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更新PLC程序,更新机器人程序

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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
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BIN
6040-003上下料 V2.1.project
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2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
DEFDAT CollDetect_UserAction

2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
DEF CollDetect_UserAction( )

2
KUKA/KRC/R1/KUKA/masref_user.dat
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@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program

2
KUKA/KRC/R1/KUKA/masref_user.src
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@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program

7
KUKA/KRC/R1/Program/ActionReturn.src
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@@ -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
CONTINUE
Q_CmdRet=CmdSave
CONTINUE
Q_Cmd_Running=0
END

16
KUKA/KRC/R1/Program/Config.dat
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@@ -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

2
KUKA/KRC/R1/Program/Grip/GripClose.src
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@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV3
DEF GripClose ( )
Q_GripPosIndex=102
Q_GripPosCount=I_GripPosCountRet+1

2
KUKA/KRC/R1/Program/Grip/GripOpen.src
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@@ -1,4 +1,4 @@
&ACCESS RV
&ACCESS RV2
DEF GripOpen ( )
Q_GripPosIndex=101

2
KUKA/KRC/R1/Program/Home/HomeModule.dat
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@@ -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

4
KUKA/KRC/R1/Program/Home/HomeModule.src
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@@ -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}

2
KUKA/KRC/R1/Program/MainModule.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVP
&REL 1
DEFDAT MainModule
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P

4
KUKA/KRC/R1/Program/MainModule.src
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@@ -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

2
KUKA/KRC/R1/Program/Mylib/CheckInPos.src
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@@ -1,4 +1,4 @@
&ACCESS RVO2
&ACCESS RVO4
DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
DECL REAL R_offset
DECL BOOL b_Pok

2
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
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@@ -1,4 +1,4 @@
&ACCESS RVP
&ACCESS RVO1
&REL 1
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT FEEDBELT1PICK

4
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
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@@ -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

4
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
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@@ -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

4
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
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@@ -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

22
KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
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@@ -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

7
KUKA/KRC/R1/Program/PL/NgBeltPlace.src
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@@ -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
ActionReturn(1)
END_POS=$POS_ACT
END

2
KUKA/KRC/R1/Program/PL/Pallet1Place.dat
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@@ -1,4 +1,4 @@
&ACCESS RV
&ACCESS RV1
&REL 1
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT PALLET1PLACE

13
KUKA/KRC/R1/Program/PL/Pallet1Place.src
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@@ -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

6
KUKA/KRC/R1/Program/PL/Pallet2Place.dat
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@@ -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[] " "}

12
KUKA/KRC/R1/Program/PL/Pallet2Place.src
View File

@@ -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

16
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
View File

@@ -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

4
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
View File

@@ -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

16
KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
View File

@@ -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

4
KUKA/KRC/R1/Program/PL/WaterBeltPick.src
View File

@@ -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

2
KUKA/KRC/R1/Program/PosBase.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\TP
DEFDAT POSBASE PUBLIC

2
KUKA/KRC/R1/System/$config.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV$4
&ACCESS RV$7
DEFDAT $CONFIG
;FOLD BASISTECH GLOBALS
;==================================

2
KUKA/KRC/R1/System/MqttConfig.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
DEFDAT MqttConfig PUBLIC
; Publisher IP address for KukaConnect data-set configuration.

2
KUKA/KRC/R1/System/MsgLib.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT Message library
DEFDAT MsgLib PUBLIC

2
KUKA/KRC/R1/System/MsgLib.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT Message library
DEF MsgLib ( )
;**************************************************

2
KUKA/KRC/R1/System/bas.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&REL 1
&COMMENT BASIS package
DEF BAS (COMMAND :IN,REAL_PAR :IN )

2
KUKA/KRC/R1/System/collmonlib.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT Collision monitoring library
DEFDAT COLLMONLIB PUBLIC
;DO NOT MODIFY THIS FILE

2
KUKA/KRC/R1/System/collmonlib.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT Collision monitoring library
DEF CollMonLib( )

2
KUKA/KRC/R1/System/ir_stopm.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT HandlerOnRobotFault
DEF IR_STOPM ( )
;-----------------------------------

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT path after test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT path after test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT parkposition
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT parkposition
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RVO2
&ACCESS RVO5
&REL 1
&COMMENT BrkTst-main task
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
View File

@@ -1,4 +1,4 @@
&ACCESS RVO2
&ACCESS RVO5
&REL 1
&COMMENT BrkTst-main task
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT path to test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV5
&REL 1
&COMMENT path to test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RO2
&ACCESS RO5
&REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEFDAT EthernetKRL PUBLIC

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
View File

@@ -1,4 +1,4 @@
&ACCESS RO2
&ACCESS RO5
&REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEF EthernetKRL( )

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
View File

@@ -1,4 +1,4 @@
&ACCESS RO2
&ACCESS RO5
&REL 2314
&PARAM DISKPATH = TP/EthernetKRL
DEF EthernetKRL_USER( )

2
KUKA/KRC/R1/TP/p00.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R6
&COMMENT EXTERNAL package
DEFDAT P00

2
KUKA/KRC/R1/TP/p00.src
View File

@@ -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

4
KUKA/KRC/STEU/$config.dat
View File

@@ -1,4 +0,0 @@
&ACCESS RV$4
DEFDAT $CONFIG
ENDDAT

650
KUKA/KRC/STEU/Mada/$custom.dat
View File

@@ -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

103
KUKA/KRC/STEU/Mada/$machine.dat
View File

@@ -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

29
KUKA/KRC/STEU/Mada/$option.dat
View File

@@ -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