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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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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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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