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更新kuka程序

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zhusenlin
2026-02-06 20:19:20 +08:00
parent 2cb6759b07
commit 64f5fb38cf
22 changed files with 120 additions and 97 deletions
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6
KUKA/KRC/R1/Mada/$machine.dat
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@@ -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_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
E6AXIS $H_POS={A1 -21.6021271,A2 -99.3227234,A3 104.274384,A4 -0.793297172,A5 86.8444748,A6 -6.95475197,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $H_POS={A1 -40.6010590,A2 -89.9439621,A3 107.739754,A4 -0.0583330207,A5 71.7248154,A6 -24.9933281,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $AXIS_HOME[5]
$AXIS_HOME[1]={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[2]={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[1]={A1 -54.9559364,A2 -61.7260933,A3 72.9432526,A4 0.0665770397,A5 78.3046722,A6 -39.3794899,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[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[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}