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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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8
KUKA/KRC/R1/Program/PL/Pallet2Place.src
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@@ -1,4 +1,4 @@
&ACCESS RVO1
&ACCESS RVO
&REL 26
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet2Place ( )
@@ -69,7 +69,7 @@ LIN XPlaceH C_Dis C_Dis
CONTINUE
WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
CONTINUE
Q_AreaEnter2=TRUE
Q_AreaEnter3=TRUE
;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
@@ -93,8 +93,8 @@ BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XPlaceH
;ENDFOLD
CONTINUE
Q_AreaEnter2=FALSE
Q_AreaEnter3=FALSE
ActionReturn(1)
END_POS=$POS_ACT