PLC优化夹爪控制程序，kuka优化下方物料检测，更新README

2026-02-12 14:59:14 +08:00
parent 2a95796b9a
commit caf8655e71
53 changed files with 68 additions and 69 deletions
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
@@ -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}