更新KUKA程序

KUKA/KRC/R1/TP/BrakeTest/BrakeTestAxes.dat

@@ -0,0 +1,15 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task for unconfigured brake test axes
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEFDAT  BrakeTestAxes PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+
+ENDDAT

KUKA/KRC/R1/TP/BrakeTest/BrakeTestAxes.src

@@ -0,0 +1,30 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task for unconfigured brake test axes
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEF BRAKETESTAXES(AxesBitMask: IN)
+;BRAKETESTAXES(AxesBitMask: IN)
+;examples for parameter AxesBitMask
+;no parameter or -1 means all configured axes
+;'b00000000000011' means axis 1 and 2
+;'b10000000000001' means axis 1 and 12
+;'b11000000000000' means axis 11 and 12
+;FOLD {H}
+INT AxesBitMask
+
+ON_ERROR_PROCEED 
+AxesBitMask=AxesBitMask*1
+
+IF ($ERR.Number<>0) THEN
+  AxesBitMask=-1
+  ERR_CLEAR($ERR)
+ELSE
+  ERR_RAISE($ERR)
+ENDIF
+
+gBraketestForce=true
+BRAKETESTREQ(AxesBitMask)
+gBraketestForce=false
+;ENDFOLD
+END

KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat

@@ -0,0 +1,17 @@
+&ACCESS RV
+&REL 1
+&COMMENT path after test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEFDAT BrakeTestBack
+;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 here your modifications
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+ENDDAT

KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT path after test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEF BrakeTestBack( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the position after the brake test.
+
+END

KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT parkposition
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEFDAT  BRAKETESTPARK PUBLIC
+;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 here your modifications
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+DECL E6AXIS XParkPosition={A1 999.000,A2 999.000,A3 999.000,A4 999.000,A5 999.000,A6 999.000,E1 999.000,E2 999.000,E3 999.000,E4 999.000,E5 999.000,E6 999.000}
+DECL FDAT FParkPosition={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+ENDDAT

KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src

@@ -0,0 +1,35 @@
+&ACCESS RV
+&REL 1
+&COMMENT parkposition
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEF BrakeTestPark( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the parking position. The parking position is needed when the robot has failed the brake test.
+;FOLD {h}
+WHILE ParkPositionInNotValid()
+  MsgDialog(SUCCESS,"ParkPositionIsNotValid",brakeTestMdbName[],,,,,,,"Ok")
+  HALT
+ENDWHILE
+;ENDFOLD
+;FOLD SPTP ParkPosition Vel=10 % DEFAULT Tool[1] Base[0] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=ParkPosition; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=10; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;ENDFOLD
+SPTP XParkPosition WITH $VEL_AXIS[1] = SVEL_JOINT(10.0), $TOOL = STOOL2(FParkPosition), $BASE = SBASE(FParkPosition.BASE_NO), $IPO_MODE = SIPO_MODE(FParkPosition.IPO_FRAME), $LOAD = SLOAD(FParkPosition.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
+END
+;FOLD {h}
+Global DEFFCT BOOL ParkPositionInNotValid()
+RETURN ((XParkPosition.A1 == 999) AND (XParkPosition.A2 == 999) AND (XParkPosition.A3 == 999) AND (XParkPosition.A4 == 999) AND (XParkPosition.A5 == 999) AND (XParkPosition.A6 == 999) AND (XParkPosition.E1 == 999) AND (XParkPosition.E2 == 999) AND (XParkPosition.E3 == 999) AND (XParkPosition.E4 == 999) AND (XParkPosition.E5 == 999) AND (XParkPosition.E6 == 999))
+ENDFCT
+;ENDFOLD

KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat

@@ -0,0 +1,24 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = TP/BrakeTest
+DEFDAT  BRAKETESTREQ PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+
+DECL BRAKE_STATE RobotBrkState
+GLOBAL CHAR brakeTestMdbName[30]
+brakeTestMdbName[]="BrkTst"
+
+GLOBAL INT MaxCountResultUnknown = 10
+GLOBAL BOOL gBraketestForce=false
+DECL INT CountResultUnknown = 0
+
+
+ENDDAT

KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src

@@ -0,0 +1,122 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = TP/BrakeTest
+DEF BRAKETESTREQ(AxesBitMask: IN)
+;BRAKETESTREQ
+;fold {h}
+INT Idx, Key, AxesBitMask
+BOOL Test_Ende
+BOOL BraketestForce
+BraketestForce=false
+IF gBraketestForce THEN
+  BraketestForce=true
+ENDIF
+gBraketestForce=false
+
+ON_ERROR_PROCEED 
+AxesBitMask=AxesBitMask*1
+
+IF ($ERR.Number<>0) THEN
+  AxesBitMask=-1
+  ERR_CLEAR($ERR)
+ELSE
+  ERR_RAISE($ERR)
+ENDIF
+  
+IF Varstate("$pro_ip.si01.name[]")==#declared THEN ;program selected
+  MsgDialog(Key, "DlgPeformManuallyBrakeTest", brakeTestMdbName[], , "Cancel", "GoToPark", "BTman",,,,,FALSE)
+  SWITCH  Key ;dialogue answer
+
+  CASE 5
+    BraketestForce=TRUE
+
+  CASE 6
+    BrakeTestStart()
+    BraketestError()
+
+  CASE 7
+    Return
+
+  DEFAULT
+    Return
+  ENDSWITCH
+ELSE ;cyclic call
+  IF NOT($BRAKETEST_REQ_INT) AND NOT(BraketestForce) THEN
+    Return
+  ENDIF
+ENDIF
+
+Test_Ende=false
+
+RobotBrkState=#BT_UNTESTED
+
+BrakeTestStart()
+
+BAS (#INITMOV,0 )
+repeat
+ 
+PTP $AXIS_ACT
+
+RobotBrkState = Test_BRAKE(AxesBitMask, BraketestForce)
+ 
+ SWITCH RobotBrkState
+
+   CASE #BT_WARNING,#BT_EXCESSIVE, #BT_MAXUNKNOWN, #BT_READY
+     CountResultUnknown = 0
+     Test_Ende = TRUE
+
+   CASE #BT_ERROR
+     BraketestError()
+          
+   CASE #BT_UNKNOWN
+     Test_Ende = BraketestUnknown()
+     
+   CASE #BT_UNTESTED
+     Test_Ende = TRUE
+
+  ENDSWITCH
+
+until Test_Ende
+
+BrakeTestBack()
+
+END
+
+     
+DEF BraketestError()
+INT Key
+
+Key = 0
+MsgDialog(Key, "BT_BRAKE_ERROR", brakeTestMdbName[]," ", "GoToPark",,,,,,,FALSE)
+
+BrakeTestPark()
+WAIT FOR TRUE
+
+repeat
+  MsgNotify("ParkPositionReached", brakeTestMdbName[])
+  halt
+until false
+
+END
+
+
+DEFFCT BOOL BraketestUnknown()
+INT Key
+Key=0
+CountResultUnknown = CountResultUnknown + 1
+
+IF (CountResultUnknown >= MaxCountResultUnknown) THEN
+
+  MsgDialog(Key, "BT_BRAKE_UNKNOWN", brakeTestMdbName[]," ", "TryAgain", "Cancel",,,,,,FALSE)
+  IF Key==7 then
+    Return FALSE
+  ELSE
+    Return TRUE
+  ENDIF
+ELSE
+  Return TRUE
+ENDIF
+ENDFCT
+;endfold

KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat

@@ -0,0 +1,17 @@
+&ACCESS RV
+&REL 1
+&COMMENT path to test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEFDAT BrakeTestStart
+;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 here your modifications
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+ENDDAT

KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT path to test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEF BrakeTestStart( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the start position of the brake test.
+
+END