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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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21
KUKA/KRC/R1/Program/TP/TestModule.src
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@@ -1,5 +1,6 @@
&ACCESS RVO
&REL 14
&REL 18
&PARAM DISKPATH = KRC:\R1\Program\TP
DEF TestModule ( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
@@ -55,4 +56,22 @@ SPTP XWaterBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FWater
SPTP XReFeedBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FReFeedBeltPick), $BASE = SBASE(FReFeedBeltPick.BASE_NO), $IPO_MODE = SIPO_MODE(FReFeedBeltPick.IPO_FRAME), $LOAD = SLOAD(FReFeedBeltPick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT7), $APO = SAPO_PTP(PPDAT7), $GEAR_JERK[1] = SGEAR_JERK(PPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
;FOLD SPTP HOME Vel=100 % PDAT10 ;%{PE}
;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
;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)
;ENDFOLD
;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE}
;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
;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)
;ENDFOLD
;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE}
;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
;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)
;ENDFOLD
END