offset
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2026-02-06 19:32:09 +08:00
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XPickH=XPick
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XPickH.Z=XPick.Z+500
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2026-02-12 11:51:44 +08:00
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;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT1
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FDAT_ACT = FPickH
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPickH C_Dis
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2026-02-06 19:32:09 +08:00
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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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2026-02-12 11:51:44 +08:00
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;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT1
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FDAT_ACT = FPick
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPick
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2026-02-06 19:32:09 +08:00
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;ENDFOLD
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GripClose()
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2026-02-12 11:51:44 +08:00
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;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT2
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FDAT_ACT = FPickH
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPickH
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2026-02-06 19:32:09 +08:00
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;ENDFOLD
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Q_AreaEnter1=FALSE
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ActionReturn(1)
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2026-02-12 11:51:44 +08:00
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;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
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;;FOLD Parameters ;%{h}
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;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;;ENDFOLD
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;$BWDSTART = FALSE
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;PDAT_ACT = PPDAT2
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;FDAT_ACT = FPass
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;BAS(#PTP_PARAMS, 100.0)
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;SET_CD_PARAMS (0)
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;PTP XPass
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;;ENDFOLD
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2026-02-08 16:40:58 +08:00
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END_POS=$POS_ACT
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2026-02-06 19:32:09 +08:00
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END
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