836 lines
31 KiB
Plaintext
836 lines
31 KiB
Plaintext
&ACCESS RV$6
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DEFDAT $CONFIG
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;FOLD BASISTECH GLOBALS
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;==================================
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; Default parameters for movement
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; These values shouldn't be changed
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;==================================
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;----------------------------------
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; general MOVEMENT - parameters:
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;----------------------------------
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INT DEF_OV_PRO=100
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INT DEF_ADVANCE=3
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; PTP - MOVEMENTS
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;----------------------------------
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INT DEF_VEL_PTP=100 ; ptp velocity [%]
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INT DEF_ACC_PTP=50 ; ptp acceleration [%]
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; CP - MOVEMENTS
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;----------------------------------
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DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
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DECL JERK_STRUC DEF_JERK_STRUC={CP 500.000,ORI 50000.0,AX {A1 1000.00,A2 1000.00,A3 1000.00,A4 1000.00,A5 1000.00,A6 1000.00,E1 1000.00,E2 1000.00,E3 1000.00,E4 1000.00,E5 1000.00,E6 1000.00}} ; jerk value for the spline. CP: [m/Sec3], ORI: [[GRAD/Sec3], AX: [[GRAD/Sec3] (rotatory) resp. [m/Sec3] (linear)
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REAL DEF_GEAR_JERK=100.000 ; gear jerk of axes [%]
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REAL DEF_VEL_CP=2.00000 ; path velocity [M/SEC]
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REAL DEF_VEL_ORI1=200.000 ; swivel velocity [GRAD/Sec]
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REAL DEF_VEL_ORI2=200.000 ; rotation velocity [GRAD/Sec]
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REAL DEF_VEL_ORIS=200.000 ; spline swivel velocity [GRAD/Sec]
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REAL DEF_ACC_CP=2.30000 ; path acceleration [m/Sec2]
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REAL DEF_ACC_ORI1=100.000 ; swivel acceleration [GRAD/Sec2]
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REAL DEF_ACC_ORI2=100.000 ; rotation acceleration [GRAD/Sec2]
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REAL DEF_ACC_ORIS=200.000 ; spline swivel acceleration [GRAD/Sec2]
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REAL DEF_VEL_FACT=1.00000
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REAL DEF_ACC_SPTP=100.000 ; ptp spline acceleration [%]
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; APO - parameters
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;--------------------------------
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INT DEF_APO_CPTP=50 ; PTP-Approximation [%]
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INT DEF_APO_CVEL=100 ; Speed-Approximation [%]
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REAL DEF_APO_CDIS=3.00000 ; Distance-Approximation [mm]
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REAL DEF_APO_CORI=5.00000 ; Orientation-Approximation [Grad]
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REAL DEF_APO_CORIS=80.0000 ; spline Orientation-Approximation [Grad]
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;==================================
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; Structures:
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;==================================
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ENUM BAS_COMMAND INITMOV,ACC_CP,ACC_PTP,VEL_CP,VEL_PTP,ACC_GLUE,TOOL,BASE,EX_BASE,PTP_DAT,CP_DAT,OUT_SYNC,OUT_ASYNC,GROUP,FRAMES,PTP_PARAMS,CP_PARAMS
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ENUM OUT_MODETYPE TRIGGER_,CONT_,STOP_
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ENUM IPO_M_T NONE,TCP,BASE
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ENUM APO_MODE_T CPTP,CDIS
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ENUM LDD_MODE_T NONE,CAD,T1,T2,AUT,EX,MANUAL
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ENUM LDD_RESULT_T NONE,APP,STATOVL,DYNOVL,CTCHCK,OVL,APPSLOOR,SLOOR
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STRUC DIG_OUT_TYPE INT FIRST_BIT,LENGTH,PARITY,CODING
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STRUC CTRL_IN_T INT IN_NR,CHAR NAME_NAT[20]
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STRUC CTRL_OUT_T INT OUT_NR,BOOL INI,CHAR NAME_NAT[20]
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STRUC FCT_OUT_T INT NO,REAL PULS_TIME,BOOL STATE
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STRUC FCT_IN_T INT NO,BOOL STATE
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STRUC PDAT REAL VEL,ACC,APO_DIST,APO_MODE_T APO_MODE,REAL GEAR_JERK,INT EXAX_IGN
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STRUC LDAT REAL VEL,ACC,APO_DIST,APO_FAC,AXIS_VEL,AXIS_ACC,ORI_TYPE ORI_TYP,CIRC_TYPE CIRC_TYP,REAL JERK_FAC,GEAR_JERK,INT EXAX_IGN,CIRC_MODE CB
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STRUC FDAT INT TOOL_NO,BASE_NO,IPO_MODE IPO_FRAME,CHAR POINT2[24],BOOL TQ_STATE
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STRUC ODAT INT OUT_NO,BOOL STATE,REAL PULSE_TIME,OUT_MODETYPE OUT_MODE,REAL TIME_DELAY,OFFSET
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STRUC BASIS_SUGG_T CHAR POINT1[24],POINT2[24],CP_PARAMS[24],PTP_PARAMS[24],CONT[24],CP_VEL[24],PTP_VEL[24],SYNC_PARAMS[24],SPL_NAME[24],A_PARAMS[24],PC_SYNCSTRING[24],GL_SYNCSTRING[24]
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STRUC HDAT REAL HT_START,HT_DEST,APO_START,APO_DEST,ACC_START,ACC_DEST,VEL_START,VEL_DEST
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STRUC OUT_SUGG_T CHAR PARAMS[24]
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STRUC MACHINE_DEF_T CHAR NAME[40],INT COOP_KRC_INDEX,CHAR PARENT[40],FRAME ROOT,ESYS MECH_TYPE,CHAR GEOMETRY[255]
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STRUC MACHINE_TOOL_T INT MACH_DEF_INDEX,CHAR PARENT[40],CHAR GEOMETRY[255]
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STRUC MACHINE_FRAME_T INT MACH_DEF_INDEX,CHAR PARENT[40],CHAR GEOMETRY[255]
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STRUC TRIGGER_PARA INT TriggerPath,BOOL TriggerOnStart,INT TriggerDelay,CHAR TriggerTask[40]
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STRUC CONSTVEL_PARA INT ConstVelTyp,INT ConstVelPath,BOOL ConstVelOnStart
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STRUC CONDSTOP_PARA INT CondStopPath,BOOL CondStopOnStart,CHAR StopCondition[40]
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STRUC ADAT TRIGGER_PARA TriggerPara,CONSTVEL_PARA ConstVelPara,CONDSTOP_PARA CondStopPara
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STRUC MODULEPARAM_T CHAR PARAMS[2000]
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STRUC TRACECACHE_T CHAR NAME[64],INT ACT_ITER,INT MAX_ITER
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;FOLD OLD TORQUE MONITORING - Do not remove! Needed to prevent syntax errors in old user modules!
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STRUC TM_SUGG_T CHAR TM_ID[24]
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STRUC TQM_TQDAT_T INT T11,T12,T13,T14,T15,T16,T21,T22,T23,T24,T25,T26,K1,K2,K3,K4,K5,K6,O1,O2,ID,OVM,REAL TMF
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;ENDFOLD
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;==================================
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; External declarations:
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;==================================
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EXT BAS (BAS_COMMAND :IN,REAL :IN )
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EXT IR_STOPM ( )
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;====================
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; Signal declarations
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; Do not change !!!!!
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;====================
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SIGNAL CHANNEL_1 $ANOUT[1]
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SIGNAL CHANNEL_2 $ANOUT[2]
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SIGNAL CHANNEL_3 $ANOUT[3]
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SIGNAL CHANNEL_4 $ANOUT[4]
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SIGNAL CHANNEL_5 $ANOUT[5]
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SIGNAL CHANNEL_6 $ANOUT[6]
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SIGNAL CHANNEL_7 $ANOUT[7]
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SIGNAL CHANNEL_8 $ANOUT[8]
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SIGNAL CHANNEL_9 $ANOUT[9]
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SIGNAL CHANNEL_10 $ANOUT[10]
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SIGNAL CHANNEL_11 $ANOUT[11]
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SIGNAL CHANNEL_12 $ANOUT[12]
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SIGNAL CHANNEL_13 $ANOUT[13]
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SIGNAL CHANNEL_14 $ANOUT[14]
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SIGNAL CHANNEL_15 $ANOUT[15]
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SIGNAL CHANNEL_16 $ANOUT[16]
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SIGNAL CHANNEL_17 $ANOUT[17]
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SIGNAL CHANNEL_18 $ANOUT[18]
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SIGNAL CHANNEL_19 $ANOUT[19]
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SIGNAL CHANNEL_20 $ANOUT[20]
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SIGNAL CHANNEL_21 $ANOUT[21]
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SIGNAL CHANNEL_22 $ANOUT[22]
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SIGNAL CHANNEL_23 $ANOUT[23]
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SIGNAL CHANNEL_24 $ANOUT[24]
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SIGNAL CHANNEL_25 $ANOUT[25]
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SIGNAL CHANNEL_26 $ANOUT[26]
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SIGNAL CHANNEL_27 $ANOUT[27]
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SIGNAL CHANNEL_28 $ANOUT[28]
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SIGNAL CHANNEL_29 $ANOUT[29]
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SIGNAL CHANNEL_30 $ANOUT[30]
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SIGNAL CHANNEL_31 $ANOUT[31]
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SIGNAL CHANNEL_32 $ANOUT[32]
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;==================================
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; ID external user log-on:
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;==================================
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SIGNAL ExtUserID $IN[1026] TO $IN[1026]
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SIGNAL ExtUserIDWatchDog $IN[1026]
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;==================================
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; Variables:
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;==================================
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DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL LDAT LDEFAULT={VEL 2.00000,ACC 100.000,APO_DIST 100.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0}
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DECL LDAT CDEFAULT={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
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DECL FDAT FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
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DECL FDAT FHOME={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
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DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}
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DECL HDAT HDEFAULT={HT_START 250.000,HT_DEST 250.000,APO_START 200.000,APO_DEST 200.000,ACC_START 100.000,ACC_DEST 100.000,VEL_START 2.00000,VEL_DEST 2.00000}
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DECL ADAT TDEFAULT={TriggerPara {TriggerPath 0,TriggerOnStart FALSE,TriggerDelay 0,TriggerTask[] " "}}
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DECL ADAT CVDEFAULT={ConstVelPara {ConstVelTyp 0,ConstVelPath 0,ConstVelOnStart FALSE}}
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DECL ADAT CSDEFAULT={CondStopPara {CondStopPath 0,CondStopOnStart FALSE,StopCondition[] " "}}
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DECL PDAT PDAT_ACT
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DECL LDAT LDAT_ACT
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DECL FDAT FDAT_ACT
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DECL ODAT ODAT_ACT
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DECL INT ACT_FILTER
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DECL INT ACT_DELAY
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DECL INT ACT_DISTANCE
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DECL CHAR SPL_NAME[24]
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DECL MSGBUF_T TouchUpCheckMsgBuffer[100]
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;GROUP-Definitions
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;----------------------------------
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INT COMPL_GROUP='B0001'
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INT DEF_GROUP[10]
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DEF_GROUP[1]='B1111' ; complete
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DEF_GROUP[2]='B0001' ; robot only
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DEF_GROUP[3]='B0011' ; robot and track
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DEF_GROUP[4]='B0111' ; robot, track and ext. axis2
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DEF_GROUP[5]='B1011' ; robot, track and ext. axis3
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DEF_GROUP[6]='B1111' ; robot, track and ext. axis2+3
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DEF_GROUP[7]='B1111' ; complete
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DEF_GROUP[8]='B1111' ; complete
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DEF_GROUP[9]='B1111' ; complete
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DEF_GROUP[10]='B1111' ; complete
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INT $ACT_GROUP='B0001'
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; HOME POSITION
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;----------------------------------
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E6AXIS XHOME={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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E6AXIS XHOME1={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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E6AXIS XHOME2={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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E6AXIS XHOME3={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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E6AXIS XHOME4={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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E6AXIS XHOME5={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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; REFERENCE POINTS
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;----------------------------------
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DECL FRAME REF_PT[16]
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REF_PT[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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REF_PT[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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FRAME REF_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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; TOOL and BASE data
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;----------------------------------
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BOOL AUTO_IPO_M=FALSE
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BOOL STOPM_FLAG=FALSE
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BOOL TOOL_CORR_ON=FALSE
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BOOL TOOL_CORR_W_ON=FALSE
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BOOL BASE_CORR_ON=FALSE
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BOOL M_BAS_COR_ON=FALSE
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FRAME TOOL_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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FRAME TOOL_CORR_W={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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FRAME BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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FRAME M_BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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INT COR_TOOL_NO=0
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INT MAX_TOOL=16
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DECL FRAME TOOL_DATA[16]
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TOOL_DATA[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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TOOL_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
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DECL CHAR TOOL_NAME[16,24]
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TOOL_NAME[1,]=" "
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TOOL_NAME[2,]=" "
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TOOL_NAME[3,]=" "
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TOOL_NAME[4,]=" "
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TOOL_NAME[5,]=" "
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TOOL_NAME[6,]=" "
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TOOL_NAME[7,]=" "
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TOOL_NAME[8,]=" "
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TOOL_NAME[9,]=" "
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TOOL_NAME[10,]=" "
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TOOL_NAME[11,]=" "
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TOOL_NAME[12,]=" "
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TOOL_NAME[13,]=" "
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TOOL_NAME[14,]=" "
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TOOL_NAME[15,]=" "
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TOOL_NAME[16,]=" "
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INT MAX_LOAD=16
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DECL LOAD LOAD_DATA[16]
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LOAD_DATA[1]={M 20.0000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[2]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[3]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[4]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[5]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[6]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[7]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[8]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[9]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[10]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[11]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[12]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[13]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[14]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[15]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
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LOAD_DATA[16]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
|
|
|
|
DECL CHAR LOAD_NAME[16,24]
|
|
LOAD_NAME[1,]=" "
|
|
LOAD_NAME[2,]=" "
|
|
LOAD_NAME[3,]=" "
|
|
LOAD_NAME[4,]=" "
|
|
LOAD_NAME[5,]=" "
|
|
LOAD_NAME[6,]=" "
|
|
LOAD_NAME[7,]=" "
|
|
LOAD_NAME[8,]=" "
|
|
LOAD_NAME[9,]=" "
|
|
LOAD_NAME[10,]=" "
|
|
LOAD_NAME[11,]=" "
|
|
LOAD_NAME[12,]=" "
|
|
LOAD_NAME[13,]=" "
|
|
LOAD_NAME[14,]=" "
|
|
LOAD_NAME[15,]=" "
|
|
LOAD_NAME[16,]=" "
|
|
|
|
DECL LDD_MODE_T LOAD_MODE[16]
|
|
LOAD_MODE[1]=#MANUAL
|
|
LOAD_MODE[2]=#NONE
|
|
LOAD_MODE[3]=#NONE
|
|
LOAD_MODE[4]=#NONE
|
|
LOAD_MODE[5]=#NONE
|
|
LOAD_MODE[6]=#NONE
|
|
LOAD_MODE[7]=#NONE
|
|
LOAD_MODE[8]=#NONE
|
|
LOAD_MODE[9]=#NONE
|
|
LOAD_MODE[10]=#NONE
|
|
LOAD_MODE[11]=#NONE
|
|
LOAD_MODE[12]=#NONE
|
|
LOAD_MODE[13]=#NONE
|
|
LOAD_MODE[14]=#NONE
|
|
LOAD_MODE[15]=#NONE
|
|
LOAD_MODE[16]=#NONE
|
|
|
|
DECL LDD_RESULT_T LOAD_RESULT[16]
|
|
LOAD_RESULT[1]=#NONE
|
|
LOAD_RESULT[2]=#NONE
|
|
LOAD_RESULT[3]=#NONE
|
|
LOAD_RESULT[4]=#NONE
|
|
LOAD_RESULT[5]=#NONE
|
|
LOAD_RESULT[6]=#NONE
|
|
LOAD_RESULT[7]=#NONE
|
|
LOAD_RESULT[8]=#NONE
|
|
LOAD_RESULT[9]=#NONE
|
|
LOAD_RESULT[10]=#NONE
|
|
LOAD_RESULT[11]=#NONE
|
|
LOAD_RESULT[12]=#NONE
|
|
LOAD_RESULT[13]=#NONE
|
|
LOAD_RESULT[14]=#NONE
|
|
LOAD_RESULT[15]=#NONE
|
|
LOAD_RESULT[16]=#NONE
|
|
|
|
DECL IPO_M_T TOOL_TYPE[16]
|
|
TOOL_TYPE[1]=#BASE
|
|
TOOL_TYPE[2]=#NONE
|
|
TOOL_TYPE[3]=#NONE
|
|
TOOL_TYPE[4]=#NONE
|
|
TOOL_TYPE[5]=#NONE
|
|
TOOL_TYPE[6]=#NONE
|
|
TOOL_TYPE[7]=#NONE
|
|
TOOL_TYPE[8]=#NONE
|
|
TOOL_TYPE[9]=#NONE
|
|
TOOL_TYPE[10]=#NONE
|
|
TOOL_TYPE[11]=#NONE
|
|
TOOL_TYPE[12]=#NONE
|
|
TOOL_TYPE[13]=#NONE
|
|
TOOL_TYPE[14]=#NONE
|
|
TOOL_TYPE[15]=#NONE
|
|
TOOL_TYPE[16]=#NONE
|
|
|
|
DECL LOAD LOAD_A1_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
|
|
DECL LOAD LOAD_A2_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
|
|
DECL LOAD LOAD_A3_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
|
|
|
|
INT MAX_BASE=32
|
|
DECL FRAME BASE_DATA[32]
|
|
BASE_DATA[1]={X 823.726135,Y -1331.62146,Z 626.088379,A -0.308851,B 0.00167013647,C -0.0266715586}
|
|
BASE_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[17]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[18]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[19]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[20]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[21]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[22]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[23]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[24]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[25]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[26]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[27]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[28]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[29]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[30]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[31]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
BASE_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
|
|
|
|
DECL CHAR BASE_NAME[32,24]
|
|
BASE_NAME[1,]=" "
|
|
BASE_NAME[2,]=" "
|
|
BASE_NAME[3,]=" "
|
|
BASE_NAME[4,]=" "
|
|
BASE_NAME[5,]=" "
|
|
BASE_NAME[6,]=" "
|
|
BASE_NAME[7,]=" "
|
|
BASE_NAME[8,]=" "
|
|
BASE_NAME[9,]=" "
|
|
BASE_NAME[10,]=" "
|
|
BASE_NAME[11,]=" "
|
|
BASE_NAME[12,]=" "
|
|
BASE_NAME[13,]=" "
|
|
BASE_NAME[14,]=" "
|
|
BASE_NAME[15,]=" "
|
|
BASE_NAME[16,]=" "
|
|
BASE_NAME[17,]=" "
|
|
BASE_NAME[18,]=" "
|
|
BASE_NAME[19,]=" "
|
|
BASE_NAME[20,]=" "
|
|
BASE_NAME[21,]=" "
|
|
BASE_NAME[22,]=" "
|
|
BASE_NAME[23,]=" "
|
|
BASE_NAME[24,]=" "
|
|
BASE_NAME[25,]=" "
|
|
BASE_NAME[26,]=" "
|
|
BASE_NAME[27,]=" "
|
|
BASE_NAME[28,]=" "
|
|
BASE_NAME[29,]=" "
|
|
BASE_NAME[30,]=" "
|
|
BASE_NAME[31,]=" "
|
|
BASE_NAME[32,]=" "
|
|
|
|
DECL IPO_M_T BASE_TYPE[32]
|
|
BASE_TYPE[1]=#NONE
|
|
BASE_TYPE[2]=#NONE
|
|
BASE_TYPE[3]=#NONE
|
|
BASE_TYPE[4]=#NONE
|
|
BASE_TYPE[5]=#NONE
|
|
BASE_TYPE[6]=#NONE
|
|
BASE_TYPE[7]=#NONE
|
|
BASE_TYPE[8]=#NONE
|
|
BASE_TYPE[9]=#NONE
|
|
BASE_TYPE[10]=#NONE
|
|
BASE_TYPE[11]=#NONE
|
|
BASE_TYPE[12]=#NONE
|
|
BASE_TYPE[13]=#NONE
|
|
BASE_TYPE[14]=#NONE
|
|
BASE_TYPE[15]=#NONE
|
|
BASE_TYPE[16]=#NONE
|
|
BASE_TYPE[17]=#NONE
|
|
BASE_TYPE[18]=#NONE
|
|
BASE_TYPE[19]=#NONE
|
|
BASE_TYPE[20]=#NONE
|
|
BASE_TYPE[21]=#NONE
|
|
BASE_TYPE[22]=#NONE
|
|
BASE_TYPE[23]=#NONE
|
|
BASE_TYPE[24]=#NONE
|
|
BASE_TYPE[25]=#NONE
|
|
BASE_TYPE[26]=#NONE
|
|
BASE_TYPE[27]=#NONE
|
|
BASE_TYPE[28]=#NONE
|
|
BASE_TYPE[29]=#NONE
|
|
BASE_TYPE[30]=#NONE
|
|
BASE_TYPE[31]=#NONE
|
|
BASE_TYPE[32]=#NONE
|
|
|
|
;******************************************
|
|
; Variables for CELL DEFINITION
|
|
;******************************************
|
|
|
|
INT MAX_MACHINES=16
|
|
DECL MACHINE_DEF_T MACHINE_DEF[16]
|
|
MACHINE_DEF[1]={NAME[] "KR 120 R3100-2",COOP_KRC_INDEX 1,PARENT[] "WORLD",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #ROBOT,GEOMETRY[] "ObjectId = 1232261811"}
|
|
MACHINE_DEF[2]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[3]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[4]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[5]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[6]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[7]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[8]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[9]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[10]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[11]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[12]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[13]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[14]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[15]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
MACHINE_DEF[16]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
|
|
|
|
DECL MACHINE_TOOL_T MACHINE_TOOL_DAT[16]
|
|
MACHINE_TOOL_DAT[1]={MACH_DEF_INDEX 1,PARENT[] "KR 120 R3100-2",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
|
|
DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32]
|
|
MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[17]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[18]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[19]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[20]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[21]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[22]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[23]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[24]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[25]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[26]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[27]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[28]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[29]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[30]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[31]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
MACHINE_FRAME_DAT[32]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
|
|
|
|
;******************************************
|
|
; Variables for axis CALIBRATING
|
|
;******************************************
|
|
DECL INT CAL_AXIS
|
|
BOOL CONST_SPEED
|
|
|
|
;******************************************
|
|
; Variables for added TechPackages
|
|
;******************************************
|
|
INT POWER
|
|
|
|
;******************************************
|
|
; General purpose return value of functions
|
|
; like INVERSE, FORWARD
|
|
;******************************************
|
|
INT ERR_STATUS=-1
|
|
|
|
;******************************************
|
|
; Variables for TOUCHUP user limit
|
|
;******************************************
|
|
BOOL UM_TOUCHUP=FALSE
|
|
REAL CARTESIAN_TOL=5.00000
|
|
REAL ROTATION_ANGLE=10.0000
|
|
REAL EXTAX_TOL[6]
|
|
EXTAX_TOL[1]=10.0000
|
|
EXTAX_TOL[2]=10.0000
|
|
EXTAX_TOL[3]=10.0000
|
|
EXTAX_TOL[4]=10.0000
|
|
EXTAX_TOL[5]=10.0000
|
|
EXTAX_TOL[6]=10.0000
|
|
|
|
;******************************************
|
|
; Variables for Displaying and Konfiguring
|
|
;******************************************
|
|
DECL INT I[20]
|
|
|
|
I[1]=0
|
|
I[2]=0
|
|
I[3]=0
|
|
I[4]=0
|
|
I[5]=0
|
|
I[6]=0
|
|
I[7]=0
|
|
I[8]=0
|
|
I[9]=0
|
|
I[10]=0
|
|
I[11]=0
|
|
I[12]=0
|
|
I[13]=0
|
|
I[14]=0
|
|
I[15]=0
|
|
I[16]=0
|
|
I[17]=0
|
|
I[18]=0
|
|
I[19]=0
|
|
I[20]=0
|
|
|
|
;******************************************
|
|
; Variables for Tracing
|
|
;******************************************
|
|
DECL TRACECACHE_T TRACE_CACHE[10]
|
|
TRACE_CACHE[1]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[2]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[3]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[4]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[5]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[6]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[7]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[8]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[9]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
TRACE_CACHE[10]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
|
|
|
|
DECL INT TraceOverflowIndex=1
|
|
|
|
;******************************************
|
|
; all for InterBus Mapping on optional segments
|
|
;******************************************
|
|
|
|
DECL INT IBUS_SEGMENT[16]
|
|
IBUS_SEGMENT[1]=0
|
|
IBUS_SEGMENT[2]=0
|
|
IBUS_SEGMENT[3]=0
|
|
IBUS_SEGMENT[4]=0
|
|
IBUS_SEGMENT[5]=0
|
|
IBUS_SEGMENT[6]=0
|
|
IBUS_SEGMENT[7]=0
|
|
IBUS_SEGMENT[8]=0
|
|
IBUS_SEGMENT[9]=0
|
|
IBUS_SEGMENT[10]=0
|
|
IBUS_SEGMENT[11]=0
|
|
IBUS_SEGMENT[12]=0
|
|
IBUS_SEGMENT[13]=0
|
|
IBUS_SEGMENT[14]=0
|
|
IBUS_SEGMENT[15]=0
|
|
IBUS_SEGMENT[16]=0
|
|
|
|
;******************************************
|
|
; Reduction factors
|
|
;******************************************
|
|
DECL REAL RedVelExAx[6]
|
|
RedVelExAx[1]=100.000
|
|
RedVelExAx[2]=100.000
|
|
RedVelExAx[3]=100.000
|
|
RedVelExAx[4]=100.000
|
|
RedVelExAx[5]=100.000
|
|
RedVelExAx[6]=100.000
|
|
DECL REAL RedAccExAx[6]
|
|
RedAccExAx[1]=100.000
|
|
RedAccExAx[2]=100.000
|
|
RedAccExAx[3]=100.000
|
|
RedAccExAx[4]=100.000
|
|
RedAccExAx[5]=100.000
|
|
RedAccExAx[6]=100.000
|
|
|
|
;******************************************
|
|
; Joint offset
|
|
;******************************************
|
|
STRUC JOINT_DEVICE_T CHAR NAME[39],REAL OFFSET,INT AXIS_INDEX
|
|
DECL JOINT_DEVICE_T JOINT_DEVICE[32]
|
|
JOINT_DEVICE[1]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[2]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[3]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[4]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[5]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[6]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[7]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[8]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[9]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[10]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[11]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[12]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[13]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[14]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[15]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[16]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[17]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[18]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[19]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[20]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[21]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[22]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[23]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[24]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[25]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[26]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[27]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[28]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[29]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[30]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[31]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
JOINT_DEVICE[32]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
|
|
|
|
DECL INT JOINT_DEVICE_INDEX[32]
|
|
JOINT_DEVICE_INDEX[1]=-1
|
|
JOINT_DEVICE_INDEX[2]=-1
|
|
JOINT_DEVICE_INDEX[3]=-1
|
|
JOINT_DEVICE_INDEX[4]=-1
|
|
JOINT_DEVICE_INDEX[5]=-1
|
|
JOINT_DEVICE_INDEX[6]=-1
|
|
JOINT_DEVICE_INDEX[7]=-1
|
|
JOINT_DEVICE_INDEX[8]=-1
|
|
JOINT_DEVICE_INDEX[9]=-1
|
|
JOINT_DEVICE_INDEX[10]=-1
|
|
JOINT_DEVICE_INDEX[11]=-1
|
|
JOINT_DEVICE_INDEX[12]=-1
|
|
JOINT_DEVICE_INDEX[13]=-1
|
|
JOINT_DEVICE_INDEX[14]=-1
|
|
JOINT_DEVICE_INDEX[15]=-1
|
|
JOINT_DEVICE_INDEX[16]=-1
|
|
JOINT_DEVICE_INDEX[17]=-1
|
|
JOINT_DEVICE_INDEX[18]=-1
|
|
JOINT_DEVICE_INDEX[19]=-1
|
|
JOINT_DEVICE_INDEX[20]=-1
|
|
JOINT_DEVICE_INDEX[21]=-1
|
|
JOINT_DEVICE_INDEX[22]=-1
|
|
JOINT_DEVICE_INDEX[23]=-1
|
|
JOINT_DEVICE_INDEX[24]=-1
|
|
JOINT_DEVICE_INDEX[25]=-1
|
|
JOINT_DEVICE_INDEX[26]=-1
|
|
JOINT_DEVICE_INDEX[27]=-1
|
|
JOINT_DEVICE_INDEX[28]=-1
|
|
JOINT_DEVICE_INDEX[29]=-1
|
|
JOINT_DEVICE_INDEX[30]=-1
|
|
JOINT_DEVICE_INDEX[31]=-1
|
|
JOINT_DEVICE_INDEX[32]=-1
|
|
BOOL bJointOffsetHasBeenSet=FALSE
|
|
INT iLastAxisNo=0
|
|
|
|
ENUM TIMER_ACTIONTYPE TimerStart,TimerStop,TimeOut
|
|
BOOL EasyTeachKeepOriWarning=FALSE
|
|
INT EasyTeachKeepOriHandle=0
|
|
;ENDFOLD (BASISTECH GLOBALS)
|
|
;FOLD AUTOEXT GLOBALS
|
|
;==================================
|
|
; Structures:
|
|
;==================================
|
|
ENUM FUNCT_TYPE PGNO_GET,PGNO_ACKN,PGNO_FAULT
|
|
ENUM P00_COMMAND INIT_EXT,EXT_PGNO,CHK_HOME,EXT_ERR
|
|
|
|
STRUC SPS_PROG_TYPE INT PROG_NR,CHAR PROG_NAME[12]
|
|
;==================================
|
|
; External declarations:
|
|
;==================================
|
|
EXT P00 (P00_COMMAND :IN,FUNCT_TYPE :IN,CHAR [] :OUT,INT :IN )
|
|
;External declaration for Submit controlled AutoExt
|
|
EXT P00_SUBM (P00_COMMAND :IN,FUNCT_TYPE :IN )
|
|
|
|
;==================================
|
|
; Variables:
|
|
;==================================
|
|
; Variables for internal
|
|
; Communication:
|
|
;----------------------------------
|
|
BOOL ERROR_FLAG
|
|
BOOL CHECK_HOME=TRUE
|
|
BOOL PROG_CONTROL=FALSE
|
|
DECL CHAR PRO_NAME1_L[8]
|
|
PRO_NAME1_L[]=" "
|
|
DECL CHAR PRO_NAME1_A[8]
|
|
PRO_NAME1_A[]=" "
|
|
|
|
INT PGNO=0 ;copy of ext. pgno
|
|
INT PGNO_ERROR=0 ;transmission error
|
|
INT PGNO_TYPE=1 ;coding type of ext. pgno
|
|
INT REFLECT_PROG_NR=0 ; enable mirroring of program number inputs (1=enabled, 0=disabled)
|
|
|
|
; Variables for External
|
|
; Communication: I/O-Interface
|
|
;----------------------------------
|
|
INT PGNO_FBIT=9 ;first bit of ext. pgno input $IN[]
|
|
INT PGNO_FBIT_REFL=999 ;first bit of ext. pgno reflection output $OUT[]
|
|
INT PGNO_LENGTH=8 ;length of ext. pgno (max. 16)
|
|
INT PGNO_PARITY=1 ;parity bit of ext. pgno
|
|
INT PGNO_REQ=6 ;request ext. pgno input
|
|
INT PGNO_VALID=2 ;validate ext. pgno input
|
|
INT APPL_RUN=7 ;application program is running output
|
|
INT ERR_TO_PLC=35 ;error output to PLC
|
|
INT P01_STEP
|
|
INT CHK_STEP
|
|
INT PGNO_FLAG
|
|
|
|
; Table for assign SPS program number to program name
|
|
INT MAX_SPS_PROG=12
|
|
DECL SPS_PROG_TYPE SPS_PROG[12]
|
|
SPS_PROG[1]={PROG_NR 1,PROG_NAME[] "HP01() "}
|
|
SPS_PROG[2]={PROG_NR 2,PROG_NAME[] "HP02() "}
|
|
SPS_PROG[3]={PROG_NR 3,PROG_NAME[] "HP03() "}
|
|
SPS_PROG[4]={PROG_NR 4,PROG_NAME[] "HP04() "}
|
|
SPS_PROG[5]={PROG_NR 5,PROG_NAME[] "HP05() "}
|
|
SPS_PROG[6]={PROG_NR 6,PROG_NAME[] "HP06() "}
|
|
SPS_PROG[7]={PROG_NR 7,PROG_NAME[] "HP07() "}
|
|
SPS_PROG[8]={PROG_NR 8,PROG_NAME[] "HP08() "}
|
|
SPS_PROG[9]={PROG_NR 9,PROG_NAME[] "HP09() "}
|
|
SPS_PROG[10]={PROG_NR 10,PROG_NAME[] "HP10() "}
|
|
SPS_PROG[11]={PROG_NR 62,PROG_NAME[] "HP62() "}
|
|
SPS_PROG[12]={PROG_NR 63,PROG_NAME[] "HP63() "}
|
|
DECL CHAR TMPNAME[128]
|
|
TMPNAME[]=" "
|
|
;ENDFOLD (AUTOEXT GLOBALS)
|
|
;FOLD BackupManagerConfig
|
|
BOOL BM_ENABLED
|
|
INT BM_OUTPUTVALUE
|
|
SIGNAL BM_OutputSignal $OUT[4095] TO $OUT[4096]
|
|
SIGNAL BM_InputSignal $IN[1026] TO $IN[1026]
|
|
;ENDFOLD BackupManagerConfig
|
|
;FOLD Conveyor
|
|
DECL INT CONV_PART_NBR[16]
|
|
CONV_PART_NBR[1]=0
|
|
CONV_PART_NBR[2]=0
|
|
CONV_PART_NBR[3]=0
|
|
CONV_PART_NBR[4]=0
|
|
CONV_PART_NBR[5]=0
|
|
CONV_PART_NBR[6]=0
|
|
CONV_PART_NBR[7]=0
|
|
CONV_PART_NBR[8]=0
|
|
CONV_PART_NBR[9]=0
|
|
CONV_PART_NBR[10]=0
|
|
CONV_PART_NBR[11]=0
|
|
CONV_PART_NBR[12]=0
|
|
CONV_PART_NBR[13]=0
|
|
CONV_PART_NBR[14]=0
|
|
CONV_PART_NBR[15]=0
|
|
CONV_PART_NBR[16]=0
|
|
|
|
ENUM CONV_MODE_TYPE Absolute,Relative
|
|
DECL CONV_MODE_TYPE ActualConveyorMode=#Relative
|
|
;ENDFOLD Conveyor
|
|
;FOLD USER GLOBALS
|
|
;*******************************************
|
|
;Make your modifications -ONLY- here
|
|
;*******************************************
|
|
;==================================
|
|
; Userdefined Types
|
|
;==================================
|
|
|
|
;==================================
|
|
; Userdefined Externals
|
|
;==================================
|
|
|
|
;==================================
|
|
; Userdefined Variables
|
|
;==================================
|
|
|
|
;ENDFOLD (USER GLOBALS)
|
|
ENDDAT
|
