PLC/6040-003
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新优化程序

Browse Source
This commit is contained in:
zhusenlin
2026-02-11 17:34:41 +08:00
parent 62cf9a191c
commit cee4549e79
57 changed files with 240 additions and 123 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
KUKA/KRC/R1/Program/MainModule.src
View File

@@ -1,4 +1,4 @@
&ACCESS RVP
&ACCESS RVO
&REL 1
DEF MainModule()
;FOLD INI
@@ -15,7 +15,6 @@ DEF MainModule()
INTERRUPT DECL 24 WHEN $CYCFLAG[1] DO StopSafty()
INTERRUPT ON 24
;FOLD PTP $POS_ACT Tool[0] Base[0]
BAS(#INITMOV, 0)
BAS(#BASE, 0)
@@ -37,12 +36,16 @@ DEF AutoRun()
HALT
ENDIF
PdtTypeLast=I_ProductType
WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> CmdCountLast) AND (Q_Cmd_Running==0)
WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> Q_CmdCountRet) AND (Q_Cmd_Running==0)
CmdSave = I_Cmd
CmdCountLast = I_CmdCount
CmdCountLast=I_CmdCount
Q_Cmd_Running=CmdSave
OffsetX_Save=I_OffsetX
OffsetY_Save=I_OffsetY
PickOffsetX_Save=GetInt16(I_PickOffsetX)
PickOffsetY_Save=GetInt16(I_PickOffsetY)
PickOffsetZ_Save=GetInt16(I_PickOffsetZ)
PlaceOffsetX_Save=GetInt16(I_PlaceOffsetX)
PlaceOffsetY_Save=GetInt16(I_PlaceOffsetY)
PlaceOffsetZ_Save=GetInt16(I_PlaceOffsetZ)
CountX_Save=I_CountX
CountY_Save=I_CountY