diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project index c032ab5..cfd73ab 100644 Binary files a/6040-003上下料 V2.1.project and b/6040-003上下料 V2.1.project differ diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat index 7cae1ab..e4959f9 100644 --- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat +++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 DEFDAT CollDetect_UserAction diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src index 0171bef..d530134 100644 --- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src +++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 DEF CollDetect_UserAction( ) diff --git a/KUKA/KRC/R1/KUKA/masref_user.dat b/KUKA/KRC/R1/KUKA/masref_user.dat index e898148..83f285e 100644 --- a/KUKA/KRC/R1/KUKA/masref_user.dat +++ b/KUKA/KRC/R1/KUKA/masref_user.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT Mastering Reference User Program &PARAM DISKPATH = KRC:\R1\Program diff --git a/KUKA/KRC/R1/KUKA/masref_user.src b/KUKA/KRC/R1/KUKA/masref_user.src index 5cb41e2..4e90d6e 100644 --- a/KUKA/KRC/R1/KUKA/masref_user.src +++ b/KUKA/KRC/R1/KUKA/masref_user.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT Mastering Reference User Program &PARAM DISKPATH = KRC:\R1\Program diff --git a/KUKA/KRC/R1/Program/ActionReturn.src b/KUKA/KRC/R1/Program/ActionReturn.src index ab75c14..864334b 100644 --- a/KUKA/KRC/R1/Program/ActionReturn.src +++ b/KUKA/KRC/R1/Program/ActionReturn.src @@ -1,9 +1,12 @@ -&ACCESS RV2 +&ACCESS RV4 DEF ActionReturn (nRet:IN ) DECL INT nRet - END_POS=$POS_ACT + CONTINUE Q_CmdCountRet=CmdCountLast + CONTINUE Q_CmdResult=nRet - Q_CmdRet=CmdSave + CONTINUE + Q_CmdRet=CmdSave + CONTINUE Q_Cmd_Running=0 END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/Config.dat b/KUKA/KRC/R1/Program/Config.dat index 65d04a6..64e2fb5 100644 --- a/KUKA/KRC/R1/Program/Config.dat +++ b/KUKA/KRC/R1/Program/Config.dat @@ -1,16 +1,16 @@ -&ACCESS RV3 +&ACCESS RV6 DEFDAT CONFIG PUBLIC GLOBAL INT PdtTypeLast=0 -GLOBAL INT CmdCountLast=19 -GLOBAL INT CmdSave=1 -GLOBAL INT OffsetX_Save=200 -GLOBAL INT OffsetY_Save=100 -GLOBAL INT CountX_Save=0 -GLOBAL INT CountY_Save=0 +GLOBAL INT CmdCountLast=582 +GLOBAL INT CmdSave=11 +GLOBAL INT OffsetX_Save=1247 +GLOBAL INT OffsetY_Save=2200 +GLOBAL INT CountX_Save=10 +GLOBAL INT CountY_Save=3 GLOBAL BOOL ConfMessSave=FALSE -DECL GLOBAL E6POS END_POS={X 1370.55286,Y 1953.72595,Z 1455.51660,A -164.411240,B 0.411031902,C 179.747101,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS END_POS={X -371.799255,Y 3335.85059,Z 535.821533,A -167.311752,B 0.414277077,C 179.724655,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} ENDDAT diff --git a/KUKA/KRC/R1/Program/Grip/GripClose.src b/KUKA/KRC/R1/Program/Grip/GripClose.src index 7b5f6c3..5c20763 100644 --- a/KUKA/KRC/R1/Program/Grip/GripClose.src +++ b/KUKA/KRC/R1/Program/Grip/GripClose.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 DEF GripClose ( ) Q_GripPosIndex=102 Q_GripPosCount=I_GripPosCountRet+1 diff --git a/KUKA/KRC/R1/Program/Grip/GripOpen.src b/KUKA/KRC/R1/Program/Grip/GripOpen.src index 3036f35..6de9507 100644 --- a/KUKA/KRC/R1/Program/Grip/GripOpen.src +++ b/KUKA/KRC/R1/Program/Grip/GripOpen.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RV2 DEF GripOpen ( ) Q_GripPosIndex=101 diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.dat b/KUKA/KRC/R1/Program/Home/HomeModule.dat index 19b24d0..cd7223a 100644 --- a/KUKA/KRC/R1/Program/Home/HomeModule.dat +++ b/KUKA/KRC/R1/Program/Home/HomeModule.dat @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP DEFDAT HomeModule ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.src b/KUKA/KRC/R1/Program/Home/HomeModule.src index f1ac251..0816189 100644 --- a/KUKA/KRC/R1/Program/Home/HomeModule.src +++ b/KUKA/KRC/R1/Program/Home/HomeModule.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP DEF HomeModule ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -11,7 +11,7 @@ DEF HomeModule ( ) ;ENDFOLD (USER INI) ;ENDFOLD (INI) - + Q_Cmd_Running=0 PTP $POS_ACT IF $POS_ACT.Z<1600 THEN LIN {Z 1600} diff --git a/KUKA/KRC/R1/Program/MainModule.dat b/KUKA/KRC/R1/Program/MainModule.dat index 292e6f9..84f4ee4 100644 --- a/KUKA/KRC/R1/Program/MainModule.dat +++ b/KUKA/KRC/R1/Program/MainModule.dat @@ -1,4 +1,4 @@ -&ACCESS RVO +&ACCESS RVP &REL 1 DEFDAT MainModule ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P diff --git a/KUKA/KRC/R1/Program/MainModule.src b/KUKA/KRC/R1/Program/MainModule.src index a50fe9f..1fcf762 100644 --- a/KUKA/KRC/R1/Program/MainModule.src +++ b/KUKA/KRC/R1/Program/MainModule.src @@ -1,4 +1,4 @@ -&ACCESS RVO +&ACCESS RVP &REL 1 DEF MainModule() ;FOLD INI @@ -69,6 +69,8 @@ END DEF StopSafty() INTERRUPT OFF 24 BRAKE F + BAS(#BASE, 1) + BAS(#TOOL, 1) PTP $POS_INT:{z 20} $FLAG[10]=TRUE INTERRUPT ON 24 diff --git a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src index 71867a0..8f99b2b 100644 --- a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src +++ b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src @@ -1,4 +1,4 @@ -&ACCESS RVO2 +&ACCESS RVO4 DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN ) DECL REAL R_offset DECL BOOL b_Pok diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat index 0f1e2c2..5825c6f 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat +++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat @@ -1,4 +1,4 @@ -&ACCESS RVP +&ACCESS RVO1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT FEEDBELT1PICK diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src index 3bc5dd5..92bbbbc 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src +++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src @@ -1,4 +1,4 @@ -&ACCESS RVP +&ACCESS RVO1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEF FeedBelt1Pick ( ) @@ -42,5 +42,5 @@ DEF FeedBelt1Pick ( ) ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) - + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat index 1bad698..535b698 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat +++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat @@ -1,4 +1,4 @@ -&ACCESS RVP +&ACCESS RVO1 DEFDAT FEEDBELT2PICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P @@ -16,7 +16,7 @@ DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} -DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPickH={X -513.757690,Y 3336.04053,Z 535.817505,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPick={X -513.757690,Y 3336.04053,Z 35.8174858,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src index a432b0f..06c5cf9 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src +++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src @@ -1,4 +1,4 @@ -&ACCESS RVP +&ACCESS RVO1 DEF FeedBelt2Pick ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -40,6 +40,6 @@ DEF FeedBelt2Pick ( ) ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) - + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat index 89df0b4..58d3c28 100644 --- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat +++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat @@ -1,5 +1,5 @@ -&ACCESS RV -DEFDAT NgBeltPlace +&ACCESS RVP1 +DEFDAT NGBELTPLACE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) @@ -10,14 +10,14 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} -DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} +DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL LDAT LCPDAT1={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL FDAT FPlace={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlace={X 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL LDAT LCPDAT2={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL FDAT FHOME1 = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL PDAT PPDAT2 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +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[] " "} +DECL E6POS XPlace={X -372.497620,Y -392.548706,Z 42.0128441,A 103.970634,B 0.387568325,C 179.739,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +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}}} +DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src index 606fe27..53a1f33 100644 --- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src +++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP1 DEF NgBeltPlace ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -40,13 +40,12 @@ DEF NgBeltPlace ( ) ;ENDFOLD CONTINUE Q_AreaEnter2=FALSE - + ActionReturn(1) ;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP ;ENDFOLD SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) -;ENDFOLD - ActionReturn(1) - +;ENDFOLD + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat index 2c19fd4..244c8f1 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat +++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RV1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT PALLET1PLACE diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.src b/KUKA/KRC/R1/Program/PL/Pallet1Place.src index 3e34f3f..08a729a 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src +++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src @@ -1,7 +1,8 @@ -&ACCESS RV +&ACCESS RV1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEF Pallet1Place ( ) + DECL REAL x_offset,y_offset ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) @@ -16,8 +17,10 @@ DEF Pallet1Place ( ) WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS) XPlace=XPallet1PlaceB - XPlace.X=XPallet1PlaceB.X - CountX_Save*OffsetX_Save - XPlace.Y=XPallet1PlaceB.Y - CountY_Save*OffsetY_Save + x_offset=OffsetX_Save/10.0 + y_offset=OffsetY_Save/10.0 + XPlace.X=XPallet1PlaceB.X - CountX_Save*x_offset + XPlace.Y=XPallet1PlaceB.Y - CountY_Save*y_offset XPlaceH=XPlace XPlaceH.Z=XPlace.Z+500 ;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE} @@ -45,11 +48,13 @@ DEF Pallet1Place ( ) ;ENDFOLD CONTINUE Q_AreaEnter2=FALSE + ActionReturn(1) ;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP ;ENDFOLD SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) ;ENDFOLD - ActionReturn(1) + + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat index 624629a..ddc678b 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat +++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat @@ -1,4 +1,4 @@ -&ACCESS RVO +&ACCESS RVO1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT PALLET2PLACE @@ -14,10 +14,10 @@ DECL INT SUCCESS ;ENDFOLD (EXTERNAL DECLARATIONS) DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlaceH={X 1501.64038,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} +DECL E6POS XPlaceH={X 254.640381,Y 1982.32153,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} 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[] " "} -DECL E6POS XPlace={X 1501.64038,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} +DECL E6POS XPlace={X 254.640381,Y 1982.32153,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} 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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.src b/KUKA/KRC/R1/Program/PL/Pallet2Place.src index 74bb71d..738e329 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src +++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src @@ -1,7 +1,8 @@ -&ACCESS RVO +&ACCESS RVO1 &REL 1 &PARAM DISKPATH = KRC:\R1\Program\PL DEF Pallet2Place ( ) + DECL REAL x_offset,y_offset ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) @@ -15,8 +16,10 @@ DEF Pallet2Place ( ) ;ENDFOLD (INI) WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS) XPlace=XPallet2PlaceB - XPlace.X=XPallet2PlaceB.X - CountX_Save*OffsetX_Save - XPlace.Y=XPallet2PlaceB.Y - CountY_Save*OffsetY_Save + x_offset=OffsetX_Save/10.0 + y_offset=OffsetY_Save/10.0 + XPlace.X=XPallet1PlaceB.X - CountX_Save*x_offset + XPlace.Y=XPallet1PlaceB.Y - CountY_Save*y_offset XPlaceH=XPlace XPlaceH.Z=XPlace.Z+400 ;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} @@ -44,12 +47,13 @@ DEF Pallet2Place ( ) ;ENDFOLD CONTINUE Q_AreaEnter2=FALSE + ActionReturn(1) ;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP ;ENDFOLD SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) ;ENDFOLD - ActionReturn(1) - + + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat index 84cfc14..da24863 100644 --- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat +++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat @@ -1,5 +1,5 @@ -&ACCESS RV -DEFDAT ReFeedBeltPick +&ACCESS RVP1 +DEFDAT REFEEDBELTPICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) @@ -10,14 +10,14 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} -DECL FDAT FPickH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} +DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL LDAT LCPDAT1={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL FDAT FPick={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPick={X 1797.49475,Y 1360.66516,Z 667.609802,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +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 FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL E6POS XPick={X -355.786682,Y 285.198730,Z 34.5330734,A 103.969742,B 0.385545075,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} 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}}} -DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src index bbcacba..6d37d10 100644 --- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src +++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP1 DEF ReFeedBeltPick ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -40,5 +40,5 @@ DEF ReFeedBeltPick ( ) ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) - + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat index 30f339d..0dbf405 100644 --- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat +++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat @@ -1,5 +1,5 @@ -&ACCESS RV -DEFDAT WaterBeltPick +&ACCESS RVP1 +DEFDAT WATERBELTPICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) @@ -10,14 +10,14 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} -DECL FDAT FPickH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; 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= "} +DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL LDAT LCPDAT1={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL FDAT FPick={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPick={X 1797.49475,Y 1360.66516,Z 667.609802,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +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 FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL E6POS XPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} 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}}} -DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src index 3e800b5..6bedcb2 100644 --- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src +++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP1 DEF WaterBeltPick ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -40,5 +40,5 @@ DEF WaterBeltPick ( ) ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) - + END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PosBase.dat b/KUKA/KRC/R1/Program/PosBase.dat index 99ab02b..0e61ebc 100644 --- a/KUKA/KRC/R1/Program/PosBase.dat +++ b/KUKA/KRC/R1/Program/PosBase.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 7 &PARAM DISKPATH = KRC:\R1\Program\TP DEFDAT POSBASE PUBLIC diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat index 6206aa5..9ba37e2 100644 --- a/KUKA/KRC/R1/System/$config.dat +++ b/KUKA/KRC/R1/System/$config.dat @@ -1,4 +1,4 @@ -&ACCESS RV$4 +&ACCESS RV$7 DEFDAT $CONFIG ;FOLD BASISTECH GLOBALS ;================================== diff --git a/KUKA/KRC/R1/System/MqttConfig.dat b/KUKA/KRC/R1/System/MqttConfig.dat index abfcfa3..3cac8ee 100644 --- a/KUKA/KRC/R1/System/MqttConfig.dat +++ b/KUKA/KRC/R1/System/MqttConfig.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 DEFDAT MqttConfig PUBLIC ; Publisher IP address for KukaConnect data-set configuration. diff --git a/KUKA/KRC/R1/System/MsgLib.dat b/KUKA/KRC/R1/System/MsgLib.dat index d8aa177..5c79c42 100644 --- a/KUKA/KRC/R1/System/MsgLib.dat +++ b/KUKA/KRC/R1/System/MsgLib.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT Message library DEFDAT MsgLib PUBLIC diff --git a/KUKA/KRC/R1/System/MsgLib.src b/KUKA/KRC/R1/System/MsgLib.src index 9f0ce5b..8c3db27 100644 --- a/KUKA/KRC/R1/System/MsgLib.src +++ b/KUKA/KRC/R1/System/MsgLib.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT Message library DEF MsgLib ( ) ;************************************************** diff --git a/KUKA/KRC/R1/System/bas.src b/KUKA/KRC/R1/System/bas.src index bc3aec6..3077693 100644 --- a/KUKA/KRC/R1/System/bas.src +++ b/KUKA/KRC/R1/System/bas.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &REL 1 &COMMENT BASIS package DEF BAS (COMMAND :IN,REAL_PAR :IN ) diff --git a/KUKA/KRC/R1/System/collmonlib.dat b/KUKA/KRC/R1/System/collmonlib.dat index 078fec0..35ac6ce 100644 --- a/KUKA/KRC/R1/System/collmonlib.dat +++ b/KUKA/KRC/R1/System/collmonlib.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT Collision monitoring library DEFDAT COLLMONLIB PUBLIC ;DO NOT MODIFY THIS FILE diff --git a/KUKA/KRC/R1/System/collmonlib.src b/KUKA/KRC/R1/System/collmonlib.src index 5cffcdb..13ec076 100644 --- a/KUKA/KRC/R1/System/collmonlib.src +++ b/KUKA/KRC/R1/System/collmonlib.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT Collision monitoring library DEF CollMonLib( ) diff --git a/KUKA/KRC/R1/System/ir_stopm.src b/KUKA/KRC/R1/System/ir_stopm.src index bd78af4..16dce14 100644 --- a/KUKA/KRC/R1/System/ir_stopm.src +++ b/KUKA/KRC/R1/System/ir_stopm.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT HandlerOnRobotFault DEF IR_STOPM ( ) ;----------------------------------- diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat index a63a9c7..508fab7 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT path after test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src index 0f11a17..79d4877 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT path after test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat index 80d9715..5e3b37f 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT parkposition &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src index 6eb4f60..18381d6 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT parkposition &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat index 5320079..3e4ce60 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat @@ -1,4 +1,4 @@ -&ACCESS RVO2 +&ACCESS RVO5 &REL 1 &COMMENT BrkTst-main task &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src index 66cbaf3..e0b75b6 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src @@ -1,4 +1,4 @@ -&ACCESS RVO2 +&ACCESS RVO5 &REL 1 &COMMENT BrkTst-main task &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat index 278d11d..2678b19 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT path to test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src index e8c41c0..1462540 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV5 &REL 1 &COMMENT path to test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat index 786b6a3..4d19fc4 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO5 &REL 2396 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL DEFDAT EthernetKRL PUBLIC diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src index 06ae15b..68f5a5c 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO5 &REL 2396 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL DEF EthernetKRL( ) diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src index 0608a95..48c5633 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO5 &REL 2314 &PARAM DISKPATH = TP/EthernetKRL DEF EthernetKRL_USER( ) diff --git a/KUKA/KRC/R1/TP/p00.dat b/KUKA/KRC/R1/TP/p00.dat index ed6c061..3cc8574 100644 --- a/KUKA/KRC/R1/TP/p00.dat +++ b/KUKA/KRC/R1/TP/p00.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT EXTERNAL package DEFDAT P00 diff --git a/KUKA/KRC/R1/TP/p00.src b/KUKA/KRC/R1/TP/p00.src index 94d8626..f62c145 100644 --- a/KUKA/KRC/R1/TP/p00.src +++ b/KUKA/KRC/R1/TP/p00.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R6 &COMMENT EXTERNAL package DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN ) DECL P00_COMMAND COMMAND diff --git a/KUKA/KRC/STEU/$config.dat b/KUKA/KRC/STEU/$config.dat deleted file mode 100644 index 43e4b73..0000000 --- a/KUKA/KRC/STEU/$config.dat +++ /dev/null @@ -1,4 +0,0 @@ -&ACCESS RV$4 -DEFDAT $CONFIG - -ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/STEU/Mada/$custom.dat b/KUKA/KRC/STEU/Mada/$custom.dat deleted file mode 100644 index dcde8a2..0000000 --- a/KUKA/KRC/STEU/Mada/$custom.dat +++ /dev/null @@ -1,650 +0,0 @@ -&ACCESS RV$ -&PARAM VERSION = 1.0.0 -DEFDAT $CUSTOM PUBLIC -DECL SPREADSTARTPOLICY $SPREADSTARTPOLICY=#DEFAULT_BCO ;Zu nutzende Regel beim Verteilen des Start-Kommandos im RoboTeam -CHAR $V_CUSTOM[32] -$V_CUSTOM[]="V1.0.0/KUKA8.7" ;VERSIONSKENNUNG -BOOL $SR_VEL_RED=TRUE ;TRUE: Overrideregelung des SafeRobot fuer Geschwindigkeitsgrenzen im Grundsystem aktiviert -BOOL $BRAKE_ON_SBH=TRUE ;TRUE: Je nach anliegenden SBH werden entweder alle Bremsen sofort geschlossen bzw. nur diejenigen die zur Achsgruppe gehoeren -BOOL $NO_MOVEMENT_ON_SBH=TRUE ;Bewegungsstart nicht moeglich bei SBH -BOOL $SR_WORKSPACE_RED=TRUE ;TRUE: Overrideregelung des SafeRobot fuer Ueberwachungsraeume im Grundsystem aktiviert -BOOL $TOOL_DIRECTION_LIN_CIRC=FALSE ;TRUE $TOOL_DIRECTION-Wert wird fuer Drehen und Schwenken und die TTS-Berechnung bei LIN- und CIRC-Bewegungen verwendet -INT $SR_OV_RED=75 ;Reduzierungsfaktor der SafeRobot Overrideregelung zu Geschwindigkeitsgrenzen [10-95] -DECL MOTION_MODE $DEFAULT_MOTION_MODE=#STANDARD ; Mit $DEFAULT_MOTION_MODE wird der default MotionMode angegeben -BOOL $COLL_ENABLECAV=FALSE ;Enable/Disable Collision Avoidance -REAL $COLL_DISTANCE_MAN[16] ;Distance tolerances when jogging manually or when no program running -$COLL_DISTANCE_MAN[1]=0.0 ; -$COLL_DISTANCE_MAN[2]=0.0 ; -$COLL_DISTANCE_MAN[3]=0.0 ; -$COLL_DISTANCE_MAN[4]=0.0 ; -$COLL_DISTANCE_MAN[5]=0.0 ; -$COLL_DISTANCE_MAN[6]=0.0 ; -$COLL_DISTANCE_MAN[7]=0.0 ; -$COLL_DISTANCE_MAN[8]=0.0 ; -$COLL_DISTANCE_MAN[9]=0.0 ; -$COLL_DISTANCE_MAN[10]=0.0 ; -$COLL_DISTANCE_MAN[11]=0.0 ; -$COLL_DISTANCE_MAN[12]=0.0 ; -$COLL_DISTANCE_MAN[13]=0.0 ; -$COLL_DISTANCE_MAN[14]=0.0 ; -$COLL_DISTANCE_MAN[15]=0.0 ; -$COLL_DISTANCE_MAN[16]=0.0 ; -REAL $COLL_DISTANCE_PROG[16] ;Distance tolerance when program is selected -BOOL $WORKSPACERESTOREACTIVE=FALSE ; Fuer Aktivierung der Arbeitsbereich Zustand-Wiederherstellung -DECL AXIS_OF_COORDINATES $TOOL_DIRECTION=#X ;Werkzeugstossrichtung fuer neue CP-Bewegungen (Spline) -DECL AXIS_OF_COORDINATES $BASE_ALIGN=#Z ;Achse des Base um Werkzeug auszurichten -DECL SPLINE_PARA_VARIANT $SPTP_EXAX_PARA[6] ;Parametrisierungsart einer Zusatzachse beim PTP-Spline -$SPTP_EXAX_PARA[1]=#DEFAULT_PARA -$SPTP_EXAX_PARA[2]=#DEFAULT_PARA -$SPTP_EXAX_PARA[3]=#DEFAULT_PARA -$SPTP_EXAX_PARA[4]=#DEFAULT_PARA -$SPTP_EXAX_PARA[5]=#DEFAULT_PARA -$SPTP_EXAX_PARA[6]=#DEFAULT_PARA -DECL STRIKE_OUT_COMPONENTS $MAX_ABS_STRIKE_OUT={ORIENTATION 20.0000,ROT_EXT_AXES 20.0000,LIN_EXT_AXES 100.000} ;maximaler Wert der ABSOLUTE-Komponenten von $STRIKE_OUT_DEFAULT oder $STRIKE_OUT -DECL STRIKE_OUT_STRUC $STRIKE_OUT_DEFAULT={MODE #ON,ABSOLUTE {ORIENTATION 7.50000,ROT_EXT_AXES 7.50000,LIN_EXT_AXES 50.0000},RELATIVE {ORIENTATION 40.0000,ROT_EXT_AXES 40.0000,LIN_EXT_AXES 40.0000}} ;Standardkonfiguration der Ausholstrategie fuer SPL-Segmente im Spline-Block -DECL PRO_IO_T $PRO_I_O_SYS={MODULE[] "/R1/SPS()",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] "/R1/PLC()",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID4={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID5={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID6={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID7={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID8={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL PRO_IO_T $PRO_I_O_PROC_ID9={MODULE[] " ",COLD_BOOT_RUN #ON} -DECL SER $PSER_1={PROTO 1,PROC 0,RCO 5,BL 0,BAUD 19200,NOC 8,NOS 1,PARITY 2,TRC 1,FLP 0,LLP 0,RT 300,PT 5,DSR 0,WCCXON 0,VXON 0,VXOFF 0,WEOBC 0,VEOBC 0} ;SCHNITTSTELLE 1 -DECL SER $PSER_2={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2 -DECL SER $PSER_3={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2 -DECL SER $PSER_4={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2 -DECL SER $PPG={PROTO 2,PROC 4,BAUD 9600} ;PG-SCHNITTSTELLE -DECL EXT_MOD_T $EXT_MOD_1={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen -DECL EXT_MOD_T $EXT_MOD_2={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen -DECL EXT_MOD_T $EXT_MOD_3={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen -DECL EXT_MOD_T $EXT_MOD_4={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen -CHANNEL :SER_1 :SER_1 $PSER_1 -CHANNEL :SER_2 :SER_2 $PSER_2 -CHANNEL :SER_3 :SER_3 $PSER_3 -CHANNEL :SER_4 :SER_4 $PSER_4 -CHANNEL :PG :SER_1 $PPG -CHANNEL :LD_EXT_OBJ1 :LD_EXT_OBJ1 $EXT_MOD_1 ;external module 1 -CHANNEL :LD_EXT_OBJ2 :LD_EXT_OBJ2 $EXT_MOD_2 ;external module 2 -CHANNEL :LD_EXT_FCT1 :LD_EXT_FCT1 $EXT_MOD_3 ;external module 3 -CHANNEL :LD_EXT_FCT2 :LD_EXT_FCT2 $EXT_MOD_4 ;external module 4 -INT $IBUS_ON=0 ;EINSCHALTEN ALTERNATIVER INTERBUSGRUPPEN -INT $EDIT_MODE=1 ;KOMMUNIKATION TP - XEDIT -INT $IBUS_OFF=0 ;ABSCHALTEN ALTERNATIVER INTERBUSGRUPPEN -DECL BOX $WORKSPACE[8] ;UEBERWACHT ARBEITSRAEUME -$WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -$WORKSPACE[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF} -BOOL $ABS_CONVERT=FALSE ;KONVERTIERUNG DER PUNKTKOORDINATEN -BOOL $DEACTIVATE_ABS_ACCUR=FALSE -REAL $NEARPATHTOL=200.000 ;TOLERANZ FUER DIE ABWEICHUNG VON $POS_RET -INT $ASYNC_MODE='B0000' ;MODE FUER ASYNCHRONE ZUSATZACHSEN -INT $TECH_FUNC='B0000' ;BITS ZUM AKTIVIEREN EINZELNER FUNKTIONEN DES FUNKTIONSGENERATORS -BOOL $IMPROVED_COLLMON=TRUE ;Schalter Verbesserte Kollisionserkennung -INT $COLLMON_STARTUP_MAX=200 ;maximale Abschaltzeit [ms] der Kollisionserkennung am Bewegungsstart (unbeschraenkt falls <=0) -INT $COLLMON_TOL_PRO_DEF[12] ;Verbesserte Kollisionserkennung: Default-Sensibilitaetseinstellung Programm -$COLLMON_TOL_PRO_DEF[1]=0 ;Achse 1 -$COLLMON_TOL_PRO_DEF[2]=0 ;Achse 2 -$COLLMON_TOL_PRO_DEF[3]=0 ;Achse 3 -$COLLMON_TOL_PRO_DEF[4]=0 ;Achse 4 -$COLLMON_TOL_PRO_DEF[5]=0 ;Achse 5 -$COLLMON_TOL_PRO_DEF[6]=0 ;Achse 6 -$COLLMON_TOL_PRO_DEF[7]=0 ;Achse 7 -$COLLMON_TOL_PRO_DEF[8]=0 ;Achse 8 -$COLLMON_TOL_PRO_DEF[9]=0 ;Achse 9 -$COLLMON_TOL_PRO_DEF[10]=0 ;Achse 10 -$COLLMON_TOL_PRO_DEF[11]=0 ;Achse 11 -$COLLMON_TOL_PRO_DEF[12]=0 ;Achse 12 -INT $COLLMON_TOL_COM_DEF[12] ;Verbesserte Kollisionserkennung: Default-Sensibilitaetseinstellung Kommando -$COLLMON_TOL_COM_DEF[1]=0 ;Achse 1 -$COLLMON_TOL_COM_DEF[2]=0 ;Achse 2 -$COLLMON_TOL_COM_DEF[3]=0 ;Achse 3 -$COLLMON_TOL_COM_DEF[4]=0 ;Achse 4 -$COLLMON_TOL_COM_DEF[5]=0 ;Achse 5 -$COLLMON_TOL_COM_DEF[6]=0 ;Achse 6 -$COLLMON_TOL_COM_DEF[7]=0 ;Achse 7 -$COLLMON_TOL_COM_DEF[8]=0 ;Achse 8 -$COLLMON_TOL_COM_DEF[9]=0 ;Achse 9 -$COLLMON_TOL_COM_DEF[10]=0 ;Achse 10 -$COLLMON_TOL_COM_DEF[11]=0 ;Achse 11 -$COLLMON_TOL_COM_DEF[12]=0 ;Achse 12 -INT $TORQMON_DEF[12] ;DEFAULTWERTE FUER DEN MOMENTENUEBERWACHUNGSSCHLAUCH IM PROGRAMMBETRIEB [%] -$TORQMON_DEF[1]=0 ;ACHSE 1 -$TORQMON_DEF[2]=0 ;ACHSE 2 -$TORQMON_DEF[3]=0 ;ACHSE 3 -$TORQMON_DEF[4]=0 ;ACHSE 4 -$TORQMON_DEF[5]=0 ;ACHSE 5 -$TORQMON_DEF[6]=0 ;ACHSE 6 -$TORQMON_DEF[7]=0 ;ACHSE 7 -$TORQMON_DEF[8]=0 ;ACHSE 8 -$TORQMON_DEF[9]=0 ;ACHSE 9 -$TORQMON_DEF[10]=0 ;ACHSE 10 -$TORQMON_DEF[11]=0 ;ACHSE 11 -$TORQMON_DEF[12]=0 ;ACHSE 12 -INT $TORQMON_COM_DEF[12] ;DEFAULTWERTE FUER DEN MOMENTENUEBERWACHUNGSSCHLAUCH IM KOMMANDOBETRIEB [%] -$TORQMON_COM_DEF[1]=0 ;ACHSE 1 -$TORQMON_COM_DEF[2]=0 ;ACHSE 2 -$TORQMON_COM_DEF[3]=0 ;ACHSE 3 -$TORQMON_COM_DEF[4]=0 ;ACHSE 4 -$TORQMON_COM_DEF[5]=0 ;ACHSE 5 -$TORQMON_COM_DEF[6]=0 ;ACHSE 6 -$TORQMON_COM_DEF[7]=0 -$TORQMON_COM_DEF[8]=0 -$TORQMON_COM_DEF[9]=0 -$TORQMON_COM_DEF[10]=0 -$TORQMON_COM_DEF[11]=0 -$TORQMON_COM_DEF[12]=0 -REAL $TORQMON_TIME=0.0120000 ;ZEIT [MS], NACH DER DIE FAHRMOMENTUEBERWACHUNG ZUSCHLAEGT -FRAME $SINGUL_ERR_PRO={A 0.0,B 0.0,C 0.0} ;MAX. ORIENTIERUNGSFEHLER PROGRAMMVERFAHREN -FRAME $SINGUL_ERR_JOG={A 5.00000,B 5.00000,C 5.00000} ;MAX. ORIENTIERUNGSFEHLER HANDVERFAHREN -DECL TARGET_STATUS $TARGET_STATUS=#SOURCE -BOOL $RED_T1_OV_CP=FALSE ;BEHANDLUNG VON CP_BAHNEN IN T1 (FALSE=GESCHW.-REDUZ. AUF $VEL_CP_T1, TRUE=OVERRIDE-REDUZIERUNG UM $RED_T1) -DECL CP_VEL_TYPE $CP_VEL_TYPE=#VAR_T1 ;RED. DER CP-GESCHW. BEI UEBERSCHREITUNG DER ACHSGRENZWERTE (#VAR_T1 : NUR IM T1-Betrieb, #VAR_ALL : IMMER, #VAR_ALL_MODEL: modellbasierte Achsgrenzwerte im Programmbetrieb und T2,AUT,EXT) -DECL CP_STATMON $CP_STATMON=#NONE ;variable fuer die CP Konfigurationsueberwachung -REAL $KCP_POS=0.0 ;STELLUNG DES KCP BZGL. DES ROBOTERS ( WINDROSE ) -BOOL $TECH_ANA_FLT_OFF[6] ;ZYKL. ANALOGAUSGABE DES TECHVALS GEFILTERT (FALSE)/UNGEFILTERT (TRUE) AUSGEBEN -$TECH_ANA_FLT_OFF[1]=FALSE -$TECH_ANA_FLT_OFF[2]=FALSE -$TECH_ANA_FLT_OFF[3]=FALSE -$TECH_ANA_FLT_OFF[4]=FALSE -$TECH_ANA_FLT_OFF[5]=FALSE -$TECH_ANA_FLT_OFF[6]=FALSE -CHAR $WORKSPACE_NAME1[24] -$WORKSPACE_NAME1[]="WORKSPACE 1" -CHAR $WORKSPACE_NAME2[24] -$WORKSPACE_NAME2[]="WORKSPACE 2" -CHAR $WORKSPACE_NAME3[24] -$WORKSPACE_NAME3[]="WORKSPACE 3" -CHAR $WORKSPACE_NAME4[24] -$WORKSPACE_NAME4[]="WORKSPACE 4" -CHAR $WORKSPACE_NAME5[24] -$WORKSPACE_NAME5[]="WORKSPACE 5" -CHAR $WORKSPACE_NAME6[24] -$WORKSPACE_NAME6[]="WORKSPACE 6" -CHAR $WORKSPACE_NAME7[24] -$WORKSPACE_NAME7[]="WORKSPACE 7" -CHAR $WORKSPACE_NAME8[24] -$WORKSPACE_NAME8[]="WORKSPACE 8" -DECL COOP_KRC $COOP_KRC[16] ;POTENTIAL REMOTE ROBOTS -$COOP_KRC[1]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[2]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[3]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[4]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[5]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[6]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[7]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[8]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[9]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[10]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[11]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[12]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[13]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[14]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[15]={IP_ADDR[] " ",NAME[] " "} -$COOP_KRC[16]={IP_ADDR[] " ",NAME[] " "} -DECL WS_CONFIG $WS_CONFIG[32] ;WORKSPACE CONFIGURATION FOR WORKSPACE SHARING -$WS_CONFIG[1]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[2]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[3]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[4]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[5]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[6]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[7]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[8]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[9]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[10]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[11]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[12]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[13]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[14]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[15]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[16]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[17]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[18]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[19]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[20]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[21]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[22]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[23]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[24]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[25]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[26]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[27]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[28]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[29]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[30]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[31]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -$WS_CONFIG[32]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0} -INT $COUNT_I[160] ;COUNTER -$COUNT_I[1]=0 -$COUNT_I[2]=0 -$COUNT_I[3]=0 -$COUNT_I[4]=0 -$COUNT_I[5]=0 -$COUNT_I[6]=0 -$COUNT_I[7]=0 -$COUNT_I[8]=0 -$COUNT_I[9]=0 -$COUNT_I[10]=0 -$COUNT_I[11]=0 -$COUNT_I[12]=0 -$COUNT_I[13]=0 -$COUNT_I[14]=0 -$COUNT_I[15]=0 -$COUNT_I[16]=0 -$COUNT_I[17]=0 -$COUNT_I[18]=0 -$COUNT_I[19]=0 -$COUNT_I[20]=0 -$COUNT_I[21]=0 -$COUNT_I[22]=0 -$COUNT_I[23]=0 -$COUNT_I[24]=0 -$COUNT_I[25]=0 -$COUNT_I[26]=0 -$COUNT_I[27]=0 -$COUNT_I[28]=0 -$COUNT_I[29]=0 -$COUNT_I[30]=0 -$COUNT_I[31]=0 -$COUNT_I[32]=0 -$COUNT_I[33]=0 -$COUNT_I[34]=0 -$COUNT_I[35]=0 -$COUNT_I[36]=0 -$COUNT_I[37]=0 -$COUNT_I[38]=0 -$COUNT_I[39]=0 -$COUNT_I[40]=0 -$COUNT_I[41]=0 -$COUNT_I[42]=0 -$COUNT_I[43]=0 -$COUNT_I[44]=0 -$COUNT_I[45]=0 -$COUNT_I[46]=0 -$COUNT_I[47]=0 -$COUNT_I[48]=0 -$COUNT_I[49]=0 -$COUNT_I[50]=0 -$COUNT_I[51]=0 -$COUNT_I[52]=0 -$COUNT_I[53]=0 -$COUNT_I[54]=0 -$COUNT_I[55]=0 -$COUNT_I[56]=0 -$COUNT_I[57]=0 -$COUNT_I[58]=0 -$COUNT_I[59]=0 -$COUNT_I[60]=0 -$COUNT_I[61]=0 -$COUNT_I[62]=0 -$COUNT_I[63]=0 -$COUNT_I[64]=0 -$COUNT_I[65]=0 -$COUNT_I[66]=0 -$COUNT_I[67]=0 -$COUNT_I[68]=0 -$COUNT_I[69]=0 -$COUNT_I[70]=0 -$COUNT_I[71]=0 -$COUNT_I[72]=0 -$COUNT_I[73]=0 -$COUNT_I[74]=0 -$COUNT_I[75]=0 -$COUNT_I[76]=0 -$COUNT_I[77]=0 -$COUNT_I[78]=0 -$COUNT_I[79]=0 -$COUNT_I[80]=0 -$COUNT_I[81]=0 -$COUNT_I[82]=0 -$COUNT_I[83]=0 -$COUNT_I[84]=0 -$COUNT_I[85]=0 -$COUNT_I[86]=0 -$COUNT_I[87]=0 -$COUNT_I[88]=0 -$COUNT_I[89]=0 -$COUNT_I[90]=0 -$COUNT_I[91]=0 -$COUNT_I[92]=0 -$COUNT_I[93]=0 -$COUNT_I[94]=0 -$COUNT_I[95]=0 -$COUNT_I[96]=0 -$COUNT_I[97]=0 -$COUNT_I[98]=0 -$COUNT_I[99]=0 -$COUNT_I[100]=0 -$COUNT_I[101]=0 -$COUNT_I[102]=0 -$COUNT_I[103]=0 -$COUNT_I[104]=0 -$COUNT_I[105]=0 -$COUNT_I[106]=0 -$COUNT_I[107]=0 -$COUNT_I[108]=0 -$COUNT_I[109]=0 -$COUNT_I[110]=0 -$COUNT_I[111]=0 -$COUNT_I[112]=0 -$COUNT_I[113]=0 -$COUNT_I[114]=0 -$COUNT_I[115]=0 -$COUNT_I[116]=0 -$COUNT_I[117]=0 -$COUNT_I[118]=0 -$COUNT_I[119]=0 -$COUNT_I[120]=0 -$COUNT_I[121]=0 -$COUNT_I[122]=0 -$COUNT_I[123]=0 -$COUNT_I[124]=0 -$COUNT_I[125]=0 -$COUNT_I[126]=0 -$COUNT_I[127]=0 -$COUNT_I[128]=0 -$COUNT_I[129]=0 -$COUNT_I[130]=0 -$COUNT_I[131]=0 -$COUNT_I[132]=0 -$COUNT_I[133]=0 -$COUNT_I[134]=0 -$COUNT_I[135]=0 -$COUNT_I[136]=0 -$COUNT_I[137]=0 -$COUNT_I[138]=0 -$COUNT_I[139]=0 -$COUNT_I[140]=0 -$COUNT_I[141]=0 -$COUNT_I[142]=0 -$COUNT_I[143]=0 -$COUNT_I[144]=0 -$COUNT_I[145]=0 -$COUNT_I[146]=0 -$COUNT_I[147]=0 -$COUNT_I[148]=0 -$COUNT_I[149]=0 -$COUNT_I[150]=0 -$COUNT_I[151]=0 -$COUNT_I[152]=0 -$COUNT_I[153]=0 -$COUNT_I[154]=0 -$COUNT_I[155]=0 -$COUNT_I[156]=0 -$COUNT_I[157]=0 -$COUNT_I[158]=0 -$COUNT_I[159]=0 -$COUNT_I[160]=0 -DECL BIN_TYPE $BIN_OUT[64] ;Binary Output configuration -$BIN_OUT[1]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[2]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[3]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[4]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[5]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[6]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[7]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[8]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[9]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[10]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[11]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[12]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[13]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[14]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[15]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[16]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[17]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[18]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[19]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[20]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[21]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[22]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[23]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[24]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[25]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[26]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[27]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[28]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[29]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[30]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[31]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[32]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[33]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[34]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[35]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[36]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[37]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[38]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[39]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[40]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[41]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[42]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[43]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[44]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[45]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[46]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[47]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[48]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[49]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[50]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[51]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[52]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[53]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[54]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[55]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[56]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[57]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[58]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[59]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[60]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[61]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[62]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[63]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_OUT[64]={F_BIT 1,LEN 0,PARITY #NONE} -DECL BIN_TYPE $BIN_IN[64] ;Binary Output configuration -$BIN_IN[1]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[2]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[3]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[4]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[5]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[6]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[7]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[8]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[9]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[10]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[11]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[12]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[13]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[14]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[15]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[16]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[17]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[18]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[19]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[20]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[21]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[22]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[23]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[24]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[25]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[26]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[27]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[28]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[29]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[30]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[31]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[32]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[33]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[34]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[35]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[36]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[37]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[38]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[39]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[40]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[41]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[42]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[43]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[44]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[45]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[46]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[47]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[48]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[49]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[50]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[51]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[52]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[53]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[54]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[55]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[56]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[57]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[58]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[59]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[60]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[61]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[62]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[63]={F_BIT 1,LEN 0,PARITY #NONE} -$BIN_IN[64]={F_BIT 1,LEN 0,PARITY #NONE} -INT $SYNCCMD_SIM=0 ;Simulation aller ProgSync und MotionSync Befehle fuer eine def. Steuerung -INT $SYNCLINESELECTMASK=0 ;erzwingt eine synchrone Statzanwahl auf Remote-Steuerung -INT $SPREADACTION=0 ;kennzeichnet die angegebenen Steuerungen als Verbund -BOOL $COLL_AVOID=FALSE ; COLL_AVOID -DECL COOP_UPDATE_T $COOP_UPDATE ;Kommunikation zwische WCD und TPBASIS -INT $TP_COOP_UPDATE=0 ;Kommunikation zwische CellMap und TPBASIS -INT $TP_WS_UPDATE=0 ;Kommunikation zwische workspace sharing und TPBASIS -DECL LDC_REACTION $LDC_CONFIG[128] ;Konfiguration der Lastdatenpruefung -$LDC_CONFIG[1]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[2]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[3]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[4]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[5]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[6]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[7]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[8]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[9]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[10]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[11]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[12]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[13]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[14]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[15]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[16]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[17]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[18]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[19]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[20]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[21]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[22]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[23]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[24]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[25]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[26]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[27]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[28]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[29]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[30]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[31]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[32]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[33]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[34]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[35]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[36]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[37]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[38]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[39]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[40]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[41]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[42]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[43]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[44]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[45]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[46]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[47]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[48]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[49]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[50]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[51]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[52]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[53]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[54]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[55]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[56]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[57]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[58]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[59]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[60]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[61]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[62]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[63]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[64]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[65]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[66]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[67]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[68]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[69]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[70]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[71]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[72]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[73]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[74]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[75]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[76]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[77]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[78]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[79]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[80]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[81]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[82]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[83]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[84]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[85]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[86]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[87]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[88]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[89]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[90]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[91]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[92]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[93]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[94]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[95]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[96]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[97]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[98]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[99]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[100]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[101]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[102]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[103]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[104]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[105]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[106]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[107]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[108]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[109]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[110]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[111]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[112]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[113]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[114]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[115]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[116]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[117]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[118]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[119]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[120]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[121]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[122]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[123]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[124]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[125]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[126]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[127]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -$LDC_CONFIG[128]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT} -ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/STEU/Mada/$machine.dat b/KUKA/KRC/STEU/Mada/$machine.dat deleted file mode 100644 index d25857a..0000000 --- a/KUKA/KRC/STEU/Mada/$machine.dat +++ /dev/null @@ -1,103 +0,0 @@ -&ACCESS RV$ -&REL 3 -&PARAM VERSION = 1.0.0 -DEFDAT $MACHINE PUBLIC -SIGNAL $CRIT_PERI_ACK_REQ $IN[1026] ;Schalter zur Konfiguration der Bewegung kritischer Peripherie -SIGNAL $CRIT_PERI_ACK FALSE -CHAR $V_STEUMADA[32] -$V_STEUMADA[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG -SIGNAL $MASTERINGTEST_REQ_EXT $IN[1026] ;TRUE = Referenzfahrt angefordert (extern) -SIGNAL $BRAKETEST_REQ_EX $IN[1026] ;TRUE = Bremsentest soll gestartet werden -SIGNAL $BRAKETEST_MONTIME FALSE -SIGNAL $MAINTENANCE_TO_PLC FALSE -SIGNAL $DRIVE_STOP_NOT_REQ $IN[1025] ;FALSE = Drehzahlstopp Anforderung -SIGNAL $BRAKETEST_REQ_INT FALSE -SIGNAL $BRAKETEST_WORK FALSE -SIGNAL $BRAKES_OK FALSE -SIGNAL $BRAKETEST_WARN FALSE -DECL EMSTOP_PATH $EMSTOP_PATH={T1 #ON,T2 #ON,AUT #ON,EX #ON} ;PROJEKTIERUNG DES BAHNTREUEN NOT-AUS FUER T1,T2,AUT,EX -SIGNAL $EXT_START $IN[3] ;EXTERNER START -SIGNAL $MOVE_ENABLE $IN[4] ;FAHRFREIGABE GESAMT -SIGNAL $RC_RDY1 $OUT[17] ;RC-BETRIEBSBEREIT 1 -SIGNAL $SPOC_MOTION_ENABLE $OUT[1015] ; FAHRFREIGABE DURCH SAFETY CONTROLLER -SIGNAL $ALARM_STOP $OUT[1] ;NOT-STOP -SIGNAL $T1 $OUT[10] ;BETRIEBSART T1 -SIGNAL $T2 $OUT[11] ;BETRIEBSART T2 -SIGNAL $AUT $OUT[12] ;BETRIEBSART AUTOMATIK -SIGNAL $I_O_ACTCONF $OUT[18] ;E/A-SCHNITTSTELLE AKTIV QUITTUNG -SIGNAL $MODE_AUTO FALSE -SIGNAL $MODE_TEST FALSE -SIGNAL $LOCAL_NETWORK_OK FALSE -SIGNAL $COMPLETE_NETWORK_OK FALSE -SIGNAL $EXT $OUT[13] ;BETRIEBSART EXTERN -SIGNAL $STOPMESS $OUT[4] ;STOP-MELDUNG -SIGNAL $CONF_MESS $IN[5] ;EXTERNE QUITTUNG -SIGNAL $USER_SAF $OUT[2] -SIGNAL $PERI_RDY $OUT[3] -SIGNAL $IN_HOME $OUT[8] ;ROB IN HOMEPOSITION -SIGNAL $IN_HOME1 FALSE -SIGNAL $IN_HOME2 FALSE -SIGNAL $IN_HOME3 FALSE -SIGNAL $IN_HOME4 FALSE -SIGNAL $IN_HOME5 FALSE -SIGNAL $DRIVES_ON $IN[7] ;ANTRIEBE EIN -SIGNAL $DRIVES_OFF $IN[6] ;ANTRIEBE ENABLE -SIGNAL $ON_PATH $OUT[9] ;ROB AUF BAHN -SIGNAL $PR_MODE $OUT[21] ;HAND/PROGRAMMIERMODUS -SIGNAL $SS_MODE $OUT[22] ;HAND/SINGLE-STEP -SIGNAL $ALARM_STOP_INTERN $OUT[1002] ;NOT-STOP INTERN -SIGNAL $WORKSTATE1 FALSE -SIGNAL $WORKSTATE2 FALSE -SIGNAL $WORKSTATE3 FALSE -SIGNAL $WORKSTATE4 FALSE -SIGNAL $WORKSTATE5 FALSE -SIGNAL $WORKSTATE6 FALSE -SIGNAL $WORKSTATE7 FALSE -SIGNAL $WORKSTATE8 FALSE -SIGNAL $CYLWORKSTATE1 FALSE -SIGNAL $CYLWORKSTATE2 FALSE -SIGNAL $CYLWORKSTATE3 FALSE -SIGNAL $CYLWORKSTATE4 FALSE -SIGNAL $CYLWORKSTATE5 FALSE -SIGNAL $CYLWORKSTATE6 FALSE -SIGNAL $CYLWORKSTATE7 FALSE -SIGNAL $CYLWORKSTATE8 FALSE -SIGNAL $AXWORKSTATE1 FALSE -SIGNAL $AXWORKSTATE2 FALSE -SIGNAL $AXWORKSTATE3 FALSE -SIGNAL $AXWORKSTATE4 FALSE -SIGNAL $AXWORKSTATE5 FALSE -SIGNAL $AXWORKSTATE6 FALSE -SIGNAL $AXWORKSTATE7 FALSE -SIGNAL $AXWORKSTATE8 FALSE -SIGNAL $DELTAWORKSTATE FALSE -SIGNAL $ASYNC_AX1_P $IN[1026] -SIGNAL $ASYNC_AX2_P $IN[1026] -SIGNAL $ASYNC_AX3_P $IN[1026] -SIGNAL $ASYNC_AX4_P $IN[1026] -SIGNAL $ASYNC_AX5_P $IN[1026] -SIGNAL $ASYNC_AX6_P $IN[1026] -SIGNAL $ASYNC_AX1_M $IN[1026] -SIGNAL $ASYNC_AX2_M $IN[1026] -SIGNAL $ASYNC_AX3_M $IN[1026] -SIGNAL $ASYNC_AX4_M $IN[1026] -SIGNAL $ASYNC_AX5_M $IN[1026] -SIGNAL $ASYNC_AX6_M $IN[1026] -SIGNAL $ZUST_ASYNC $IN[1026] -SIGNAL $NEAR_POSRET $OUT[14] ;ROBOTER IN TOLERANZFENSTER -SIGNAL $COLLISION FALSE -SIGNAL $COLLISION_STOP FALSE -SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV -SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP -SIGNAL $MOVE_ENA_ACK FALSE -SIGNAL $COLL_ALARM FALSE -SIGNAL $COLL_ENABLE FALSE -SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS -SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV -SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED -REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG -SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT -SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON -SIGNAL $PRO_ACT $OUT[5] ;PROZESS AKTIV -SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV -ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/STEU/Mada/$option.dat b/KUKA/KRC/STEU/Mada/$option.dat deleted file mode 100644 index 0ec9dc0..0000000 --- a/KUKA/KRC/STEU/Mada/$option.dat +++ /dev/null @@ -1,29 +0,0 @@ -&ACCESS RV$ -&PARAM VERSION = 1.0.0 -DEFDAT $OPTION PUBLIC -CHAR $V_OPTION[32] -$V_OPTION[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG -BOOL $TECH_OPT=TRUE ;FUNKTIONSGENERATOR -BOOL $CONSIDER_DLIN_ENERGY=FALSE ;Energie bei DLIN-Planung beruecksichtigen -BOOL $TCP_IPO=TRUE ;GREIFERBEZOGENE INTERPOLATION -BOOL $SEP_ASYNC_OV=FALSE ;Schalter fuer asynchrone Hand-Overrides -BOOL $LOOP_CONT=FALSE -CHAR $LOOP_MSG[128] -BOOL $IDENT_OPT=TRUE -INT $SINGUL_STRATEGY=0 ;0=NONE, 1=APPROX -BOOL $MOT_STOP_OPT=FALSE ;AKTIVIERUNG "BLOCK EXTERNAL START" -BOOL $CHCK_MOVENA=TRUE ;AB-UND EINSCHALTEN DER UEBERPRUEFUNG DER EINGANGSNUMMER VON $MOVE_ENABLE -BOOL $COLLISAVOID=FALSE ; -BOOL $MOTIONCOOP=FALSE ; -BOOL $PROGCOOP=FALSE ; -BOOL $T2_OV_REDUCE=TRUE ;TRUE = Overridereduzierung auf 10 % in Mode T2 -BOOL $VAR_TCP_IPO=FALSE -BOOL $SPL_VEL_MODE_OPT=TRUE ; Defaulteinstellung fuer $SPL_VEL_MODE -INT $SPL_PTP_PARA_OPT=2 ; Defaulteinstellung fuer PTP-Spline Parametrisierung -BOOL $IMPROVEDMIXEDBLENDING=TRUE ; verbessertes gemischtes Ueberschleifen -BOOL $IMPROVEDSPLINEGEOMETRY=TRUE ;verbesserte Spline Geometrie -DECL STEP_ENUM $SPL_MIXEDBLENDING_OPT=#STEP2 ;Optimierungen des gemischten Ueberschleifens im Spline -DECL INSTALLED_MOTION_MODES $INSTALLED_MOTION_MODES={PATH FALSE,DYNAMIC FALSE,ECO FALSE} ;Motion modes are subject to charges! Do not set manually to true. -CHAR $MAX_XROB_VERS[32] ;Hoechste zu verwendende Version des XROB-Absolutgenauigkeitsmodells -$MAX_XROB_VERS[]="4.2" ;="Major.Minor" -ENDDAT \ No newline at end of file