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更新：更新kuka程序

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This commit is contained in:
zhusenlin
2026-03-02 16:05:08 +08:00
parent 0538d8045a
commit 7856b0ba55
61 changed files with 900 additions and 121 deletions
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24
KUKA/KRC/R1/Program/PL/Pallet1Place.src
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@@ -1,4 +1,4 @@
&ACCESS RV1
&ACCESS RV
&REL 15
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet1Place ( )
@@ -81,18 +81,18 @@ SET_CD_PARAMS (0)
LIN XPlace
;ENDFOLD
GripOpen()
;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FPlaceH
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH C_Dis C_Dis
;ENDFOLD
CONTINUE
Q_AreaEnter2=FALSE
ActionReturn(1)