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/PLC.sub
+++ b/KUKA/KRC/R1/Program/PLC.sub
@@ -0,0 +1,44 @@
+&ACCESS  RVO
+&COMMENT USER specified PLC program
+&ACCESS RVP
+&COMMENT USER specified PLC program
+DEF  PLC ( )
+   DECL STATE_T STAT
+   DECL MODUS_T MODE
+   LOOP
+      
+      IF $FLAG[10] THEN
+         CWRITE($CMD,STAT,MODE,"RESET/R1/cell()")
+         ;CWRITE($CMD,STAT,MODE,"RESET/R1/MainModule()")
+         $FLAG[10]=FALSE
+      ENDIF
+      IF $FLAG[11] THEN
+         CWRITE($CMD,STAT,MODE,"STOP 1")
+         $FLAG[11]=FALSE
+      ENDIF
+      IF $FLAG[12] THEN
+         CWRITE($CMD,STAT,MODE,"CANCEL  1")
+         $FLAG[12]=FALSE
+      ENDIF
+      IF $CONF_MESS AND NOT ConfMessSave THEN
+         Q_Error1=FALSE
+         Q_Error2=FALSE
+         Q_Error3=FALSE
+         Q_Error4=FALSE
+         Q_Error5=FALSE
+         Q_Error6=FALSE
+         Q_Error7=FALSE
+         Q_Error8=FALSE
+         Q_Error9=FALSE
+         Q_Error10=FALSE
+         Q_Error11=FALSE
+         Q_Error12=FALSE
+         Q_Error13=FALSE
+         Q_Error14=FALSE
+         Q_Error15=FALSE
+         Q_Error16=FALSE
+      ENDIF
+      ConfMessSave=$CONF_MESS
+      ON_ERROR_PROCEED      
+   ENDLOOP
+END