2026-02-06 19:32:09 +08:00
|
|
|
&ACCESS RVO
|
2026-02-07 20:52:35 +08:00
|
|
|
&REL 20
|
2026-02-06 20:19:20 +08:00
|
|
|
&PARAM DISKPATH = KRC:\R1\Program\TP
|
|
|
|
|
DEFDAT TESTMODULE
|
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)
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
|
2026-02-06 20:19:20 +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}
|
2026-02-07 20:52:35 +08:00
|
|
|
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet2PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; 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=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.FrameData.point2="}
|
|
|
|
|
DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
|
2026-02-06 20:19:20 +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}
|
|
|
|
|
DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
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 FFeedBelt2Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
|
|
|
|
|
DECL PDAT PPDAT8={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 PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
|
|
|
|
DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
|
2026-02-06 19:32:09 +08:00
|
|
|
ENDDAT
|
