101 lines
3.6 KiB
Plaintext
101 lines
3.6 KiB
Plaintext
&ACCESS RVO
|
|
&REL 26
|
|
&PARAM DISKPATH = KRC:\R1\Program\PL
|
|
DEF Pallet2Place ( )
|
|
DECL REAL x_offset,y_offset,z_offset
|
|
;FOLD INI;%{PE}
|
|
;FOLD BASISTECH INI
|
|
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
|
|
INTERRUPT ON 3
|
|
BAS (#INITMOV,0 )
|
|
;ENDFOLD (BASISTECH INI)
|
|
;FOLD USER INI
|
|
;Make your modifications here
|
|
|
|
;ENDFOLD (USER INI)
|
|
;ENDFOLD (INI)
|
|
WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
|
|
XPlace=XPallet2PlaceB
|
|
x_offset=PlaceOffsetX_Save/10.0
|
|
y_offset=PlaceOffsetY_Save/10.0
|
|
z_offset=PlaceOffsetZ_Save/10.0
|
|
XPlace.X=XPallet1PlaceB.X + CountX_Save*x_offset
|
|
XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset
|
|
XPlace.Z=XPallet1PlaceB.Z + z_offset
|
|
XPlaceH=XPlace
|
|
XPlaceH.Z=XPlace.Z+400
|
|
XPlaceSigH=XPlace
|
|
XPlaceSigH.X=XPlace.X-50
|
|
XPlaceSigH.Z=XPlace.Z+500
|
|
XPlaceSig=XPlace
|
|
XPlaceSig.X=XPlace.X-50
|
|
XPlaceSig.Z=XPlace.Z+400
|
|
|
|
;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
|
;ENDFOLD
|
|
$BWDSTART = FALSE
|
|
LDAT_ACT = LCPDAT7
|
|
FDAT_ACT = FPlaceSigH
|
|
BAS(#CP_PARAMS, 2.0)
|
|
SET_CD_PARAMS (0)
|
|
LIN XPlaceSigH C_Dis C_Dis
|
|
;ENDFOLD
|
|
|
|
;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
|
;ENDFOLD
|
|
$BWDSTART = FALSE
|
|
LDAT_ACT = LCPDAT8
|
|
FDAT_ACT = FPlaceSig
|
|
BAS(#CP_PARAMS, 2.0)
|
|
SET_CD_PARAMS (0)
|
|
LIN XPlaceSig
|
|
;ENDFOLD
|
|
WAIT FOR NOT I_GripBelowExist
|
|
;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
|
;ENDFOLD
|
|
$BWDSTART = FALSE
|
|
LDAT_ACT = LCPDAT5
|
|
FDAT_ACT = FPlaceH
|
|
BAS(#CP_PARAMS, 2.0)
|
|
SET_CD_PARAMS (0)
|
|
LIN XPlaceH C_Dis C_Dis
|
|
;ENDFOLD
|
|
CONTINUE
|
|
WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
|
|
CONTINUE
|
|
Q_AreaEnter2=TRUE
|
|
;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
|
;ENDFOLD
|
|
$BWDSTART = FALSE
|
|
LDAT_ACT = LCPDAT1
|
|
FDAT_ACT = FPlace
|
|
BAS(#CP_PARAMS, 2.0)
|
|
SET_CD_PARAMS (0)
|
|
LIN XPlace
|
|
;ENDFOLD
|
|
GripOpen()
|
|
;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
|
|
;ENDFOLD
|
|
$BWDSTART = FALSE
|
|
LDAT_ACT = LCPDAT2
|
|
FDAT_ACT = FPlaceH
|
|
BAS(#CP_PARAMS, 2.0)
|
|
SET_CD_PARAMS (0)
|
|
LIN XPlaceH
|
|
;ENDFOLD
|
|
CONTINUE
|
|
Q_AreaEnter2=FALSE
|
|
ActionReturn(1)
|
|
|
|
END_POS=$POS_ACT
|
|
END |
