更新PLC程序,更新机器人程序

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