2026-02-11 17:34:41 +08:00
|
|
|
&ACCESS RVP
|
|
|
|
|
&REL 5
|
2026-02-07 20:52:35 +08:00
|
|
|
&PARAM DISKPATH = KRC:\R1\Program\PL
|
|
|
|
|
DEFDAT PALLET2PLACE
|
2026-02-06 19:32:09 +08:00
|
|
|
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
|
|
|
|
|
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
|
|
|
|
|
EXT BAS (BAS_COMMAND :IN,REAL :IN )
|
|
|
|
|
DECL INT SUCCESS
|
|
|
|
|
;ENDFOLD (BASISTECH EXT)
|
|
|
|
|
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
|
|
|
|
|
;Make your modifications here
|
|
|
|
|
|
|
|
|
|
;ENDFOLD (USER EXT)
|
|
|
|
|
;ENDFOLD (EXTERNAL DECLARATIONS)
|
2026-02-11 17:34:41 +08:00
|
|
|
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "}
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
|
2026-02-11 17:34:41 +08:00
|
|
|
DECL E6POS XPlaceH={X 1268.24036,Y 2642.32153,Z 665.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
|
|
|
|
|
DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
|
2026-02-11 17:34:41 +08:00
|
|
|
DECL E6POS XPlace={X 1268.24036,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
|
2026-02-06 19:32:09 +08:00
|
|
|
DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
2026-02-11 17:34:41 +08:00
|
|
|
DECL FDAT FHOME1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
2026-02-11 17:34:41 +08:00
|
|
|
DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
|
|
|
|
|
DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL E6POS XHOME1={X 1407.35352,Y 1741.39893,Z 1283.17041,A -164.745026,B 0.372301966,C 179.768570,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
|
2026-02-06 19:32:09 +08:00
|
|
|
ENDDAT
|
