44 lines
2.9 KiB
Plaintext
44 lines
2.9 KiB
Plaintext
&ACCESS RV
|
|
DEF FeedBelt1Pick ( )
|
|
;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)
|
|
XPickH=XPick
|
|
XPickH.Z=XPick.Z+500
|
|
;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[0] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
|
|
;ENDFOLD
|
|
SPTP XPickH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.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) C_Spl
|
|
;ENDFOLD
|
|
CONTINUE
|
|
WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
|
|
CONTINUE
|
|
Q_AreaEnter1=TRUE
|
|
;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[0] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
|
|
;ENDFOLD
|
|
SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
|
|
;ENDFOLD
|
|
GripClose()
|
|
;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[0] ;%{PE}
|
|
;FOLD Parameters ;%{h}
|
|
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
|
|
;ENDFOLD
|
|
SLIN XPickH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPickH), $BASE = SBASE(FPickH.BASE_NO), $IPO_MODE = SIPO_MODE(FPickH.IPO_FRAME), $LOAD = SLOAD(FPickH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
|
|
;ENDFOLD
|
|
Q_AreaEnter1=FALSE
|
|
ActionReturn(1)
|
|
|
|
END |
