更新优化程序
This commit is contained in:
zhusenlin
@@ -1,5 +1,5 @@
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&ACCESS RVP
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&REL 5
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&ACCESS RVO
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&REL 26
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&PARAM DISKPATH = KRC:\R1\Program\PL
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DEF Pallet2Place ( )
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DECL REAL x_offset,y_offset,z_offset
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@@ -24,47 +24,78 @@ DEF Pallet2Place ( )
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XPlace.Z=XPallet1PlaceB.Z + z_offset
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XPlaceH=XPlace
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XPlaceH.Z=XPlace.Z+400
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XPlaceSigH=XPlace
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XPlaceSigH.X=XPlace.X-50
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XPlaceSigH.Z=XPlace.Z+500
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XPlaceSig=XPlace
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XPlaceSig.X=XPlace.X-50
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XPlaceSig.Z=XPlace.Z+400
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;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE}
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;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT7
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FDAT_ACT = FPlaceSigH
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlaceSigH C_Dis C_Dis
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;ENDFOLD
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;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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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(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT8
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FDAT_ACT = FPlaceSig
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlaceSig
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;ENDFOLD
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;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT3 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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WAIT FOR NOT I_GripBelowExist
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;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT3), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT3), $ORI_TYPE = SORI_TYP(LCPDAT3), $APO = SAPO(LCPDAT3), $JERK = SJERK(LCPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT5
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FDAT_ACT = FPlaceH
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlaceH C_Dis C_Dis
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;ENDFOLD
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CONTINUE
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WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
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WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
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CONTINUE
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Q_AreaEnter2=TRUE
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;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
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;ENDFOLD
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SLIN XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT1
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FDAT_ACT = FPlace
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlace
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;ENDFOLD
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GripOpen()
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;FOLD SLIN PlaceH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
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;ENDFOLD
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SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT2
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FDAT_ACT = FPlaceH
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlaceH
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;ENDFOLD
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CONTINUE
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Q_AreaEnter2=FALSE
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ActionReturn(1)
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;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
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;FOLD Parameters ;%{h}
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;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
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;ENDFOLD
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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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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END_POS=$POS_ACT
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END
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