PLC/6040-003
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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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2
KUKA/KRC/STEU/$config.dat
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@@ -1,4 +1,4 @@
&ACCESS RV$1
&ACCESS RV$2
DEFDAT $CONFIG
ENDDAT

4
KUKA/KRC/STEU/Mada/$custom.dat
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@@ -43,7 +43,7 @@ $SPTP_EXAX_PARA[6]=#DEFAULT_PARA
DECL STRIKE_OUT_COMPONENTS $MAX_ABS_STRIKE_OUT={ORIENTATION 20.0000,ROT_EXT_AXES 20.0000,LIN_EXT_AXES 100.000} ;maximaler Wert der ABSOLUTE-Komponenten von $STRIKE_OUT_DEFAULT oder $STRIKE_OUT
DECL STRIKE_OUT_STRUC $STRIKE_OUT_DEFAULT={MODE #ON,ABSOLUTE {ORIENTATION 7.50000,ROT_EXT_AXES 7.50000,LIN_EXT_AXES 50.0000},RELATIVE {ORIENTATION 40.0000,ROT_EXT_AXES 40.0000,LIN_EXT_AXES 40.0000}} ;Standardkonfiguration der Ausholstrategie fuer SPL-Segmente im Spline-Block
DECL PRO_IO_T $PRO_I_O_SYS={MODULE[] "/R1/SPS()",COLD_BOOT_RUN #ON}
DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] " ",COLD_BOOT_RUN #ON}
DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] "/R1/PLC()",COLD_BOOT_RUN #ON}
DECL PRO_IO_T $PRO_I_O_PROC_ID4={MODULE[] " ",COLD_BOOT_RUN #ON}
DECL PRO_IO_T $PRO_I_O_PROC_ID5={MODULE[] " ",COLD_BOOT_RUN #ON}
DECL PRO_IO_T $PRO_I_O_PROC_ID6={MODULE[] " ",COLD_BOOT_RUN #ON}
@@ -69,7 +69,7 @@ CHANNEL :LD_EXT_OBJ2 :LD_EXT_OBJ2 $EXT_MOD_2 ;external module 2
CHANNEL :LD_EXT_FCT1 :LD_EXT_FCT1 $EXT_MOD_3 ;external module 3
CHANNEL :LD_EXT_FCT2 :LD_EXT_FCT2 $EXT_MOD_4 ;external module 4
INT $IBUS_ON=0 ;EINSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
INT $EDIT_MODE=0 ;KOMMUNIKATION TP - XEDIT
INT $EDIT_MODE=1 ;KOMMUNIKATION TP - XEDIT
INT $IBUS_OFF=0 ;ABSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
DECL BOX $WORKSPACE[8] ;UEBERWACHT ARBEITSRAEUME
$WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}