更新PLC程序,更新机器人程序

2026-02-08 16:40:58 +08:00
parent 278ad57620
commit 08766bb1a9
54 changed files with 114 additions and 887 deletions
--- 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