更新：README,程序

6040-003上下料 V2.1.Device.Application.xml

@@ -441,7 +441,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="104" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="106" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_HMI" size="40" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_HMI">
+    <TypeUserDef name="T_U1_EM00_HMI" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_HMI">
       <UserDefElement iecname="btnLightControl" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="relCT_Current" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="relCT_Act" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -453,8 +453,9 @@
       <UserDefElement iecname="relRate" type="T_REAL" byteoffset="32" vartype="VAR" />
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
-      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="38" vartype="VAR" />
-      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="39" vartype="VAR" />
+      <UserDefElement iecname="bTestMode" type="T_BOOL" byteoffset="38" vartype="VAR" />
+      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="39" vartype="VAR" />
+      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="40" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U1_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Port">
       <UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -2061,7 +2062,7 @@
       <UserDefElement iecname="ARRAYREAL_单小时优率" type="T_ARRAY__0__23__OF_REAL" byteoffset="7888" vartype="VAR" />
       <UserDefElement iecname="单班日期显示" type="T_ARRAY__0__3__OF_OEE_生产统计字符串" byteoffset="7984" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_APP" size="6520" nativesize="6648" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_APP">
+    <TypeUserDef name="T_U1_EM00_APP" size="6522" nativesize="6652" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_APP">
       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="OpCtrlCmd" type="T_UDT_OpCtrlCmd" byteoffset="198" vartype="VAR" />
       <UserDefElement iecname="I" type="T_U1_EM00_Input" byteoffset="220" vartype="VAR" />
@@ -2070,12 +2071,12 @@
       <UserDefElement iecname="Port" type="T_U1_EM00_Port" byteoffset="6424" vartype="VAR" />
       <UserDefElement iecname="Tag" type="T_U1_EM00_Tag" byteoffset="6465" vartype="VAR" />
       <UserDefElement iecname="HMI" type="T_U1_EM00_HMI" byteoffset="6468" vartype="VAR" />
-      <UserDefElement iecname="FromRobot" type="T_U1_EM00_Un_FromRobot" byteoffset="6508" vartype="VAR" />
-      <UserDefElement iecname="ToRobot" type="T_U1_EM00_Un_ToRobot" byteoffset="6508" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6508" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6510" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6512" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6516" vartype="VAR" />
+      <UserDefElement iecname="FromRobot" type="T_U1_EM00_Un_FromRobot" byteoffset="6509" vartype="VAR" />
+      <UserDefElement iecname="ToRobot" type="T_U1_EM00_Un_ToRobot" byteoffset="6509" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6510" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6512" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6514" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6518" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U2_EM00_APP" size="6520" nativesize="6836" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_APP">
       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />

README.md

@@ -8,7 +8,8 @@
  - [ ] kuka功能块验证
  - [x]  其他工位HMI IO显示
  - [x]  轴画面不能设负数
-
+ - [ ] 界面少在原位标志
+ - [ ] 机器人程序增加中断保护，防止撞击，防止放料时下方有物料
 
 
 ## 机器人命令程序号