48 lines
4.1 KiB
Plaintext
48 lines
4.1 KiB
Plaintext
&ACCESS RVO
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&REL 20
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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 SPTP HOME Vel=100 % PDAT10 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT10), $APO = SAPO_PTP(PPDAT10), $GEAR_JERK[1] = SGEAR_JERK(PPDAT10), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XHOME2 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME2), $BASE = SBASE(FHOME2.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME2.IPO_FRAME), $LOAD = SLOAD(FHOME2.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT9), $APO = SAPO_PTP(PPDAT9), $GEAR_JERK[1] = SGEAR_JERK(PPDAT9), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT8; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT8), $APO = SAPO_PTP(PPDAT8), $GEAR_JERK[1] = SGEAR_JERK(PPDAT8), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XPallet1PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet1PlaceB), $BASE = SBASE(FPallet1PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet1PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet1PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XPallet2PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet2PlaceB), $BASE = SBASE(FPallet2PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet2PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet2PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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END |
