更新优化程序
This commit is contained in:
zhusenlin
32
KUKA/KRC/R1/Program/TP/T.dat
Normal file
32
KUKA/KRC/R1/Program/TP/T.dat
Normal file
@@ -0,0 +1,32 @@
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&ACCESS RVO
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&REL 19
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&PARAM EDITMASK = *
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEFDAT T
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;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
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;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
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EXT BAS (BAS_COMMAND :IN,REAL :IN )
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DECL INT SUCCESS
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;ENDFOLD (BASISTECH EXT)
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;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
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;Make your modifications here
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;ENDFOLD (USER EXT)
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;ENDFOLD (EXTERNAL DECLARATIONS)
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DECL FDAT Fhome1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.PointName=Pass; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.FrameData.point2=; Kuka.isglobalpoint=False; Kuka.MoveDataName=CPDAT2; 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 "}
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DECL E6POS XPass={X 1496.99622,Y 1744.02686,Z 677.063965,A 165.215530,B 0.220793873,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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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}}}
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DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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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}}}
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DECL E6POS XPass2={X 1017.04706,Y 1744.06714,Z 677.063965,A 165.215530,B 0.220793888,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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DECL FDAT FPass2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL LDAT LCPDAT3={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}}}
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DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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ENDDAT
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53
KUKA/KRC/R1/Program/TP/T.src
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53
KUKA/KRC/R1/Program/TP/T.src
Normal file
@@ -0,0 +1,53 @@
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&ACCESS RVO
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&REL 19
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&PARAM EDITMASK = *
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEF T( )
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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;FOLD PTP home CONT Vel=100 % PDAT3 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT3
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FDAT_ACT = Fhome
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP Xhome C_Dis
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;ENDFOLD
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;FOLD PTP Pass2 Vel=100 % PDAT5 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=Pass2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT5
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FDAT_ACT = FPass2
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPass2
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;ENDFOLD
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;FOLD PTP Pass Vel=100 % PDAT6 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT6
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FDAT_ACT = FPass
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPass
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;ENDFOLD
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END
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@@ -1,5 +1,5 @@
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&ACCESS RVO
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&REL 20
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&REL 31
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEFDAT TESTMODULE
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;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
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@@ -14,22 +14,31 @@ DECL INT SUCCESS
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;ENDFOLD (EXTERNAL DECLARATIONS)
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DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet2PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.FrameData.point2="}
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DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet1PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT16; 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.FrameData.point2=; Kuka.MoveDataName=CPDAT2; 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"}
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DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT8={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT11={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL FDAT FXFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL PDAT PPDAT12={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT13={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT14={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT15={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL PDAT PPDAT16={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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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}}}
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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}}}
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ENDDAT
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@@ -1,5 +1,5 @@
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&ACCESS RVO
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&REL 20
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&REL 31
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEF TestModule ( )
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;FOLD INI;%{PE}
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@@ -13,36 +13,115 @@ DEF TestModule ( )
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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;FOLD SPTP HOME Vel=100 % PDAT10 ;%{PE}
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;FOLD PTP HOME Vel=100 % PDAT10 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; 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=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT10), $APO = SAPO_PTP(PPDAT10), $GEAR_JERK[1] = SGEAR_JERK(PPDAT10), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT10
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FDAT_ACT = FHOME
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XHOME
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;ENDFOLD
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;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE}
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;FOLD PTP HOME2 Vel=100 % PDAT9 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; 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=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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SPTP XHOME2 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME2), $BASE = SBASE(FHOME2.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME2.IPO_FRAME), $LOAD = SLOAD(FHOME2.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT9), $APO = SAPO_PTP(PPDAT9), $GEAR_JERK[1] = SGEAR_JERK(PPDAT9), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT9
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FDAT_ACT = FHOME2
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XHOME2
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;ENDFOLD
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;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE}
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;FOLD PTP HOME1 Vel=100 % PDAT8 ;%{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=PDAT8; 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=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT8; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;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(PPDAT8), $APO = SAPO_PTP(PPDAT8), $GEAR_JERK[1] = SGEAR_JERK(PPDAT8), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT8
|
||||
FDAT_ACT = FHOME1
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XHOME1
|
||||
;ENDFOLD
|
||||
;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
|
||||
;FOLD LIN Pallet1PlaceB Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
||||
;ENDFOLD
|
||||
SPTP XPallet1PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet1PlaceB), $BASE = SBASE(FPallet1PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet1PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet1PlaceB.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)
|
||||
$BWDSTART = FALSE
|
||||
LDAT_ACT = LCPDAT2
|
||||
FDAT_ACT = FPallet1PlaceB
|
||||
BAS(#CP_PARAMS, 2.0)
|
||||
SET_CD_PARAMS (0)
|
||||
LIN XPallet1PlaceB
|
||||
;ENDFOLD
|
||||
;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
|
||||
;FOLD LIN Pallet2PlaceB Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
||||
;ENDFOLD
|
||||
SPTP XPallet2PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet2PlaceB), $BASE = SBASE(FPallet2PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet2PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet2PlaceB.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)
|
||||
$BWDSTART = FALSE
|
||||
LDAT_ACT = LCPDAT1
|
||||
FDAT_ACT = FPallet2PlaceB
|
||||
BAS(#CP_PARAMS, 2.0)
|
||||
SET_CD_PARAMS (0)
|
||||
LIN XPallet2PlaceB
|
||||
;ENDFOLD
|
||||
;FOLD PTP FeedBelt1Pick Vel=100 % PDAT12 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt1Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT12; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
|
||||
;ENDFOLD
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT12
|
||||
FDAT_ACT = FFeedBelt1Pick
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XFeedBelt1Pick
|
||||
;ENDFOLD
|
||||
;FOLD PTP FeedBelt2Pick Vel=100 % PDAT13 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT13; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
|
||||
;ENDFOLD
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT13
|
||||
FDAT_ACT = FFeedBelt2Pick
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XFeedBelt2Pick
|
||||
;ENDFOLD
|
||||
;FOLD PTP NgBeltPlace Vel=100 % PDAT14 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=NgBeltPlace; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT14; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
|
||||
;ENDFOLD
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT14
|
||||
FDAT_ACT = FNgBeltPlace
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XNgBeltPlace
|
||||
;ENDFOLD
|
||||
;FOLD PTP WaterBeltPick Vel=100 % PDAT15 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT15; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
|
||||
;ENDFOLD
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT15
|
||||
FDAT_ACT = FWaterBeltPick
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XWaterBeltPick
|
||||
;ENDFOLD
|
||||
;FOLD PTP ReFeedBeltPick Vel=100 % PDAT16 Tool[1] Base[1] ;%{PE}
|
||||
;FOLD Parameters ;%{h}
|
||||
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=ReFeedBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT16; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
|
||||
;ENDFOLD
|
||||
$BWDSTART = FALSE
|
||||
PDAT_ACT = PPDAT16
|
||||
FDAT_ACT = FReFeedBeltPick
|
||||
BAS(#PTP_PARAMS, 100.0)
|
||||
SET_CD_PARAMS (0)
|
||||
PTP XReFeedBeltPick
|
||||
;ENDFOLD
|
||||
|
||||
|
||||
END
|
||||
Reference in New Issue
Block a user
