From 2a95796b9a06f01788ae30f4d3e61190ec5b6536 Mon Sep 17 00:00:00 2001 From: zhusenlin Date: Thu, 12 Feb 2026 11:51:44 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BC=98=E5=8C=96=E7=A8=8B?= =?UTF-8?q?=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 6040-003上下料 V2.1.project | Bin 11874274 -> 11875511 bytes KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat | 2 +- KUKA/KRC/R1/KUKA/CollDetect_UserAction.src | 2 +- KUKA/KRC/R1/KUKA/masref_user.dat | 2 +- KUKA/KRC/R1/KUKA/masref_user.src | 2 +- KUKA/KRC/R1/Mada/$machine.dat | 10 +- KUKA/KRC/R1/Program/Config.dat | 12 +- KUKA/KRC/R1/Program/Grip/GripClose.src | 2 +- KUKA/KRC/R1/Program/Grip/GripOpen.src | 2 +- KUKA/KRC/R1/Program/Home/HomeModule.dat | 8 +- KUKA/KRC/R1/Program/Home/HomeModule.src | 21 ++-- KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat | 12 +- KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src | 49 +++++--- KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat | 10 +- KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src | 47 +++++--- KUKA/KRC/R1/Program/PL/NgBeltPlace.dat | 5 +- KUKA/KRC/R1/Program/PL/NgBeltPlace.src | 60 +++++++--- KUKA/KRC/R1/Program/PL/Pallet1Place.dat | 28 +++-- KUKA/KRC/R1/Program/PL/Pallet1Place.src | 89 +++++++++----- KUKA/KRC/R1/Program/PL/Pallet2Place.dat | 27 ++++- KUKA/KRC/R1/Program/PL/Pallet2Place.src | 87 +++++++++----- KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat | 7 +- KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src | 64 +++++++--- KUKA/KRC/R1/Program/PL/WaterBeltPick.dat | 11 +- KUKA/KRC/R1/Program/PL/WaterBeltPick.src | 64 +++++++--- KUKA/KRC/R1/Program/PLC.sub | 2 +- KUKA/KRC/R1/Program/PosBase.dat | 16 +-- KUKA/KRC/R1/Program/TP/T.dat | 32 +++++ KUKA/KRC/R1/Program/TP/T.src | 53 ++++++++ KUKA/KRC/R1/Program/TP/TestModule.dat | 23 ++-- KUKA/KRC/R1/Program/TP/TestModule.src | 113 +++++++++++++++--- KUKA/KRC/R1/System/$config.dat | 20 ++-- KUKA/KRC/R1/System/MqttConfig.dat | 2 +- KUKA/KRC/R1/System/MsgLib.dat | 2 +- KUKA/KRC/R1/System/MsgLib.src | 2 +- KUKA/KRC/R1/System/bas.src | 2 +- KUKA/KRC/R1/System/collmonlib.dat | 2 +- KUKA/KRC/R1/System/collmonlib.src | 2 +- KUKA/KRC/R1/System/ir_stopm.src | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat | 2 +- KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src | 2 +- KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat | 2 +- KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src | 2 +- .../R1/TP/EthernetKRL/EthernetKRL_USER.src | 2 +- KUKA/KRC/R1/TP/p00.dat | 2 +- KUKA/KRC/R1/TP/p00.src | 2 +- 52 files changed, 657 insertions(+), 265 deletions(-) create mode 100644 KUKA/KRC/R1/Program/TP/T.dat create mode 100644 KUKA/KRC/R1/Program/TP/T.src diff --git a/6040-003上下料 V2.1.project 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a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat +++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 DEFDAT CollDetect_UserAction diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src index 0171bef..9fb941d 100644 --- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src +++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 DEF CollDetect_UserAction( ) diff --git a/KUKA/KRC/R1/KUKA/masref_user.dat b/KUKA/KRC/R1/KUKA/masref_user.dat index e898148..80ee206 100644 --- a/KUKA/KRC/R1/KUKA/masref_user.dat +++ b/KUKA/KRC/R1/KUKA/masref_user.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT Mastering Reference User Program &PARAM DISKPATH = KRC:\R1\Program diff --git a/KUKA/KRC/R1/KUKA/masref_user.src b/KUKA/KRC/R1/KUKA/masref_user.src index 5cb41e2..53546bf 100644 --- a/KUKA/KRC/R1/KUKA/masref_user.src +++ b/KUKA/KRC/R1/KUKA/masref_user.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT Mastering Reference User Program &PARAM DISKPATH = KRC:\R1\Program diff --git a/KUKA/KRC/R1/Mada/$machine.dat b/KUKA/KRC/R1/Mada/$machine.dat index 9086753..2c6cafd 100644 --- a/KUKA/KRC/R1/Mada/$machine.dat +++ b/KUKA/KRC/R1/Mada/$machine.dat @@ -377,7 +377,7 @@ $SOFTN_END[2]=-140.000 $SOFTN_END[3]=-120.000 $SOFTN_END[4]=-350.000 $SOFTN_END[5]=-125.000 -$SOFTN_END[6]=-350.000 +$SOFTN_END[6]=-178.000 $SOFTN_END[7]=0.0 $SOFTN_END[8]=0.0 $SOFTN_END[9]=0.0 @@ -390,7 +390,7 @@ $SOFTP_END[2]=-5.00000 $SOFTP_END[3]=168.000 $SOFTP_END[4]=350.000 $SOFTP_END[5]=125.000 -$SOFTP_END[6]=350.000 +$SOFTP_END[6]=178.000 $SOFTP_END[7]=0.0 $SOFTP_END[8]=0.0 $SOFTP_END[9]=0.0 @@ -612,10 +612,10 @@ FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1 FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2 FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3 FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL -E6AXIS $H_POS={A1 -40.3666763,A2 -83.7005,A3 104.610184,A4 -0.0553556271,A5 68.6550,A6 -25.0909958,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +E6AXIS $H_POS={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} E6AXIS $AXIS_HOME[5] -$AXIS_HOME[1]={A1 -47.3356514,A2 -65.9847336,A3 82.3962097,A4 0.00171302236,A5 73.1501541,A6 -32.0802269,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -$AXIS_HOME[2]={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +$AXIS_HOME[1]={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} +$AXIS_HOME[2]={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} $AXIS_HOME[3]={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} $AXIS_HOME[4]={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} $AXIS_HOME[5]={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} diff --git a/KUKA/KRC/R1/Program/Config.dat b/KUKA/KRC/R1/Program/Config.dat index d2563e3..db9aa4d 100644 --- a/KUKA/KRC/R1/Program/Config.dat +++ b/KUKA/KRC/R1/Program/Config.dat @@ -3,18 +3,18 @@ DEFDAT CONFIG PUBLIC GLOBAL INT PdtTypeLast=0 GLOBAL INT CmdSave=11 -GLOBAL INT CmdCountLast=2 -GLOBAL INT PlaceOffsetX_Save=-1167 -GLOBAL INT PlaceOffsetY_Save=-3250 +GLOBAL INT CmdCountLast=298 +GLOBAL INT PlaceOffsetX_Save=-1258 +GLOBAL INT PlaceOffsetY_Save=-3000 GLOBAL INT PlaceOffsetZ_Save=0 GLOBAL INT PickOffsetX_Save=0 GLOBAL INT PickOffsetY_Save=0 GLOBAL INT PickOffsetZ_Save=0 -GLOBAL INT CountX_Save=2 -GLOBAL INT CountY_Save=0 +GLOBAL INT CountX_Save=11 +GLOBAL INT CountY_Save=3 GLOBAL BOOL ConfMessSave=FALSE -DECL GLOBAL E6POS END_POS={X 567.624878,Y 2965.83350,Z 747.798157,A -164.436340,B 0.381067097,C 179.743317,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS END_POS={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} ENDDAT diff --git a/KUKA/KRC/R1/Program/Grip/GripClose.src b/KUKA/KRC/R1/Program/Grip/GripClose.src index 4ba3dd5..860a126 100644 --- a/KUKA/KRC/R1/Program/Grip/GripClose.src +++ b/KUKA/KRC/R1/Program/Grip/GripClose.src @@ -1,4 +1,4 @@ -&ACCESS RV +&ACCESS RVP1 DEF GripClose ( ) Q_GripPosIndex=102 Q_GripPosCount=I_GripPosCountRet+1 diff --git a/KUKA/KRC/R1/Program/Grip/GripOpen.src b/KUKA/KRC/R1/Program/Grip/GripOpen.src index f94c398..eb4883f 100644 --- a/KUKA/KRC/R1/Program/Grip/GripOpen.src +++ b/KUKA/KRC/R1/Program/Grip/GripOpen.src @@ -1,4 +1,4 @@ -&ACCESS RV1 +&ACCESS RVP DEF GripOpen ( ) Q_GripPosIndex=101 diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.dat b/KUKA/KRC/R1/Program/Home/HomeModule.dat index e8f8f0e..586fc08 100644 --- a/KUKA/KRC/R1/Program/Home/HomeModule.dat +++ b/KUKA/KRC/R1/Program/Home/HomeModule.dat @@ -1,5 +1,7 @@ -&ACCESS RVP -DEFDAT HomeModule +&ACCESS RVO +&REL 3 +&PARAM DISKPATH = KRC:\R1\Program\Home +DEFDAT HOMEMODULE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) @@ -10,5 +12,5 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.src b/KUKA/KRC/R1/Program/Home/HomeModule.src index a1d4f2b..4b28c6f 100644 --- a/KUKA/KRC/R1/Program/Home/HomeModule.src +++ b/KUKA/KRC/R1/Program/Home/HomeModule.src @@ -1,4 +1,6 @@ -&ACCESS RVP +&ACCESS RVO +&REL 3 +&PARAM DISKPATH = KRC:\R1\Program\Home DEF HomeModule ( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI @@ -17,11 +19,16 @@ DEF HomeModule ( ) LIN {Z 1600} ENDIF - ;FOLD SPTP HOME Vel=100 % DEFAULT ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP - ;ENDFOLD - 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(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) - ;ENDFOLD +;FOLD PTP HOME Vel=100 % DEFAULT ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PDEFAULT +FDAT_ACT = FHOME +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XHOME +;ENDFOLD END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat index 6525e7f..dcf5cbf 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat +++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat @@ -1,5 +1,5 @@ -&ACCESS RVO -&REL 1 +&ACCESS RVP +&REL 7 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT FEEDBELT1PICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P @@ -13,14 +13,16 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPickH={X -371.799255,Y 3335.85059,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPickH={X -367.936188,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPick={X -371.799255,Y 3335.85059,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src index 005516b..5dfe378 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src +++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src @@ -1,5 +1,5 @@ -&ACCESS RVO -&REL 1 +&ACCESS RVP +&REL 7 &PARAM DISKPATH = KRC:\R1\Program\PL DEF FeedBelt1Pick ( ) DECL REAL x_offset,y_offset,z_offset @@ -25,28 +25,43 @@ DEF FeedBelt1Pick ( ) XPick.Z=XFeedBelt1Pick.Z + z_offset XPickH=XPick XPickH.Z=XPick.Z+500 -;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT2 +FDAT_ACT = FPickH +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPickH C_Dis ;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]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPick +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPick ;ENDFOLD GripClose() -;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPickH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPickH ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat index 30f9bc1..872cd9e 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat +++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat @@ -1,5 +1,5 @@ &ACCESS RVO -&REL 3 +&REL 9 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT FEEDBELT2PICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P @@ -17,8 +17,10 @@ DECL FDAT FPick_1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} -DECL E6POS XPickH={X -513.757690,Y 3336.04053,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL E6POS XPick={X -513.757690,Y 3336.04053,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="} +DECL E6POS XPickH={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src index 00d035e..361edb4 100644 --- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src +++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src @@ -1,5 +1,5 @@ &ACCESS RVO -&REL 3 +&REL 9 &PARAM DISKPATH = KRC:\R1\Program\PL DEF FeedBelt2Pick ( ) DECL REAL x_offset,y_offset,z_offset @@ -25,28 +25,43 @@ DEF FeedBelt2Pick ( ) XPick.Z=XFeedBelt2Pick.Z + z_offset XPickH=XPick XPickH.Z=XPick.Z+500 -;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT2 +FDAT_ACT = FPickH +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPickH C_Dis ;ENDFOLD CONTINUE WAIT FOR I_GripOpen AND I_Signal2 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]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPick +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPick ;ENDFOLD GripClose() -;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPickH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPickH ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat index 6701e3b..fed242c 100644 --- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat +++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 3 +&PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT NGBELTPLACE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P @@ -10,7 +12,7 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} @@ -20,4 +22,5 @@ DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src index 3f82344..c79722d 100644 --- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src +++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 3 +&PARAM DISKPATH = KRC:\R1\Program\PL DEF NgBeltPlace ( ) DECL REAL x_offset,y_offset,z_offset ;FOLD INI;%{PE} @@ -23,37 +25,57 @@ DEF NgBeltPlace ( ) XPlace.Z=XNgBeltPlace.Z + z_offset XPlaceH=XPlace XPlaceH.Z=XPlace.Z+500 -;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; 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 XPlaceH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD PTP PlaceH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT1 +FDAT_ACT = FPlaceH +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPlaceH C_Dis ;ENDFOLD CONTINUE WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 CONTINUE Q_AreaEnter2=TRUE -;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; 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 XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Place Vel=2 m/s CPDAT3 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT3 +FDAT_ACT = FPlace +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlace ;ENDFOLD GripOpen() -;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN - ;ENDFOLD - SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPlaceH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceH C_Dis C_Dis ;ENDFOLD CONTINUE Q_AreaEnter2=FALSE ActionReturn(1) -;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} +;FOLD PTP HOME1 Vel=100 % PDAT2 ;%{PE} ;FOLD Parameters ;%{h} -;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT2 +FDAT_ACT = FHOME1 +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XHOME1 ;ENDFOLD -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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) -;ENDFOLD END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat index 1f96200..99b32d1 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat +++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat @@ -1,5 +1,5 @@ &ACCESS RV -&REL 3 +&REL 15 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT PALLET1PLACE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P @@ -15,17 +15,27 @@ DECL INT SUCCESS -DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} -DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlaceH={X 1384.94043,Y 2642.32153,Z 765.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSig; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT6; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT8; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL E6POS XPlaceH={X 1501.64038,Y 1742.32153,Z 765.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlace={X 1384.94043,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPlace={X 1501.64038,Y 1742.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FHOME1={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL PDAT PPDAT2={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} -DECL PDAT PPDAT3 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} -DECL PDAT PPDAT4 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT4={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT5={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL E6POS XPlaceSigH={X 666666.688,Y 66.6000,Z 666.660,A 6.60000,B 66.6600,C 666.600,S 0,T 0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL LDAT LCPDAT7={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL E6POS XPlaceSig={X 1407.35193,Y 1196.59705,Z 1498.33838,A -164.745041,B 0.371815890,C 179.768021,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL LDAT LCPDAT8={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.src b/KUKA/KRC/R1/Program/PL/Pallet1Place.src index 1a2a9f6..a06d086 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src +++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src @@ -1,5 +1,5 @@ &ACCESS RV -&REL 3 +&REL 15 &PARAM DISKPATH = KRC:\R1\Program\PL DEF Pallet1Place ( ) DECL REAL x_offset,y_offset,z_offset @@ -24,48 +24,77 @@ DEF Pallet1Place ( ) XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset XPlace.Z=XPallet1PlaceB.Z + z_offset XPlaceH=XPlace - XPlaceH.Z=XPlace.Z+500 - - -;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP - ;ENDFOLD - 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(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl -;ENDFOLD + XPlaceH.Z=XPlace.Z+400 + XPlaceSigH=XPlace + XPlaceSigH.Z=XPlace.Z+500 + XPlaceSigH.X=XPlace.X-50 + XPlaceSig=XPlace + XPlaceSig.Z=XPlace.Z+400 + XPlaceSig.X=XPlace.X-50 -;FOLD SPTP PlaceH CONT Vel=100 % PDAT4 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} +;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[0] ;%{PE} ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP + ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN ;ENDFOLD - SPTP XPlaceH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl + $BWDSTART = FALSE + LDAT_ACT = LCPDAT7 + FDAT_ACT = FPlaceSigH + BAS(#CP_PARAMS, 2.0) + SET_CD_PARAMS (0) + LIN XPlaceSigH C_Dis C_Dis +;ENDFOLD +;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[0] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT8 +FDAT_ACT = FPlaceSig +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceSig +;ENDFOLD +;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT5 +FDAT_ACT = FPlaceH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceH C_Dis C_Dis ;ENDFOLD CONTINUE - WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 + WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2 CONTINUE Q_AreaEnter2=TRUE -;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; 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 XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPlace +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlace ;ENDFOLD GripOpen() -;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN - ;ENDFOLD - SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPlaceH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceH C_Dis C_Dis ;ENDFOLD CONTINUE Q_AreaEnter2=FALSE ActionReturn(1) -;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP - ;ENDFOLD - 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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) -;ENDFOLD END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat index d83ad79..c94199a 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat +++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat @@ -1,5 +1,5 @@ -&ACCESS RVP -&REL 5 +&ACCESS RVO +&REL 26 &PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT PALLET2PLACE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P @@ -12,18 +12,33 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT3; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlaceH={X 1268.24036,Y 2642.32153,Z 665.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPlaceH={X 109.078979,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPlace={X 1268.24036,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPlace={X 109.078979,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FHOME1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XHOME1={X 1407.35352,Y 1741.39893,Z 1283.17041,A -164.745026,B 0.372301966,C 179.768570,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT4={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT17={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981423,C 179.586945,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT18={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT5={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL E6POS XPlaceSigH={X 59.0789795,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPlaceSigH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL LDAT LCPDAT6={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT19={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT7={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}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} +DECL E6POS XPlaceSig = { X 666666.666, Y 66.6, Z 666.66, A 6.6, B 66.66, C 666.6, S 0, T 0, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 } +DECL FDAT FPlaceSig = {BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL LDAT LCPDAT8 = {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}},APO_FAC 50.0,APO_DIST 493,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.src b/KUKA/KRC/R1/Program/PL/Pallet2Place.src index ce805bb..86aa5c4 100644 --- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src +++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src @@ -1,5 +1,5 @@ -&ACCESS RVP -&REL 5 +&ACCESS RVO +&REL 26 &PARAM DISKPATH = KRC:\R1\Program\PL DEF Pallet2Place ( ) DECL REAL x_offset,y_offset,z_offset @@ -24,47 +24,78 @@ DEF Pallet2Place ( ) XPlace.Z=XPallet1PlaceB.Z + z_offset XPlaceH=XPlace XPlaceH.Z=XPlace.Z+400 - + XPlaceSigH=XPlace + XPlaceSigH.X=XPlace.X-50 + XPlaceSigH.Z=XPlace.Z+500 + XPlaceSig=XPlace + XPlaceSig.X=XPlace.X-50 + XPlaceSig.Z=XPlace.Z+400 -;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE} +;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE} + ;FOLD Parameters ;%{h} + ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN + ;ENDFOLD + $BWDSTART = FALSE + LDAT_ACT = LCPDAT7 + FDAT_ACT = FPlaceSigH + BAS(#CP_PARAMS, 2.0) + SET_CD_PARAMS (0) + LIN XPlaceSigH C_Dis C_Dis +;ENDFOLD + +;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE} ;FOLD Parameters ;%{h} -;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN ;ENDFOLD -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(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +$BWDSTART = FALSE +LDAT_ACT = LCPDAT8 +FDAT_ACT = FPlaceSig +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceSig ;ENDFOLD - -;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT3 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} + WAIT FOR NOT I_GripBelowExist +;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE} ;FOLD Parameters ;%{h} -;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN ;ENDFOLD -SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT3), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT3), $ORI_TYPE = SORI_TYP(LCPDAT3), $APO = SAPO(LCPDAT3), $JERK = SJERK(LCPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +$BWDSTART = FALSE +LDAT_ACT = LCPDAT5 +FDAT_ACT = FPlaceH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceH C_Dis C_Dis ;ENDFOLD CONTINUE - WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2 + WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2 CONTINUE Q_AreaEnter2=TRUE -;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; 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 XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPlace +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlace ;ENDFOLD GripOpen() -;FOLD SLIN PlaceH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; 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 XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) - ;ENDFOLD +;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPlaceH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPlaceH +;ENDFOLD CONTINUE Q_AreaEnter2=FALSE ActionReturn(1) -;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE} - ;FOLD Parameters ;%{h} - ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP - ;ENDFOLD - 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(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) -;ENDFOLD END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat index e3c9038..6fb5cb4 100644 --- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat +++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 7 +&PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT REFEEDBELTPICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P @@ -10,7 +12,7 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} @@ -20,4 +22,7 @@ DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src index 5b52fee..efb287e 100644 --- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src +++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 7 +&PARAM DISKPATH = KRC:\R1\Program\PL DEF ReFeedBeltPick ( ) DECL REAL x_offset,y_offset,z_offset ;FOLD INI;%{PE} @@ -18,35 +20,61 @@ DEF ReFeedBeltPick ( ) x_offset=PickOffsetX_Save/10.0 y_offset=PickOffsetY_Save/10.0 z_offset=PickOffsetZ_Save/10.0 - XPick.X=XFeedBelt1Pick.X + x_offset - XPick.Y=XFeedBelt1Pick.Y + y_offset - XPick.Z=XFeedBelt1Pick.Z + z_offset + XPick.X=XReFeedBeltPick.X + x_offset + XPick.Y=XReFeedBeltPick.Y + y_offset + XPick.Z=XReFeedBeltPick.Z + z_offset XPickH=XPick XPickH.Z=XPick.Z+500 -;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT1 +FDAT_ACT = FPickH +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPickH C_Dis ;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]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPick +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPick ;ENDFOLD GripClose() -;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPickH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPickH ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) +;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE} +;;FOLD Parameters ;%{h} +;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;;ENDFOLD +;$BWDSTART = FALSE +;PDAT_ACT = PPDAT2 +;FDAT_ACT = FPass +;BAS(#PTP_PARAMS, 100.0) +;SET_CD_PARAMS (0) +;PTP XPass +;;ENDFOLD END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat index d0ab344..85f7c06 100644 --- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat +++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 7 +&PARAM DISKPATH = KRC:\R1\Program\PL DEFDAT WATERBELTPICK ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P @@ -10,14 +12,17 @@ DECL INT SUCCESS ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "} DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPickH={X -362.541016,Y -53.0821304,Z 535.058350,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPickH={X -361.108734,Y -30.3251133,Z 595.508240,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} -DECL E6POS XPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL E6POS XPick={X -361.108734,Y -30.3251133,Z 95.5082550,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src index 619c4bc..e0f608d 100644 --- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src +++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src @@ -1,4 +1,6 @@ &ACCESS RVO +&REL 7 +&PARAM DISKPATH = KRC:\R1\Program\PL DEF WaterBeltPick ( ) DECL REAL x_offset,y_offset,z_offset ;FOLD INI;%{PE} @@ -18,35 +20,61 @@ DEF WaterBeltPick ( ) x_offset=PickOffsetX_Save/10.0 y_offset=PickOffsetY_Save/10.0 z_offset=PickOffsetZ_Save/10.0 - XPick.X=XFeedBelt1Pick.X + x_offset - XPick.Y=XFeedBelt1Pick.Y + y_offset - XPick.Z=XFeedBelt1Pick.Z + z_offset + XPick.X=XWaterBeltPick.X + x_offset + XPick.Y=XWaterBeltPick.Y + y_offset + XPick.Z=XWaterBeltPick.Z + z_offset XPickH=XPick XPickH.Z=XPick.Z+500 -;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl +;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT1 +FDAT_ACT = FPickH +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPickH C_Dis ;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]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPick +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPick ;ENDFOLD GripClose() -;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN +;ENDFOLD +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPickH +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPickH ;ENDFOLD Q_AreaEnter1=FALSE ActionReturn(1) +;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE} +;;FOLD Parameters ;%{h} +;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;;ENDFOLD +;$BWDSTART = FALSE +;PDAT_ACT = PPDAT2 +;FDAT_ACT = FPass +;BAS(#PTP_PARAMS, 100.0) +;SET_CD_PARAMS (0) +;PTP XPass +;;ENDFOLD END_POS=$POS_ACT END \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/PLC.sub b/KUKA/KRC/R1/Program/PLC.sub index bc5d374..3e5503b 100644 --- a/KUKA/KRC/R1/Program/PLC.sub +++ b/KUKA/KRC/R1/Program/PLC.sub @@ -1,4 +1,4 @@ -&ACCESS RVP +&ACCESS RVO &COMMENT USER specified PLC program DEF PLC ( ) DECL STATE_T STAT diff --git a/KUKA/KRC/R1/Program/PosBase.dat b/KUKA/KRC/R1/Program/PosBase.dat index 4e85a0f..b705fe4 100644 --- a/KUKA/KRC/R1/Program/PosBase.dat +++ b/KUKA/KRC/R1/Program/PosBase.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 7 &PARAM DISKPATH = KRC:\R1\Program\TP DEFDAT POSBASE PUBLIC @@ -6,13 +6,13 @@ DEFDAT POSBASE PUBLIC ;*************************************************** ; * ;*************************************************** -DECL GLOBAL E6POS XPallet1PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XPallet2PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XFeedBelt1Pick={X -371.799255,Y 3335.85059,Z 37,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XFeedBelt2Pick={X -513.757690,Y 3336.04053,Z 37,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XNgBeltPlace={X -372.497620,Y -392.548706,Z 42.0128441,A 103.970634,B 0.387568325,C 179.739,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XWaterBeltPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -DECL GLOBAL E6POS XReFeedBeltPick={X -355.786682,Y 285.198730,Z 34.5330734,A 103.969742,B 0.385545075,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XPallet1PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XPallet2PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XFeedBelt1Pick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XFeedBelt2Pick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XNgBeltPlace={X -377.579193,Y -392.592957,Z 48.2309685,A 104.528885,B 0.376219094,C 179.734528,S 2,T 10,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XWaterBeltPick={X -374.435608,Y -52.7464218,Z 48.3197289,A 104.528885,B 0.376218826,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL GLOBAL E6POS XReFeedBeltPick={X -364.351349,Y 284.098267,Z 50.3441315,A 104.528885,B 0.376218945,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} diff --git a/KUKA/KRC/R1/Program/TP/T.dat b/KUKA/KRC/R1/Program/TP/T.dat new file mode 100644 index 0000000..699e527 --- /dev/null +++ b/KUKA/KRC/R1/Program/TP/T.dat @@ -0,0 +1,32 @@ +&ACCESS RVO +&REL 19 +&PARAM EDITMASK = * +&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe +&PARAM DISKPATH = KRC:\R1\Program\TP +DEFDAT T +;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P +;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P +EXT BAS (BAS_COMMAND :IN,REAL :IN ) +DECL INT SUCCESS +;ENDFOLD (BASISTECH EXT) +;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P +;Make your modifications here + +;ENDFOLD (USER EXT) +;ENDFOLD (EXTERNAL DECLARATIONS) +DECL FDAT Fhome1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.PointName=Pass; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.FrameData.point2=; Kuka.isglobalpoint=False; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2 "} +DECL E6POS XPass={X 1496.99622,Y 1744.02686,Z 677.063965,A 165.215530,B 0.220793873,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL E6POS XPass2={X 1017.04706,Y 1744.06714,Z 677.063965,A 165.215530,B 0.220793888,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +DECL FDAT FPass2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +ENDDAT diff --git a/KUKA/KRC/R1/Program/TP/T.src b/KUKA/KRC/R1/Program/TP/T.src new file mode 100644 index 0000000..d367a22 --- /dev/null +++ b/KUKA/KRC/R1/Program/TP/T.src @@ -0,0 +1,53 @@ +&ACCESS RVO +&REL 19 +&PARAM EDITMASK = * +&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe +&PARAM DISKPATH = KRC:\R1\Program\TP +DEF T( ) +;FOLD INI;%{PE} + ;FOLD BASISTECH INI + GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) + INTERRUPT ON 3 + BAS (#INITMOV,0 ) + ;ENDFOLD (BASISTECH INI) + ;FOLD USER INI + ;Make your modifications here + + ;ENDFOLD (USER INI) +;ENDFOLD (INI) + + +;FOLD PTP home CONT Vel=100 % PDAT3 ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT3 +FDAT_ACT = Fhome +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP Xhome C_Dis +;ENDFOLD +;FOLD PTP Pass2 Vel=100 % PDAT5 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT5 +FDAT_ACT = FPass2 +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPass2 +;ENDFOLD +;FOLD PTP Pass Vel=100 % PDAT6 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT6 +FDAT_ACT = FPass +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XPass +;ENDFOLD +END diff --git a/KUKA/KRC/R1/Program/TP/TestModule.dat b/KUKA/KRC/R1/Program/TP/TestModule.dat index 7c43640..f3a2b49 100644 --- a/KUKA/KRC/R1/Program/TP/TestModule.dat +++ b/KUKA/KRC/R1/Program/TP/TestModule.dat @@ -1,5 +1,5 @@ &ACCESS RVO -&REL 20 +&REL 31 &PARAM DISKPATH = KRC:\R1\Program\TP DEFDAT TESTMODULE ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P @@ -14,22 +14,31 @@ DECL INT SUCCESS ;ENDFOLD (EXTERNAL DECLARATIONS) DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet2PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.FrameData.point2="} +DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet1PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT16; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.FrameData.point2=; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.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}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2"} DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} -DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT8={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} DECL PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT11={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL FDAT FXFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} +DECL PDAT PPDAT12={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT13={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT14={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT15={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PPDAT16={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} +DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} +DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,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,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}}} ENDDAT \ No newline at end of file diff --git a/KUKA/KRC/R1/Program/TP/TestModule.src b/KUKA/KRC/R1/Program/TP/TestModule.src index eba6aa2..cc0c6f6 100644 --- a/KUKA/KRC/R1/Program/TP/TestModule.src +++ b/KUKA/KRC/R1/Program/TP/TestModule.src @@ -1,5 +1,5 @@ &ACCESS RVO -&REL 20 +&REL 31 &PARAM DISKPATH = KRC:\R1\Program\TP DEF TestModule ( ) ;FOLD INI;%{PE} @@ -13,36 +13,115 @@ DEF TestModule ( ) ;ENDFOLD (USER INI) ;ENDFOLD (INI) -;FOLD SPTP HOME Vel=100 % PDAT10 ;%{PE} +;FOLD PTP HOME Vel=100 % PDAT10 ;%{PE} ;FOLD Parameters ;%{h} -;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 +;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 ;ENDFOLD -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +$BWDSTART = FALSE +PDAT_ACT = PPDAT10 +FDAT_ACT = FHOME +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XHOME ;ENDFOLD -;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE} +;FOLD PTP HOME2 Vel=100 % PDAT9 ;%{PE} ;FOLD Parameters ;%{h} -;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 +;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 ;ENDFOLD -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +$BWDSTART = FALSE +PDAT_ACT = PPDAT9 +FDAT_ACT = FHOME2 +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XHOME2 ;ENDFOLD -;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE} +;FOLD PTP HOME1 Vel=100 % PDAT8 ;%{PE} ;FOLD Parameters ;%{h} -;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 +;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 ;ENDFOLD -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +$BWDSTART = FALSE +PDAT_ACT = PPDAT8 +FDAT_ACT = FHOME1 +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XHOME1 ;ENDFOLD -;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} +;FOLD LIN Pallet1PlaceB Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE} ;FOLD Parameters ;%{h} -;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 +;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 ;ENDFOLD -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +$BWDSTART = FALSE +LDAT_ACT = LCPDAT2 +FDAT_ACT = FPallet1PlaceB +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPallet1PlaceB ;ENDFOLD -;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE} +;FOLD LIN Pallet2PlaceB Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE} ;FOLD Parameters ;%{h} -;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 +;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 ;ENDFOLD -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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) +$BWDSTART = FALSE +LDAT_ACT = LCPDAT1 +FDAT_ACT = FPallet2PlaceB +BAS(#CP_PARAMS, 2.0) +SET_CD_PARAMS (0) +LIN XPallet2PlaceB +;ENDFOLD +;FOLD PTP FeedBelt1Pick Vel=100 % PDAT12 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;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 +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT12 +FDAT_ACT = FFeedBelt1Pick +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XFeedBelt1Pick +;ENDFOLD +;FOLD PTP FeedBelt2Pick Vel=100 % PDAT13 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT13; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT13 +FDAT_ACT = FFeedBelt2Pick +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XFeedBelt2Pick +;ENDFOLD +;FOLD PTP NgBeltPlace Vel=100 % PDAT14 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;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 +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT14 +FDAT_ACT = FNgBeltPlace +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XNgBeltPlace +;ENDFOLD +;FOLD PTP WaterBeltPick Vel=100 % PDAT15 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT15; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT15 +FDAT_ACT = FWaterBeltPick +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XWaterBeltPick +;ENDFOLD +;FOLD PTP ReFeedBeltPick Vel=100 % PDAT16 Tool[1] Base[1] ;%{PE} +;FOLD Parameters ;%{h} +;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 +;ENDFOLD +$BWDSTART = FALSE +PDAT_ACT = PPDAT16 +FDAT_ACT = FReFeedBeltPick +BAS(#PTP_PARAMS, 100.0) +SET_CD_PARAMS (0) +PTP XReFeedBeltPick ;ENDFOLD - END \ No newline at end of file diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat index 071816d..e0368c1 100644 --- a/KUKA/KRC/R1/System/$config.dat +++ b/KUKA/KRC/R1/System/$config.dat @@ -132,11 +132,11 @@ SIGNAL ExtUserIDWatchDog $IN[1026] ;================================== ; Variables: ;================================== -DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 100.000,EXAX_IGN 0} +DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0} 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} 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}}} DECL FDAT FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} -DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "} +DECL FDAT FHOME={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "} DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0} 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} @@ -175,9 +175,9 @@ INT $ACT_GROUP='B0001' ; HOME POSITION ;---------------------------------- -E6AXIS XHOME={A1 -40.3666763,A2 -83.7005,A3 104.610184,A4 -0.0553556271,A5 68.6550,A6 -25.0909958,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -E6AXIS XHOME1={A1 -47.3356514,A2 -65.9847336,A3 82.3962097,A4 0.00171302236,A5 73.1501541,A6 -32.0802269,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} -E6AXIS XHOME2={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} +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} +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} +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} 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} 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} 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} @@ -238,7 +238,7 @@ TOOL_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} TOOL_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} DECL CHAR TOOL_NAME[16,24] -TOOL_NAME[1,]="Tool1" +TOOL_NAME[1,]=" " TOOL_NAME[2,]=" " TOOL_NAME[3,]=" " TOOL_NAME[4,]=" " @@ -348,7 +348,7 @@ 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 50.0000,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}} +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] @@ -386,7 +386,7 @@ 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,]="Base1" +BASE_NAME[1,]=" " BASE_NAME[2,]=" " BASE_NAME[3,]=" " BASE_NAME[4,]=" " @@ -420,7 +420,7 @@ BASE_NAME[31,]=" " BASE_NAME[32,]=" " DECL IPO_M_T BASE_TYPE[32] -BASE_TYPE[1]=#BASE +BASE_TYPE[1]=#NONE BASE_TYPE[2]=#NONE BASE_TYPE[3]=#NONE BASE_TYPE[4]=#NONE @@ -495,7 +495,7 @@ 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[] "WORLD",GEOMETRY[] " "} +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[] " "} diff --git a/KUKA/KRC/R1/System/MqttConfig.dat b/KUKA/KRC/R1/System/MqttConfig.dat index abfcfa3..98a51c1 100644 --- a/KUKA/KRC/R1/System/MqttConfig.dat +++ b/KUKA/KRC/R1/System/MqttConfig.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 DEFDAT MqttConfig PUBLIC ; Publisher IP address for KukaConnect data-set configuration. diff --git a/KUKA/KRC/R1/System/MsgLib.dat b/KUKA/KRC/R1/System/MsgLib.dat index d8aa177..1beaf6b 100644 --- a/KUKA/KRC/R1/System/MsgLib.dat +++ b/KUKA/KRC/R1/System/MsgLib.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT Message library DEFDAT MsgLib PUBLIC diff --git a/KUKA/KRC/R1/System/MsgLib.src b/KUKA/KRC/R1/System/MsgLib.src index 9f0ce5b..c8de9fa 100644 --- a/KUKA/KRC/R1/System/MsgLib.src +++ b/KUKA/KRC/R1/System/MsgLib.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT Message library DEF MsgLib ( ) ;************************************************** diff --git a/KUKA/KRC/R1/System/bas.src b/KUKA/KRC/R1/System/bas.src index bc3aec6..510613f 100644 --- a/KUKA/KRC/R1/System/bas.src +++ b/KUKA/KRC/R1/System/bas.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &REL 1 &COMMENT BASIS package DEF BAS (COMMAND :IN,REAL_PAR :IN ) diff --git a/KUKA/KRC/R1/System/collmonlib.dat b/KUKA/KRC/R1/System/collmonlib.dat index 078fec0..2afd08c 100644 --- a/KUKA/KRC/R1/System/collmonlib.dat +++ b/KUKA/KRC/R1/System/collmonlib.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT Collision monitoring library DEFDAT COLLMONLIB PUBLIC ;DO NOT MODIFY THIS FILE diff --git a/KUKA/KRC/R1/System/collmonlib.src b/KUKA/KRC/R1/System/collmonlib.src index 5cffcdb..3dac17c 100644 --- a/KUKA/KRC/R1/System/collmonlib.src +++ b/KUKA/KRC/R1/System/collmonlib.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT Collision monitoring library DEF CollMonLib( ) diff --git a/KUKA/KRC/R1/System/ir_stopm.src b/KUKA/KRC/R1/System/ir_stopm.src index bd78af4..fd46679 100644 --- a/KUKA/KRC/R1/System/ir_stopm.src +++ b/KUKA/KRC/R1/System/ir_stopm.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT HandlerOnRobotFault DEF IR_STOPM ( ) ;----------------------------------- diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat index a63a9c7..f1882c3 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT path after test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src index 0f11a17..ca7bae7 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT path after test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat index 80d9715..d8d66d7 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT parkposition &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src index 6eb4f60..243f452 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT parkposition &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat index 5320079..2224ef3 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat @@ -1,4 +1,4 @@ -&ACCESS RVO2 +&ACCESS RVO3 &REL 1 &COMMENT BrkTst-main task &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src index 66cbaf3..7f1d5f7 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src @@ -1,4 +1,4 @@ -&ACCESS RVO2 +&ACCESS RVO3 &REL 1 &COMMENT BrkTst-main task &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat index 278d11d..53160eb 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT path to test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src index e8c41c0..5e41adf 100644 --- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src +++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src @@ -1,4 +1,4 @@ -&ACCESS RV2 +&ACCESS RV3 &REL 1 &COMMENT path to test &PARAM EDITMASK = * diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat index 786b6a3..d68e7d6 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO3 &REL 2396 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL DEFDAT EthernetKRL PUBLIC diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src index 06ae15b..d292aef 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO3 &REL 2396 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL DEF EthernetKRL( ) diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src index 0608a95..5273d0a 100644 --- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src +++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src @@ -1,4 +1,4 @@ -&ACCESS RO2 +&ACCESS RO3 &REL 2314 &PARAM DISKPATH = TP/EthernetKRL DEF EthernetKRL_USER( ) diff --git a/KUKA/KRC/R1/TP/p00.dat b/KUKA/KRC/R1/TP/p00.dat index ed6c061..43149d2 100644 --- a/KUKA/KRC/R1/TP/p00.dat +++ b/KUKA/KRC/R1/TP/p00.dat @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT EXTERNAL package DEFDAT P00 diff --git a/KUKA/KRC/R1/TP/p00.src b/KUKA/KRC/R1/TP/p00.src index 94d8626..3493a77 100644 --- a/KUKA/KRC/R1/TP/p00.src +++ b/KUKA/KRC/R1/TP/p00.src @@ -1,4 +1,4 @@ -&ACCESS R3 +&ACCESS R4 &COMMENT EXTERNAL package DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN ) DECL P00_COMMAND COMMAND