PLC/6040-003
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新kuka程序

Browse Source
This commit is contained in:
zhusenlin
2026-02-06 20:19:20 +08:00
parent 2cb6759b07
commit 64f5fb38cf
22 changed files with 120 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
KUKA/KRC/R1/Program/PL/NgBeltPlace.src
View File

@@ -15,7 +15,7 @@ DEF NgBeltPlace ( )
WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+500
;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{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
;ENDFOLD
@@ -25,14 +25,14 @@ DEF NgBeltPlace ( )
WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
CONTINUE
Q_AreaEnter2=TRUE
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
;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
;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)
;ENDFOLD
GripOpen()
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
;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
;ENDFOLD