更新KUKA程序

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