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PLC优化夹爪控制程序，kuka优化下方物料检测，更新README

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This commit is contained in:
zhusenlin
2026-02-12 14:59:14 +08:00
parent 2a95796b9a
commit caf8655e71
53 changed files with 68 additions and 69 deletions
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6040-003上下料 V2.1.project
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6040-003上料下侧ZA08.cmtp
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2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
DEFDAT CollDetect_UserAction

2
KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
DEF CollDetect_UserAction( )

2
KUKA/KRC/R1/KUKA/masref_user.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program

2
KUKA/KRC/R1/KUKA/masref_user.src
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT Mastering Reference User Program
&PARAM DISKPATH = KRC:\R1\Program

2
KUKA/KRC/R1/Program/ActionReturn.src
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@@ -1,4 +1,4 @@
&ACCESS RV1
&ACCESS RV2
DEF ActionReturn (nRet:IN )
DECL INT nRet
CONTINUE

8
KUKA/KRC/R1/Program/Config.dat
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@@ -1,20 +1,20 @@
&ACCESS RV3
&ACCESS RV5
DEFDAT CONFIG PUBLIC
GLOBAL INT PdtTypeLast=0
GLOBAL INT CmdSave=11
GLOBAL INT CmdCountLast=298
GLOBAL INT CmdCountLast=304
GLOBAL INT PlaceOffsetX_Save=-1258
GLOBAL INT PlaceOffsetY_Save=-3000
GLOBAL INT PlaceOffsetZ_Save=0
GLOBAL INT PickOffsetX_Save=0
GLOBAL INT PickOffsetY_Save=0
GLOBAL INT PickOffsetZ_Save=0
GLOBAL INT CountX_Save=11
GLOBAL INT CountX_Save=0
GLOBAL INT CountY_Save=3
GLOBAL BOOL ConfMessSave=FALSE
DECL GLOBAL E6POS END_POS={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6POS END_POS={X -367.936188,Y 3333.63623,Z 553.180,A -166.138092,B 0.376110703,C 179.734543,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
ENDDAT

2
KUKA/KRC/R1/Program/Grip/GripClose.src
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@@ -1,4 +1,4 @@
&ACCESS RVP1
&ACCESS RVP2
DEF GripClose ( )
Q_GripPosIndex=102
Q_GripPosCount=I_GripPosCountRet+1

2
KUKA/KRC/R1/Program/Grip/GripOpen.src
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@@ -1,4 +1,4 @@
&ACCESS RVP
&ACCESS RVP1
DEF GripOpen ( )
Q_GripPosIndex=101

2
KUKA/KRC/R1/Program/Home/HomeModule.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVP
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\Home
DEFDAT HOMEMODULE

2
KUKA/KRC/R1/Program/Home/HomeModule.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVP
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\Home
DEF HomeModule ( )

2
KUKA/KRC/R1/Program/MainModule.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVP
&REL 1
DEFDAT MainModule
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P

5
KUKA/KRC/R1/Program/MainModule.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVP
&REL 1
DEF MainModule()
;FOLD INI
@@ -74,7 +74,6 @@ DEF StopSafty()
BRAKE F
BAS(#BASE, 1)
BAS(#TOOL, 1)
PTP $POS_INT:{z 20}
$FLAG[10]=TRUE
LIN_REL {Z 20}
INTERRUPT ON 24
END

2
KUKA/KRC/R1/Program/Mylib/CheckInPos.src
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@@ -1,4 +1,4 @@
&ACCESS RVO1
&ACCESS RVO2
DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
DECL REAL R_offset
DECL BOOL b_Pok

2
KUKA/KRC/R1/Program/Mylib/GetInt16.src
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@@ -1,4 +1,4 @@
&ACCESS RV
&ACCESS RV1
DEFFCT INT GetInt16 (iVal:IN )
DECL INT iVal,iRet
IF iVal>32767 THEN

2
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
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@@ -1,4 +1,4 @@
&ACCESS RVP
&ACCESS RVP1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT FEEDBELT1PICK

2
KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
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@@ -1,4 +1,4 @@
&ACCESS RVP
&ACCESS RVP1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF FeedBelt1Pick ( )

2
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 9
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT FEEDBELT2PICK

2
KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 9
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF FeedBelt2Pick ( )

2
KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT NGBELTPLACE

2
KUKA/KRC/R1/Program/PL/NgBeltPlace.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF NgBeltPlace ( )

2
KUKA/KRC/R1/Program/PL/Pallet1Place.dat
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@@ -1,4 +1,4 @@
&ACCESS RV
&ACCESS RV1
&REL 15
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT PALLET1PLACE

6
KUKA/KRC/R1/Program/PL/Pallet1Place.src
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@@ -1,4 +1,4 @@
&ACCESS RV
&ACCESS RV1
&REL 15
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet1Place ( )
@@ -24,12 +24,12 @@ DEF Pallet1Place ( )
XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset
XPlace.Z=XPallet1PlaceB.Z + z_offset
XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+400
XPlaceH.Z=XPlace.Z+310+z_offset
XPlaceSigH=XPlace
XPlaceSigH.Z=XPlace.Z+500
XPlaceSigH.X=XPlace.X-50
XPlaceSig=XPlace
XPlaceSig.Z=XPlace.Z+400
XPlaceSig.Z=XPlace.Z+310+z_offset
XPlaceSig.X=XPlace.X-50
;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[0] ;%{PE}

20
KUKA/KRC/R1/Program/PL/Pallet2Place.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 26
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT PALLET2PLACE
@@ -12,12 +12,12 @@ DECL INT SUCCESS
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "}
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "}
DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceH={X 109.078979,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XPlaceH={X 1492.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlace={X 109.078979,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XPlace={X 1492.87903,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
@@ -33,12 +33,12 @@ DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981
DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT18={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT5={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
DECL E6POS XPlaceSigH={X 59.0789795,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPlaceSigH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL E6POS XPlaceSigH={X 1442.87903,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT6={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
DECL PDAT PPDAT19={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL LDAT LCPDAT7={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL E6POS XPlaceSig = { X 666666.666, Y 66.6, Z 666.66, A 6.6, B 66.66, C 666.6, S 0, T 0, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 }
DECL FDAT FPlaceSig = {BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT8 = {CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 493,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
DECL LDAT LCPDAT7={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
DECL E6POS XPlaceSig={X 1442.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT8={VEL 2.00000,ACC 100.000,APO_DIST 493.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
ENDDAT

6
KUKA/KRC/R1/Program/PL/Pallet2Place.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 26
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF Pallet2Place ( )
@@ -23,13 +23,13 @@ DEF Pallet2Place ( )
XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset
XPlace.Z=XPallet1PlaceB.Z + z_offset
XPlaceH=XPlace
XPlaceH.Z=XPlace.Z+400
XPlaceH.Z=XPlace.Z+310+z_offset
XPlaceSigH=XPlace
XPlaceSigH.X=XPlace.X-50
XPlaceSigH.Z=XPlace.Z+500
XPlaceSig=XPlace
XPlaceSig.X=XPlace.X-50
XPlaceSig.Z=XPlace.Z+400
XPlaceSig.Z=XPlace.Z+310+z_offset
;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}

2
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT REFEEDBELTPICK

2
KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF ReFeedBeltPick ( )

2
KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEFDAT WATERBELTPICK

2
KUKA/KRC/R1/Program/PL/WaterBeltPick.src
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@@ -1,4 +1,4 @@
&ACCESS RVO
&ACCESS RVO1
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF WaterBeltPick ( )

2
KUKA/KRC/R1/Program/PosBase.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 7
&PARAM DISKPATH = KRC:\R1\Program\TP
DEFDAT POSBASE PUBLIC

2
KUKA/KRC/R1/System/$config.dat
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@@ -1,4 +1,4 @@
&ACCESS RV$4
&ACCESS RV$6
DEFDAT $CONFIG
;FOLD BASISTECH GLOBALS
;==================================

2
KUKA/KRC/R1/System/MqttConfig.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
DEFDAT MqttConfig PUBLIC
; Publisher IP address for KukaConnect data-set configuration.

2
KUKA/KRC/R1/System/MsgLib.dat
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT Message library
DEFDAT MsgLib PUBLIC

2
KUKA/KRC/R1/System/MsgLib.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT Message library
DEF MsgLib ( )
;**************************************************

2
KUKA/KRC/R1/System/bas.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&REL 1
&COMMENT BASIS package
DEF BAS (COMMAND :IN,REAL_PAR :IN )

2
KUKA/KRC/R1/System/collmonlib.dat
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT Collision monitoring library
DEFDAT COLLMONLIB PUBLIC
;DO NOT MODIFY THIS FILE

2
KUKA/KRC/R1/System/collmonlib.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT Collision monitoring library
DEF CollMonLib( )

2
KUKA/KRC/R1/System/ir_stopm.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT HandlerOnRobotFault
DEF IR_STOPM ( )
;-----------------------------------

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT path after test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT path after test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT parkposition
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT parkposition
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
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@@ -1,4 +1,4 @@
&ACCESS RVO3
&ACCESS RVO5
&REL 1
&COMMENT BrkTst-main task
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
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@@ -1,4 +1,4 @@
&ACCESS RVO3
&ACCESS RVO5
&REL 1
&COMMENT BrkTst-main task
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT path to test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
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@@ -1,4 +1,4 @@
&ACCESS RV3
&ACCESS RV5
&REL 1
&COMMENT path to test
&PARAM EDITMASK = *

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
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@@ -1,4 +1,4 @@
&ACCESS RO3
&ACCESS RO5
&REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEFDAT EthernetKRL PUBLIC

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
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@@ -1,4 +1,4 @@
&ACCESS RO3
&ACCESS RO5
&REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEF EthernetKRL( )

2
KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
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@@ -1,4 +1,4 @@
&ACCESS RO3
&ACCESS RO5
&REL 2314
&PARAM DISKPATH = TP/EthernetKRL
DEF EthernetKRL_USER( )

2
KUKA/KRC/R1/TP/p00.dat
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT EXTERNAL package
DEFDAT P00

2
KUKA/KRC/R1/TP/p00.src
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@@ -1,4 +1,4 @@
&ACCESS R4
&ACCESS R6
&COMMENT EXTERNAL package
DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
DECL P00_COMMAND COMMAND

2
README.md
View File

@@ -15,7 +15,7 @@
- [x] 轴画面不能设负数
- [x] 界面少在原位标志
- [x] 机器人程序增加中断保护，防止撞击，
- [ ] 机器人放料前检测下方是否有电池
- [x] 机器人放料前检测下方是否有电池
- [x] 伺服手动页面可以直接跳转到伺服参数页面
- [x] 伺服手动页面增加皮带测试按钮
- [x] 调试NG下料拉带程序