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更新KUKA程序

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zhusenlin
2026-02-06 19:32:09 +08:00
parent fdd197f9cd
commit bdc205a668
77 changed files with 10688 additions and 0 deletions
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29
KUKA/KRC/R1/Program/TP/TestModule.dat Normal file
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&ACCESS RVO
&REL 14
DEFDAT TestModule
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make your modifications here
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL FDAT FPallet1PlaceB = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=False; Kuka.ColDetectFieldEnabled=False; Kuka.MovementParameterFieldEnabled=False; Kuka.IsAngleEnabled=False; Kuka.PointName=ReFeedBeltPick; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT7; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0"}
DECL FDAT FPallet2PlaceB = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL FDAT FFeedBelt1Pick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT3 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL FDAT FFeedBelt2Pick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT4 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL PDAT PPDAT5 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL FDAT FNgBeltPlace = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT6 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL FDAT FWaterBeltPick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT7 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL FDAT FReFeedBeltPick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
ENDDAT