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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/PL/Pallet2Place.src
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@@ -1,4 +1,6 @@
&ACCESS RV
&ACCESS RVO
&REL 1
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet2Place ( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
@@ -12,11 +14,11 @@ DEF Pallet2Place ( )
;ENDFOLD (USER INI)
;ENDFOLD (INI)
WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
XPlace=XPallet1PlaceB
XPlace.X=XPallet1PlaceB.X - CountY_Save*OffsetY_Save
XPlace.Y=XPallet1PlaceB.Y - CountX_Save*OffsetX_Save
XPlace=XPallet2PlaceB
XPlace.X=XPallet2PlaceB.X - CountX_Save*OffsetX_Save
XPlace.Y=XPallet2PlaceB.Y - CountY_Save*OffsetY_Save
XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+500
XPlaceH.Z=XPlace.Z+400
;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
;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