更新KUKA程序

2026-02-06 19:32:09 +08:00
parent fdd197f9cd
commit bdc205a668
77 changed files with 10688 additions and 0 deletions
--- a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
+++ b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
@@ -0,0 +1,19 @@
+&ACCESS RVO
+DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
+   DECL REAL R_offset
+   DECL BOOL b_Pok
+   DECL E6POS ACT_Point
+   DECL E6POS EndPos
+   ACT_Point = $POS_ACT   
+   IF (ABS(ACT_Point.X - EndPos.X) > R_offset) OR (ABS(ACT_Point.Y - EndPos.Y) > R_offset) OR (ABS(ACT_Point.Z - EndPos.Z) > R_offset)  OR (ABS(ACT_Point.A - EndPos.A) > 0.5)  OR (ABS(ACT_Point.B - EndPos.B) > 0.5)  OR (ABS(ACT_Point.C - EndPos.C) > 0.5)  OR (ABS(ACT_Point.E1 - EndPos.E1) > R_offset) THEN
+      b_Pok=FALSE
+   ELSE
+      b_Pok=TRUE 
+   ENDIF      
+   IF NOT b_Pok THEN      
+      MsgNotify("CheckInPosError", "OutArea", , , 1) 
+      ;HALT
+   ENDIF
+   
+   RETURN b_Pok 
+ENDFCT