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更新优化程序

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zhusenlin
2026-02-12 11:51:44 +08:00
parent cee4549e79
commit 2a95796b9a
52 changed files with 657 additions and 265 deletions
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47
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
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@@ -1,5 +1,5 @@
&ACCESS RVO
&REL 3
&REL 9
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF FeedBelt2Pick ( )
DECL REAL x_offset,y_offset,z_offset
@@ -25,28 +25,43 @@ DEF FeedBelt2Pick ( )
XPick.Z=XFeedBelt2Pick.Z + z_offset
XPickH=XPick
XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP XPickH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FPickH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPickH C_Dis
;ENDFOLD
CONTINUE
WAIT FOR I_GripOpen AND I_Signal2 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE
Q_AreaEnter1=TRUE
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPick
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPick
;ENDFOLD
GripClose()
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN XPickH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPickH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPickH
;ENDFOLD
Q_AreaEnter1=FALSE
ActionReturn(1)