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更新优化程序

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This commit is contained in:
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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20
KUKA/KRC/R1/System/$config.dat
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@@ -132,11 +132,11 @@ SIGNAL ExtUserIDWatchDog $IN[1026]
;==================================
; Variables:
;==================================
DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LDEFAULT={VEL 2.00000,ACC 100.000,APO_DIST 100.000,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}
DECL LDAT CDEFAULT={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}}}
DECL FDAT FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL FDAT FHOME={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}
DECL HDAT HDEFAULT={HT_START 250.000,HT_DEST 250.000,APO_START 200.000,APO_DEST 200.000,ACC_START 100.000,ACC_DEST 100.000,VEL_START 2.00000,VEL_DEST 2.00000}
@@ -175,9 +175,9 @@ INT $ACT_GROUP='B0001'
; HOME POSITION
;----------------------------------
E6AXIS XHOME={A1 -40.3666763,A2 -83.7005,A3 104.610184,A4 -0.0553556271,A5 68.6550,A6 -25.0909958,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME1={A1 -47.3356514,A2 -65.9847336,A3 82.3962097,A4 0.00171302236,A5 73.1501541,A6 -32.0802269,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME2={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME1={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME2={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME3={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME4={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS XHOME5={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
@@ -238,7 +238,7 @@ TOOL_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
TOOL_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
DECL CHAR TOOL_NAME[16,24]
TOOL_NAME[1,]="Tool1"
TOOL_NAME[1,]=" "
TOOL_NAME[2,]=" "
TOOL_NAME[3,]=" "
TOOL_NAME[4,]=" "
@@ -348,7 +348,7 @@ TOOL_TYPE[16]=#NONE
DECL LOAD LOAD_A1_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A2_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A3_DATA={M 50.0000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A3_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
INT MAX_BASE=32
DECL FRAME BASE_DATA[32]
@@ -386,7 +386,7 @@ BASE_DATA[31]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
BASE_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
DECL CHAR BASE_NAME[32,24]
BASE_NAME[1,]="Base1"
BASE_NAME[1,]=" "
BASE_NAME[2,]=" "
BASE_NAME[3,]=" "
BASE_NAME[4,]=" "
@@ -420,7 +420,7 @@ BASE_NAME[31,]=" "
BASE_NAME[32,]=" "
DECL IPO_M_T BASE_TYPE[32]
BASE_TYPE[1]=#BASE
BASE_TYPE[1]=#NONE
BASE_TYPE[2]=#NONE
BASE_TYPE[3]=#NONE
BASE_TYPE[4]=#NONE
@@ -495,7 +495,7 @@ MACHINE_TOOL_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32]
MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] "WORLD",GEOMETRY[] " "}
MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}

2
KUKA/KRC/R1/System/MqttConfig.dat
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@@ -1,4 +1,4 @@
&ACCESS RV2
&ACCESS RV3
DEFDAT MqttConfig PUBLIC
; Publisher IP address for KukaConnect data-set configuration.

2
KUKA/KRC/R1/System/MsgLib.dat
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&COMMENT Message library
DEFDAT MsgLib PUBLIC

2
KUKA/KRC/R1/System/MsgLib.src
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&COMMENT Message library
DEF MsgLib ( )
;**************************************************

2
KUKA/KRC/R1/System/bas.src
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&REL 1
&COMMENT BASIS package
DEF BAS (COMMAND :IN,REAL_PAR :IN )

2
KUKA/KRC/R1/System/collmonlib.dat
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&COMMENT Collision monitoring library
DEFDAT COLLMONLIB PUBLIC
;DO NOT MODIFY THIS FILE

2
KUKA/KRC/R1/System/collmonlib.src
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&COMMENT Collision monitoring library
DEF CollMonLib( )

2
KUKA/KRC/R1/System/ir_stopm.src
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@@ -1,4 +1,4 @@
&ACCESS R3
&ACCESS R4
&COMMENT HandlerOnRobotFault
DEF IR_STOPM ( )
;-----------------------------------