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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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BIN
6040-003上下料 V2.1.project
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2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
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@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
DEFDAT CollDetect_UserAction DEFDAT CollDetect_UserAction

2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
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@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
DEF CollDetect_UserAction( ) DEF CollDetect_UserAction( )

2
KUKA/KRC/R1/KUKA/masref_user.dat
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@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT Mastering Reference User Program &COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program &PARAM DISKPATH = KRC:\R1\Program

2
KUKA/KRC/R1/KUKA/masref_user.src
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@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT Mastering Reference User Program &COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program &PARAM DISKPATH = KRC:\R1\Program

10
KUKA/KRC/R1/Mada/$machine.dat
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@@ -377,7 +377,7 @@ $SOFTN_END[2]=-140.000
$SOFTN_END[3]=-120.000 $SOFTN_END[3]=-120.000
$SOFTN_END[4]=-350.000 $SOFTN_END[4]=-350.000
$SOFTN_END[5]=-125.000 $SOFTN_END[5]=-125.000
$SOFTN_END[6]=-350.000 $SOFTN_END[6]=-178.000
$SOFTN_END[7]=0.0 $SOFTN_END[7]=0.0
$SOFTN_END[8]=0.0 $SOFTN_END[8]=0.0
$SOFTN_END[9]=0.0 $SOFTN_END[9]=0.0
@@ -390,7 +390,7 @@ $SOFTP_END[2]=-5.00000
$SOFTP_END[3]=168.000 $SOFTP_END[3]=168.000
$SOFTP_END[4]=350.000 $SOFTP_END[4]=350.000
$SOFTP_END[5]=125.000 $SOFTP_END[5]=125.000
$SOFTP_END[6]=350.000 $SOFTP_END[6]=178.000
$SOFTP_END[7]=0.0 $SOFTP_END[7]=0.0
$SOFTP_END[8]=0.0 $SOFTP_END[8]=0.0
$SOFTP_END[9]=0.0 $SOFTP_END[9]=0.0
@@ -612,10 +612,10 @@ FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2 FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3 FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
E6AXIS $H_POS={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 $H_POS={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 $AXIS_HOME[5] E6AXIS $AXIS_HOME[5]
$AXIS_HOME[1]={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} $AXIS_HOME[1]={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}
$AXIS_HOME[2]={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} $AXIS_HOME[2]={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}
$AXIS_HOME[3]={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} $AXIS_HOME[3]={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}
$AXIS_HOME[4]={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} $AXIS_HOME[4]={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}
$AXIS_HOME[5]={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} $AXIS_HOME[5]={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}

12
KUKA/KRC/R1/Program/Config.dat
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@@ -3,18 +3,18 @@ DEFDAT CONFIG PUBLIC
GLOBAL INT PdtTypeLast=0 GLOBAL INT PdtTypeLast=0
GLOBAL INT CmdSave=11 GLOBAL INT CmdSave=11
GLOBAL INT CmdCountLast=2 GLOBAL INT CmdCountLast=298
GLOBAL INT PlaceOffsetX_Save=-1167 GLOBAL INT PlaceOffsetX_Save=-1258
GLOBAL INT PlaceOffsetY_Save=-3250 GLOBAL INT PlaceOffsetY_Save=-3000
GLOBAL INT PlaceOffsetZ_Save=0 GLOBAL INT PlaceOffsetZ_Save=0
GLOBAL INT PickOffsetX_Save=0 GLOBAL INT PickOffsetX_Save=0
GLOBAL INT PickOffsetY_Save=0 GLOBAL INT PickOffsetY_Save=0
GLOBAL INT PickOffsetZ_Save=0 GLOBAL INT PickOffsetZ_Save=0
GLOBAL INT CountX_Save=2 GLOBAL INT CountX_Save=11
GLOBAL INT CountY_Save=0 GLOBAL INT CountY_Save=3
GLOBAL BOOL ConfMessSave=FALSE GLOBAL BOOL ConfMessSave=FALSE
DECL GLOBAL E6POS END_POS={X 567.624878,Y 2965.83350,Z 747.798157,A -164.436340,B 0.381067097,C 179.743317,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS END_POS={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
ENDDAT ENDDAT

2
KUKA/KRC/R1/Program/Grip/GripClose.src
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@@ -1,4 +1,4 @@
&ACCESS RV &ACCESS RVP1
DEF GripClose ( ) DEF GripClose ( )
Q_GripPosIndex=102 Q_GripPosIndex=102
Q_GripPosCount=I_GripPosCountRet+1 Q_GripPosCount=I_GripPosCountRet+1

2
KUKA/KRC/R1/Program/Grip/GripOpen.src
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@@ -1,4 +1,4 @@
&ACCESS RV1 &ACCESS RVP
DEF GripOpen ( ) DEF GripOpen ( )
Q_GripPosIndex=101 Q_GripPosIndex=101

8
KUKA/KRC/R1/Program/Home/HomeModule.dat
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@@ -1,5 +1,7 @@
&ACCESS RVP &ACCESS RVO
DEFDAT HomeModule &REL 3
&PARAM DISKPATH = KRC:\R1\Program\Home
DEFDAT HOMEMODULE
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN ) EXT BAS (BAS_COMMAND :IN,REAL :IN )
@@ -10,5 +12,5 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; 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.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2="} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; 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.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2="}
ENDDAT ENDDAT

21
KUKA/KRC/R1/Program/Home/HomeModule.src
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@@ -1,4 +1,6 @@
&ACCESS RVP &ACCESS RVO
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\Home
DEF HomeModule ( ) DEF HomeModule ( )
;FOLD INI;%{PE} ;FOLD INI;%{PE}
;FOLD BASISTECH INI ;FOLD BASISTECH INI
@@ -17,11 +19,16 @@ DEF HomeModule ( )
LIN {Z 1600} LIN {Z 1600}
ENDIF ENDIF
;FOLD SPTP HOME Vel=100 % DEFAULT ;%{PE} ;FOLD PTP HOME Vel=100 % DEFAULT ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; 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=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD ;ENDFOLD
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(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) $BWDSTART = FALSE
;ENDFOLD PDAT_ACT = PDEFAULT
FDAT_ACT = FHOME
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XHOME
;ENDFOLD
END END

12
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
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@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVP
&REL 1 &REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT FEEDBELT1PICK DEFDAT FEEDBELT1PICK
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -13,14 +13,16 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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.MoveDataName=CPDAT1; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; 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=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2="}
DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPickH={X -371.799255,Y 3335.85059,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPickH={X -367.936188,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPick={X -371.799255,Y 3335.85059,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
ENDDAT ENDDAT

49
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
View File

@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVP
&REL 1 &REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEF FeedBelt1Pick ( ) DEF FeedBelt1Pick ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
@@ -25,28 +25,43 @@ DEF FeedBelt1Pick ( )
XPick.Z=XFeedBelt1Pick.Z + z_offset XPick.Z=XFeedBelt1Pick.Z + z_offset
XPickH=XPick XPickH=XPick
XPickH.Z=XPick.Z+500 XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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 $BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FPickH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPickH C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter1=TRUE Q_AreaEnter1=TRUE
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPick
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPick
;ENDFOLD ;ENDFOLD
GripClose() GripClose()
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPickH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPickH
;ENDFOLD ;ENDFOLD
Q_AreaEnter1=FALSE Q_AreaEnter1=FALSE
ActionReturn(1) ActionReturn(1)

10
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
View File

@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVO
&REL 3 &REL 9
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT FEEDBELT2PICK DEFDAT FEEDBELT2PICK
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -17,8 +17,10 @@ DECL FDAT FPick_1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
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}}} 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}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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.MoveDataName=CPDAT1; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; 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=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2="}
DECL E6POS XPickH={X -513.757690,Y 3336.04053,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPickH={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XPick={X -513.757690,Y 3336.04053,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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}}}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
ENDDAT ENDDAT

47
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
View File

@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVO
&REL 3 &REL 9
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEF FeedBelt2Pick ( ) DEF FeedBelt2Pick ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
@@ -25,28 +25,43 @@ DEF FeedBelt2Pick ( )
XPick.Z=XFeedBelt2Pick.Z + z_offset XPick.Z=XFeedBelt2Pick.Z + z_offset
XPickH=XPick XPickH=XPick
XPickH.Z=XPick.Z+500 XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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 $BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FPickH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPickH C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_GripOpen AND I_Signal2 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_GripOpen AND I_Signal2 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter1=TRUE Q_AreaEnter1=TRUE
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPick
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPick
;ENDFOLD ;ENDFOLD
GripClose() GripClose()
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPickH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPickH
;ENDFOLD ;ENDFOLD
Q_AreaEnter1=FALSE Q_AreaEnter1=FALSE
ActionReturn(1) ActionReturn(1)

5
KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT NGBELTPLACE DEFDAT NGBELTPLACE
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -10,7 +12,7 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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.MoveDataName=CPDAT1; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; 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.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; Kuka.FrameData.point2="}
DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
@@ -20,4 +22,5 @@ DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
ENDDAT ENDDAT

60
KUKA/KRC/R1/Program/PL/NgBeltPlace.src
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF NgBeltPlace ( ) DEF NgBeltPlace ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
;FOLD INI;%{PE} ;FOLD INI;%{PE}
@@ -23,37 +25,57 @@ DEF NgBeltPlace ( )
XPlace.Z=XNgBeltPlace.Z + z_offset XPlace.Z=XNgBeltPlace.Z + z_offset
XPlaceH=XPlace XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+500 XPlaceH.Z=XPlace.Z+500
;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD PTP PlaceH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; 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=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD ;ENDFOLD
SPTP XPlaceH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.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 $BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = FPlaceH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPlaceH C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter2=TRUE Q_AreaEnter2=TRUE
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN Place Vel=2 m/s CPDAT3 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT3
FDAT_ACT = FPlace
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlace
;ENDFOLD ;ENDFOLD
GripOpen() GripOpen()
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD ;ENDFOLD
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) C_Spl $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH C_Dis C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
Q_AreaEnter2=FALSE Q_AreaEnter2=FALSE
ActionReturn(1) ActionReturn(1)
;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} ;FOLD PTP HOME1 Vel=100 % PDAT2 ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FHOME1
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XHOME1
;ENDFOLD ;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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
END_POS=$POS_ACT END_POS=$POS_ACT
END END

28
KUKA/KRC/R1/Program/PL/Pallet1Place.dat
View File

@@ -1,5 +1,5 @@
&ACCESS RV &ACCESS RV
&REL 3 &REL 15
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT PALLET1PLACE DEFDAT PALLET1PLACE
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -15,17 +15,27 @@ DECL INT SUCCESS
DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; 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=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSig; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT6; 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.MoveDataName=CPDAT8; 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; Kuka.FrameData.point2= "}
DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceH={X 1384.94043,Y 2642.32153,Z 765.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPlaceH={X 1501.64038,Y 1742.32153,Z 765.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlace={X 1384.94043,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPlace={X 1501.64038,Y 1742.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME1={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}} 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}}}
DECL PDAT PPDAT3 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT4 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT4={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}}}
DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT5={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}}}
DECL E6POS XPlaceSigH={X 666666.688,Y 66.6000,Z 666.660,A 6.60000,B 66.6600,C 666.600,S 0,T 0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL LDAT LCPDAT7={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}}}
DECL FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceSig={X 1407.35193,Y 1196.59705,Z 1498.33838,A -164.745041,B 0.371815890,C 179.768021,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT8={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}}}
ENDDAT ENDDAT

89
KUKA/KRC/R1/Program/PL/Pallet1Place.src
View File

@@ -1,5 +1,5 @@
&ACCESS RV &ACCESS RV
&REL 3 &REL 15
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet1Place ( ) DEF Pallet1Place ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
@@ -24,48 +24,77 @@ DEF Pallet1Place ( )
XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset
XPlace.Z=XPallet1PlaceB.Z + z_offset XPlace.Z=XPallet1PlaceB.Z + z_offset
XPlaceH=XPlace XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+500 XPlaceH.Z=XPlace.Z+400
XPlaceSigH=XPlace
XPlaceSigH.Z=XPlace.Z+500
;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE} XPlaceSigH.X=XPlace.X-50
;FOLD Parameters ;%{h} XPlaceSig=XPlace
;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 XPlaceSig.Z=XPlace.Z+400
;ENDFOLD XPlaceSig.X=XPlace.X-50
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
;ENDFOLD
;FOLD SPTP PlaceH CONT Vel=100 % PDAT4 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[0] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT4; 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=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD ;ENDFOLD
SPTP XPlaceH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl $BWDSTART = FALSE
LDAT_ACT = LCPDAT7
FDAT_ACT = FPlaceSigH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceSigH C_Dis C_Dis
;ENDFOLD
;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;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
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT8
FDAT_ACT = FPlaceSig
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceSig
;ENDFOLD
;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;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
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT5
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH C_Dis C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter2=TRUE Q_AreaEnter2=TRUE
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPlace
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlace
;ENDFOLD ;ENDFOLD
GripOpen() GripOpen()
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} ;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD ;ENDFOLD
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) C_Spl $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH C_Dis C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
Q_AreaEnter2=FALSE Q_AreaEnter2=FALSE
ActionReturn(1) ActionReturn(1)
;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
;FOLD Parameters ;%{h}
;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
;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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
END_POS=$POS_ACT END_POS=$POS_ACT
END END

27
KUKA/KRC/R1/Program/PL/Pallet2Place.dat
View File

@@ -1,5 +1,5 @@
&ACCESS RVP &ACCESS RVO
&REL 5 &REL 26
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT PALLET2PLACE DEFDAT PALLET2PLACE
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -12,18 +12,33 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; 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=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; 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=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; 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; Kuka.FrameData.point2= "}
DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceH={X 1268.24036,Y 2642.32153,Z 665.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPlaceH={X 109.078979,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlace={X 1268.24036,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPlace={X 109.078979,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}} 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}}}
DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XHOME1={X 1407.35352,Y 1741.39893,Z 1283.17041,A -164.745026,B 0.372301966,C 179.768570,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XHOME1={X 1407.35352,Y 1741.39893,Z 1283.17041,A -164.745026,B 0.372301966,C 179.768570,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT4={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}}}
DECL PDAT PPDAT17={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981423,C 179.586945,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT18={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT5={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}}}
DECL E6POS XPlaceSigH={X 59.0789795,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPlaceSigH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT6={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}}}
DECL PDAT PPDAT19={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT7={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL E6POS XPlaceSig = { X 666666.666, Y 66.6, Z 666.66, A 6.6, B 66.66, C 666.6, S 0, T 0, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 }
DECL FDAT FPlaceSig = {BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT8 = {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}},APO_FAC 50.0,APO_DIST 493,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
ENDDAT ENDDAT

87
KUKA/KRC/R1/Program/PL/Pallet2Place.src
View File

@@ -1,5 +1,5 @@
&ACCESS RVP &ACCESS RVO
&REL 5 &REL 26
&PARAM DISKPATH = KRC:\R1\Program\PL &PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet2Place ( ) DEF Pallet2Place ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
@@ -24,47 +24,78 @@ DEF Pallet2Place ( )
XPlace.Z=XPallet1PlaceB.Z + z_offset XPlace.Z=XPallet1PlaceB.Z + z_offset
XPlaceH=XPlace XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+400 XPlaceH.Z=XPlace.Z+400
XPlaceSigH=XPlace
XPlaceSigH.X=XPlace.X-50
XPlaceSigH.Z=XPlace.Z+500
XPlaceSig=XPlace
XPlaceSig.X=XPlace.X-50
XPlaceSig.Z=XPlace.Z+400
;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE} ;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;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
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT7
FDAT_ACT = FPlaceSigH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceSigH C_Dis C_Dis
;ENDFOLD
;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;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(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl $BWDSTART = FALSE
LDAT_ACT = LCPDAT8
FDAT_ACT = FPlaceSig
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceSig
;ENDFOLD ;ENDFOLD
WAIT FOR NOT I_GripBelowExist
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT3 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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 $BWDSTART = FALSE
LDAT_ACT = LCPDAT5
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH C_Dis C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter2=TRUE Q_AreaEnter2=TRUE
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPlace
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlace
;ENDFOLD ;ENDFOLD
GripOpen() GripOpen()
;FOLD SLIN PlaceH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
;ENDFOLD LDAT_ACT = LCPDAT2
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH
;ENDFOLD
CONTINUE CONTINUE
Q_AreaEnter2=FALSE Q_AreaEnter2=FALSE
ActionReturn(1) ActionReturn(1)
;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
;FOLD Parameters ;%{h}
;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
;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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
END_POS=$POS_ACT END_POS=$POS_ACT
END END

7
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT REFEEDBELTPICK DEFDAT REFEEDBELTPICK
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -10,7 +12,7 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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.MoveDataName=CPDAT1; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; 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=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; 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; Kuka.FrameData.point2= "}
DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
@@ -20,4 +22,7 @@ DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
ENDDAT ENDDAT

64
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF ReFeedBeltPick ( ) DEF ReFeedBeltPick ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
;FOLD INI;%{PE} ;FOLD INI;%{PE}
@@ -18,35 +20,61 @@ DEF ReFeedBeltPick ( )
x_offset=PickOffsetX_Save/10.0 x_offset=PickOffsetX_Save/10.0
y_offset=PickOffsetY_Save/10.0 y_offset=PickOffsetY_Save/10.0
z_offset=PickOffsetZ_Save/10.0 z_offset=PickOffsetZ_Save/10.0
XPick.X=XFeedBelt1Pick.X + x_offset XPick.X=XReFeedBeltPick.X + x_offset
XPick.Y=XFeedBelt1Pick.Y + y_offset XPick.Y=XReFeedBeltPick.Y + y_offset
XPick.Z=XFeedBelt1Pick.Z + z_offset XPick.Z=XReFeedBeltPick.Z + z_offset
XPickH=XPick XPickH=XPick
XPickH.Z=XPick.Z+500 XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD ;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 $BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = FPickH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPickH C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter1=TRUE Q_AreaEnter1=TRUE
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPick
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPick
;ENDFOLD ;ENDFOLD
GripClose() GripClose()
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPickH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPickH
;ENDFOLD ;ENDFOLD
Q_AreaEnter1=FALSE Q_AreaEnter1=FALSE
ActionReturn(1) ActionReturn(1)
;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;;FOLD Parameters ;%{h}
;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;;ENDFOLD
;$BWDSTART = FALSE
;PDAT_ACT = PPDAT2
;FDAT_ACT = FPass
;BAS(#PTP_PARAMS, 100.0)
;SET_CD_PARAMS (0)
;PTP XPass
;;ENDFOLD
END_POS=$POS_ACT END_POS=$POS_ACT
END END

11
KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT WATERBELTPICK DEFDAT WATERBELTPICK
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -10,14 +12,17 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT) ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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.MoveDataName=CPDAT1; 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; Kuka.FrameData.point2= "} DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; 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=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; 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; Kuka.FrameData.point2= "}
DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPickH={X -362.541016,Y -53.0821304,Z 535.058350,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPickH={X -361.108734,Y -30.3251133,Z 595.508240,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL E6POS XPick={X -361.108734,Y -30.3251133,Z 95.5082550,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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}}} 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}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
ENDDAT ENDDAT

64
KUKA/KRC/R1/Program/PL/WaterBeltPick.src
View File

@@ -1,4 +1,6 @@
&ACCESS RVO &ACCESS RVO
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF WaterBeltPick ( ) DEF WaterBeltPick ( )
DECL REAL x_offset,y_offset,z_offset DECL REAL x_offset,y_offset,z_offset
;FOLD INI;%{PE} ;FOLD INI;%{PE}
@@ -18,35 +20,61 @@ DEF WaterBeltPick ( )
x_offset=PickOffsetX_Save/10.0 x_offset=PickOffsetX_Save/10.0
y_offset=PickOffsetY_Save/10.0 y_offset=PickOffsetY_Save/10.0
z_offset=PickOffsetZ_Save/10.0 z_offset=PickOffsetZ_Save/10.0
XPick.X=XFeedBelt1Pick.X + x_offset XPick.X=XWaterBeltPick.X + x_offset
XPick.Y=XFeedBelt1Pick.Y + y_offset XPick.Y=XWaterBeltPick.Y + y_offset
XPick.Z=XFeedBelt1Pick.Z + z_offset XPick.Z=XWaterBeltPick.Z + z_offset
XPickH=XPick XPickH=XPick
XPickH.Z=XPick.Z+500 XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD ;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 $BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = FPickH
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XPickH C_Dis
;ENDFOLD ;ENDFOLD
CONTINUE CONTINUE
WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2 WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE CONTINUE
Q_AreaEnter1=TRUE Q_AreaEnter1=TRUE
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FPick
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPick
;ENDFOLD ;ENDFOLD
GripClose() GripClose()
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} ;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h} ;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 ;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 ;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) $BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPickH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPickH
;ENDFOLD ;ENDFOLD
Q_AreaEnter1=FALSE Q_AreaEnter1=FALSE
ActionReturn(1) ActionReturn(1)
;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;;FOLD Parameters ;%{h}
;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;;ENDFOLD
;$BWDSTART = FALSE
;PDAT_ACT = PPDAT2
;FDAT_ACT = FPass
;BAS(#PTP_PARAMS, 100.0)
;SET_CD_PARAMS (0)
;PTP XPass
;;ENDFOLD
END_POS=$POS_ACT END_POS=$POS_ACT
END END

2
KUKA/KRC/R1/Program/PLC.sub
View File

@@ -1,4 +1,4 @@
&ACCESS RVP &ACCESS RVO
&COMMENT USER specified PLC program &COMMENT USER specified PLC program
DEF PLC ( ) DEF PLC ( )
DECL STATE_T STAT DECL STATE_T STAT

16
KUKA/KRC/R1/Program/PosBase.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 7 &REL 7
&PARAM DISKPATH = KRC:\R1\Program\TP &PARAM DISKPATH = KRC:\R1\Program\TP
DEFDAT POSBASE PUBLIC DEFDAT POSBASE PUBLIC
@@ -6,13 +6,13 @@ DEFDAT POSBASE PUBLIC
;*************************************************** ;***************************************************
; * ; *
;*************************************************** ;***************************************************
DECL GLOBAL E6POS XPallet1PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XPallet1PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XPallet2PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XPallet2PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XFeedBelt1Pick={X -371.799255,Y 3335.85059,Z 37,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XFeedBelt1Pick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XFeedBelt2Pick={X -513.757690,Y 3336.04053,Z 37,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XFeedBelt2Pick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XNgBeltPlace={X -372.497620,Y -392.548706,Z 42.0128441,A 103.970634,B 0.387568325,C 179.739,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XNgBeltPlace={X -377.579193,Y -392.592957,Z 48.2309685,A 104.528885,B 0.376219094,C 179.734528,S 2,T 10,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XWaterBeltPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XWaterBeltPick={X -374.435608,Y -52.7464218,Z 48.3197289,A 104.528885,B 0.376218826,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS XReFeedBeltPick={X -355.786682,Y 285.198730,Z 34.5330734,A 103.969742,B 0.385545075,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL GLOBAL E6POS XReFeedBeltPick={X -364.351349,Y 284.098267,Z 50.3441315,A 104.528885,B 0.376218945,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

32
KUKA/KRC/R1/Program/TP/T.dat Normal file
View File

@@ -0,0 +1,32 @@
&ACCESS RVO
&REL 19
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program\TP
DEFDAT T
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make your modifications here
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL FDAT Fhome1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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 "}
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}
DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
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}
DECL FDAT FPass2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
ENDDAT

53
KUKA/KRC/R1/Program/TP/T.src Normal file
View File

@@ -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

23
KUKA/KRC/R1/Program/TP/TestModule.dat
View File

@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVO
&REL 20 &REL 31
&PARAM DISKPATH = KRC:\R1\Program\TP &PARAM DISKPATH = KRC:\R1\Program\TP
DEFDAT TESTMODULE DEFDAT TESTMODULE
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -14,22 +14,31 @@ DECL INT SUCCESS
;ENDFOLD (EXTERNAL DECLARATIONS) ;ENDFOLD (EXTERNAL DECLARATIONS)
DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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="} 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"}
DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT8={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT8={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT11={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FXFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT12={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT13={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT14={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT15={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL PDAT PPDAT16={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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}}}
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}}}
ENDDAT ENDDAT

113
KUKA/KRC/R1/Program/TP/TestModule.src
View File

@@ -1,5 +1,5 @@
&ACCESS RVO &ACCESS RVO
&REL 20 &REL 31
&PARAM DISKPATH = KRC:\R1\Program\TP &PARAM DISKPATH = KRC:\R1\Program\TP
DEF TestModule ( ) DEF TestModule ( )
;FOLD INI;%{PE} ;FOLD INI;%{PE}
@@ -13,36 +13,115 @@ DEF TestModule ( )
;ENDFOLD (USER INI) ;ENDFOLD (USER INI)
;ENDFOLD (INI) ;ENDFOLD (INI)
;FOLD SPTP HOME Vel=100 % PDAT10 ;%{PE} ;FOLD PTP HOME Vel=100 % PDAT10 ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
PDAT_ACT = PPDAT10
FDAT_ACT = FHOME
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XHOME
;ENDFOLD ;ENDFOLD
;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE} ;FOLD PTP HOME2 Vel=100 % PDAT9 ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;ENDFOLD
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) $BWDSTART = FALSE
PDAT_ACT = PPDAT9
FDAT_ACT = FHOME2
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XHOME2
;ENDFOLD ;ENDFOLD
;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE} ;FOLD PTP HOME1 Vel=100 % PDAT8 ;%{PE}
;FOLD Parameters ;%{h} ;FOLD Parameters ;%{h}
;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 ;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
;ENDFOLD ;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 ;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} ;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 ;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 ;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} ;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 ;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 ;ENDFOLD
END END

20
KUKA/KRC/R1/System/$config.dat
View File

@@ -132,11 +132,11 @@ SIGNAL ExtUserIDWatchDog $IN[1026]
;================================== ;==================================
; Variables: ; 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 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 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 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 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} 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 ; 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 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 -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 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 -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 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 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 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} 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} 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] DECL CHAR TOOL_NAME[16,24]
TOOL_NAME[1,]="Tool1" TOOL_NAME[1,]=" "
TOOL_NAME[2,]=" " TOOL_NAME[2,]=" "
TOOL_NAME[3,]=" " TOOL_NAME[3,]=" "
TOOL_NAME[4,]=" " 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_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_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 INT MAX_BASE=32
DECL FRAME BASE_DATA[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} 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] DECL CHAR BASE_NAME[32,24]
BASE_NAME[1,]="Base1" BASE_NAME[1,]=" "
BASE_NAME[2,]=" " BASE_NAME[2,]=" "
BASE_NAME[3,]=" " BASE_NAME[3,]=" "
BASE_NAME[4,]=" " BASE_NAME[4,]=" "
@@ -420,7 +420,7 @@ BASE_NAME[31,]=" "
BASE_NAME[32,]=" " BASE_NAME[32,]=" "
DECL IPO_M_T BASE_TYPE[32] DECL IPO_M_T BASE_TYPE[32]
BASE_TYPE[1]=#BASE BASE_TYPE[1]=#NONE
BASE_TYPE[2]=#NONE BASE_TYPE[2]=#NONE
BASE_TYPE[3]=#NONE BASE_TYPE[3]=#NONE
BASE_TYPE[4]=#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[] " "} MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32] 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[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
MACHINE_FRAME_DAT[3]={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[] " "} MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}

2
KUKA/KRC/R1/System/MqttConfig.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
DEFDAT MqttConfig PUBLIC DEFDAT MqttConfig PUBLIC
; Publisher IP address for KukaConnect data-set configuration. ; Publisher IP address for KukaConnect data-set configuration.

2
KUKA/KRC/R1/System/MsgLib.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT Message library &COMMENT Message library
DEFDAT MsgLib PUBLIC DEFDAT MsgLib PUBLIC

2
KUKA/KRC/R1/System/MsgLib.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT Message library &COMMENT Message library
DEF MsgLib ( ) DEF MsgLib ( )
;************************************************** ;**************************************************

2
KUKA/KRC/R1/System/bas.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&REL 1 &REL 1
&COMMENT BASIS package &COMMENT BASIS package
DEF BAS (COMMAND :IN,REAL_PAR :IN ) DEF BAS (COMMAND :IN,REAL_PAR :IN )

2
KUKA/KRC/R1/System/collmonlib.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT Collision monitoring library &COMMENT Collision monitoring library
DEFDAT COLLMONLIB PUBLIC DEFDAT COLLMONLIB PUBLIC
;DO NOT MODIFY THIS FILE ;DO NOT MODIFY THIS FILE

2
KUKA/KRC/R1/System/collmonlib.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT Collision monitoring library &COMMENT Collision monitoring library
DEF CollMonLib( ) DEF CollMonLib( )

2
KUKA/KRC/R1/System/ir_stopm.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT HandlerOnRobotFault &COMMENT HandlerOnRobotFault
DEF IR_STOPM ( ) DEF IR_STOPM ( )
;----------------------------------- ;-----------------------------------

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT path after test &COMMENT path after test
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT path after test &COMMENT path after test
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT parkposition &COMMENT parkposition
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT parkposition &COMMENT parkposition
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RVO2 &ACCESS RVO3
&REL 1 &REL 1
&COMMENT BrkTst-main task &COMMENT BrkTst-main task
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
View File

@@ -1,4 +1,4 @@
&ACCESS RVO2 &ACCESS RVO3
&REL 1 &REL 1
&COMMENT BrkTst-main task &COMMENT BrkTst-main task
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT path to test &COMMENT path to test
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
View File

@@ -1,4 +1,4 @@
&ACCESS RV2 &ACCESS RV3
&REL 1 &REL 1
&COMMENT path to test &COMMENT path to test
&PARAM EDITMASK = * &PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
View File

@@ -1,4 +1,4 @@
&ACCESS RO2 &ACCESS RO3
&REL 2396 &REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEFDAT EthernetKRL PUBLIC DEFDAT EthernetKRL PUBLIC

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
View File

@@ -1,4 +1,4 @@
&ACCESS RO2 &ACCESS RO3
&REL 2396 &REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEF EthernetKRL( ) DEF EthernetKRL( )

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
View File

@@ -1,4 +1,4 @@
&ACCESS RO2 &ACCESS RO3
&REL 2314 &REL 2314
&PARAM DISKPATH = TP/EthernetKRL &PARAM DISKPATH = TP/EthernetKRL
DEF EthernetKRL_USER( ) DEF EthernetKRL_USER( )

2
KUKA/KRC/R1/TP/p00.dat
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT EXTERNAL package &COMMENT EXTERNAL package
DEFDAT P00 DEFDAT P00

2
KUKA/KRC/R1/TP/p00.src
View File

@@ -1,4 +1,4 @@
&ACCESS R3 &ACCESS R4
&COMMENT EXTERNAL package &COMMENT EXTERNAL package
DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN ) DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
DECL P00_COMMAND COMMAND DECL P00_COMMAND COMMAND