PLC/6040-003
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更新优化程序

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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
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10
KUKA/KRC/R1/Program/PL/WaterBeltPick.src
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@@ -1,5 +1,6 @@
&ACCESS RVP1
&ACCESS RVO
DEF WaterBeltPick ( )
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 +14,13 @@ DEF WaterBeltPick ( )
;ENDFOLD (INI)
WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
XPick=XWaterBeltPick
x_offset=PickOffsetX_Save/10.0
y_offset=PickOffsetY_Save/10.0
z_offset=PickOffsetZ_Save/10.0
XPick.X=XFeedBelt1Pick.X + x_offset
XPick.Y=XFeedBelt1Pick.Y + y_offset
XPick.Z=XFeedBelt1Pick.Z + z_offset
XPickH=XPick
XPickH.Z=XPick.Z+500
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}