127 lines
5.2 KiB
Plaintext
127 lines
5.2 KiB
Plaintext
&ACCESS RVO
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&REL 31
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEF TestModule ( )
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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;FOLD PTP HOME Vel=100 % PDAT10 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT10
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FDAT_ACT = FHOME
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XHOME
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;ENDFOLD
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;FOLD PTP HOME2 Vel=100 % PDAT9 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT9
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FDAT_ACT = FHOME2
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XHOME2
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;ENDFOLD
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;FOLD PTP HOME1 Vel=100 % PDAT8 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT8; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT8
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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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;FOLD LIN Pallet1PlaceB 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=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT2
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FDAT_ACT = FPallet1PlaceB
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPallet1PlaceB
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;ENDFOLD
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;FOLD LIN Pallet2PlaceB Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
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;ENDFOLD
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$BWDSTART = FALSE
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LDAT_ACT = LCPDAT1
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FDAT_ACT = FPallet2PlaceB
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BAS(#CP_PARAMS, 2.0)
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SET_CD_PARAMS (0)
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LIN XPallet2PlaceB
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;ENDFOLD
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;FOLD PTP FeedBelt1Pick Vel=100 % PDAT12 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=FeedBelt1Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT12; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT12
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FDAT_ACT = FFeedBelt1Pick
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XFeedBelt1Pick
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;ENDFOLD
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;FOLD PTP FeedBelt2Pick Vel=100 % PDAT13 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT13; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT13
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FDAT_ACT = FFeedBelt2Pick
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XFeedBelt2Pick
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;ENDFOLD
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;FOLD PTP NgBeltPlace Vel=100 % PDAT14 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=NgBeltPlace; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT14; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT14
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FDAT_ACT = FNgBeltPlace
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XNgBeltPlace
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;ENDFOLD
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;FOLD PTP WaterBeltPick Vel=100 % PDAT15 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT15; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT15
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FDAT_ACT = FWaterBeltPick
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XWaterBeltPick
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;ENDFOLD
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;FOLD PTP ReFeedBeltPick Vel=100 % PDAT16 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=ReFeedBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT16; 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 = PPDAT16
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FDAT_ACT = FReFeedBeltPick
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XReFeedBeltPick
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;ENDFOLD
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END |
