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This commit is contained in:
zhusenlin
2026-02-07 20:52:35 +08:00
parent 64f5fb38cf
commit 45144a2db2
42 changed files with 123 additions and 142 deletions
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12
KUKA/KRC/R1/Program/Mylib/CheckInPos.src
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@@ -1,19 +1,17 @@
&ACCESS RVO
&ACCESS RVO2
DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
DECL REAL R_offset
DECL BOOL b_Pok
DECL E6POS ACT_Point
DECL E6POS EndPos
BAS(#BASE,1)
BAS(#TOOL,1)
ACT_Point = $POS_ACT
IF (ABS(ACT_Point.X - EndPos.X) > R_offset) OR (ABS(ACT_Point.Y - EndPos.Y) > R_offset) OR (ABS(ACT_Point.Z - EndPos.Z) > R_offset) OR (ABS(ACT_Point.A - EndPos.A) > 0.5) OR (ABS(ACT_Point.B - EndPos.B) > 0.5) OR (ABS(ACT_Point.C - EndPos.C) > 0.5) OR (ABS(ACT_Point.E1 - EndPos.E1) > R_offset) THEN
b_Pok=FALSE
ELSE
b_Pok=TRUE
ENDIF
IF NOT b_Pok THEN
MsgNotify("CheckInPosError", "OutArea", , , 1)
;HALT
ENDIF
ENDIF
RETURN b_Pok
ENDFCT