81 lines
2.8 KiB
Plaintext
81 lines
2.8 KiB
Plaintext
&ACCESS RVO
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&REL 3
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&PARAM DISKPATH = KRC:\R1\Program\PL
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DEF NgBeltPlace ( )
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DECL REAL x_offset,y_offset,z_offset
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
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XPlace=XNgBeltPlace
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x_offset=PlaceOffsetX_Save/10.0
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y_offset=PlaceOffsetY_Save/10.0
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z_offset=PlaceOffsetZ_Save/10.0
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XPlace.X=XNgBeltPlace.X + x_offset
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XPlace.Y=XNgBeltPlace.Y + y_offset
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XPlace.Z=XNgBeltPlace.Z + z_offset
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XPlaceH=XPlace
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XPlaceH.Z=XPlace.Z+500
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;FOLD PTP PlaceH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT1
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FDAT_ACT = FPlaceH
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPlaceH C_Dis
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;ENDFOLD
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CONTINUE
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WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
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CONTINUE
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Q_AreaEnter2=TRUE
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;FOLD LIN Place Vel=2 m/s CPDAT3 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT3
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FDAT_ACT = FPlace
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlace
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;ENDFOLD
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GripOpen()
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;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT2
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FDAT_ACT = FPlaceH
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPlaceH C_Dis C_Dis
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;ENDFOLD
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CONTINUE
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Q_AreaEnter2=FALSE
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ActionReturn(1)
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;FOLD PTP HOME1 Vel=100 % PDAT2 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT2
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FDAT_ACT = FHOME1
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XHOME1
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;ENDFOLD
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END_POS=$POS_ACT
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END |
