更新KUKA程序
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zhusenlin
58
KUKA/KRC/R1/Program/TP/TestModule.src
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58
KUKA/KRC/R1/Program/TP/TestModule.src
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&ACCESS RVO
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&REL 14
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DEF TestModule ( )
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XPallet1PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet1PlaceB), $BASE = SBASE(FPallet1PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet1PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet1PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XPallet2PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet2PlaceB), $BASE = SBASE(FPallet2PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet2PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet2PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP FeedBelt1Pick Vel=100 % PDAT3 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt1Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XFeedBelt1Pick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FFeedBelt1Pick), $BASE = SBASE(FFeedBelt1Pick.BASE_NO), $IPO_MODE = SIPO_MODE(FFeedBelt1Pick.IPO_FRAME), $LOAD = SLOAD(FFeedBelt1Pick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP FeedBelt2Pick Vel=100 % PDAT4 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XFeedBelt2Pick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FFeedBelt2Pick), $BASE = SBASE(FFeedBelt2Pick.BASE_NO), $IPO_MODE = SIPO_MODE(FFeedBelt2Pick.IPO_FRAME), $LOAD = SLOAD(FFeedBelt2Pick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP NgBeltPlace Vel=100 % PDAT5 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=NgBeltPlace; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XNgBeltPlace WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FNgBeltPlace), $BASE = SBASE(FNgBeltPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FNgBeltPlace.IPO_FRAME), $LOAD = SLOAD(FNgBeltPlace.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT5), $APO = SAPO_PTP(PPDAT5), $GEAR_JERK[1] = SGEAR_JERK(PPDAT5), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP WaterBeltPick Vel=100 % PDAT6 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XWaterBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FWaterBeltPick), $BASE = SBASE(FWaterBeltPick.BASE_NO), $IPO_MODE = SIPO_MODE(FWaterBeltPick.IPO_FRAME), $LOAD = SLOAD(FWaterBeltPick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT6), $APO = SAPO_PTP(PPDAT6), $GEAR_JERK[1] = SGEAR_JERK(PPDAT6), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP ReFeedBeltPick Vel=100 % PDAT7 Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=ReFeedBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT7; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XReFeedBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FReFeedBeltPick), $BASE = SBASE(FReFeedBeltPick.BASE_NO), $IPO_MODE = SIPO_MODE(FReFeedBeltPick.IPO_FRAME), $LOAD = SLOAD(FReFeedBeltPick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT7), $APO = SAPO_PTP(PPDAT7), $GEAR_JERK[1] = SGEAR_JERK(PPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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END
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