更新优化程序

KUKA/KRC/R1/Program/TP/T.src

@@ -0,0 +1,53 @@
+&ACCESS RVO
+&REL 19
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEF T( )
+;FOLD INI;%{PE}
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+
+;FOLD PTP home CONT Vel=100 % PDAT3 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT3
+FDAT_ACT = Fhome
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP Xhome C_Dis
+;ENDFOLD
+;FOLD PTP Pass2 Vel=100 % PDAT5 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;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
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT5
+FDAT_ACT = FPass2
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPass2
+;ENDFOLD
+;FOLD PTP Pass Vel=100 % PDAT6 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT6
+FDAT_ACT = FPass
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPass
+;ENDFOLD
+END