PLC/6040-003
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新PLC程序,更新机器人程序

Browse Source
This commit is contained in:
zhusenlin
2026-02-08 16:40:58 +08:00
parent 278ad57620
commit 08766bb1a9
54 changed files with 114 additions and 887 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
KUKA/KRC/R1/Program/PL/NgBeltPlace.src
View File

@@ -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