35 lines
1.9 KiB
Plaintext
35 lines
1.9 KiB
Plaintext
&ACCESS RV
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&REL 1
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&COMMENT parkposition
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&PARAM EDITMASK = *
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
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&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
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DEF BrakeTestPark( )
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;FOLD INI
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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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;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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;Teach here the motion to the parking position. The parking position is needed when the robot has failed the brake test.
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;FOLD {h}
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WHILE ParkPositionInNotValid()
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MsgDialog(SUCCESS,"ParkPositionIsNotValid",brakeTestMdbName[],,,,,,,"Ok")
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HALT
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ENDWHILE
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;ENDFOLD
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;FOLD SPTP ParkPosition Vel=10 % DEFAULT Tool[1] Base[0] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=ParkPosition; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=10; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
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;ENDFOLD
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SPTP XParkPosition WITH $VEL_AXIS[1] = SVEL_JOINT(10.0), $TOOL = STOOL2(FParkPosition), $BASE = SBASE(FParkPosition.BASE_NO), $IPO_MODE = SIPO_MODE(FParkPosition.IPO_FRAME), $LOAD = SLOAD(FParkPosition.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
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;ENDFOLD
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END
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;FOLD {h}
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Global DEFFCT BOOL ParkPositionInNotValid()
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RETURN ((XParkPosition.A1 == 999) AND (XParkPosition.A2 == 999) AND (XParkPosition.A3 == 999) AND (XParkPosition.A4 == 999) AND (XParkPosition.A5 == 999) AND (XParkPosition.A6 == 999) AND (XParkPosition.E1 == 999) AND (XParkPosition.E2 == 999) AND (XParkPosition.E3 == 999) AND (XParkPosition.E4 == 999) AND (XParkPosition.E5 == 999) AND (XParkPosition.E6 == 999))
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ENDFCT
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;ENDFOLD |
