更新优化程序

2026-02-11 17:34:41 +08:00
parent 62cf9a191c
commit cee4549e79
57 changed files with 240 additions and 123 deletions
--- a/KUKA/KRC/R1/Program/Mylib/FixA6Jump.src
+++ b/KUKA/KRC/R1/Program/Mylib/FixA6Jump.src
@@ -0,0 +1,18 @@
+&ACCESS RV
+DEFFCT E6POS FixA6Jump(TargetPos:IN)
+    DECL E6POS TargetPos,NewPos
+    DECL REAL dA6
+    NewPos=TargetPos
+    dA6 = TargetPos.A - $AXIS_ACT.A6
+
+    WHILE dA6 > 180.0
+        NewPos.A = NewPos.A - 360.0
+        dA6 = TargetPos.A - $AXIS_ACT.A6
+    ENDWHILE
+
+    WHILE dA6 < -180.0
+        NewPos.A = NewPos.A + 360.0
+        dA6 = NewPos.A - $AXIS_ACT.A6
+    ENDWHILE
+    RETURN NewPos
+ENDFCT