更新优化程序

KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src

@@ -1,5 +1,8 @@
-&ACCESS RVO1
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt2Pick ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -13,6 +16,13 @@ DEF  FeedBelt2Pick ( )
 ;ENDFOLD (INI)
 
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XFeedBelt2Pick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt2Pick.X + x_offset
+   XPick.Y=XFeedBelt2Pick.Y + y_offset
+   XPick.Z=XFeedBelt2Pick.Z + z_offset
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
 ;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}