访问RVP rel 1参数模板= C: \的方式呈现\ Roboter\Template\vorgabe &PARAM EDITMASK = * DEF Substrat1 ( ) EXT BAS (BAS_COMMAND :IN,REAL :IN ) ; GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) ; INTERRUPT ON 3 ;FOLD Initialise and set default speed BAS (#INITMOV,0) BAS (#VEL_PTP,100) BAS (#ACC_PTP,20) $VEL.CP=0.2 BAS (#TOOL,0) BAS (#BASE,0) ;ENDFOLD ;;FOLD STARTPOS ;$BWDSTART = FALSE ;PDAT_ACT = PDEFAULT ;BAS(#PTP_DAT) ;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} ;BAS(#FRAMES) ;;ENDFOLD $ADVANCE = 5 ;FOLD ---- Quickly skip BCO ---- ; PTP $AXIS_ACT ;ENDFOLD ;FOLD ---- GO HOME ---- ; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0} ;ENDFOLD ; Program generated by RoboDK v5.3.0 for KUKA KR 10 R900-2 on 09/11/2021 13:41:57 ; Using nominal kinematics. $APO.CPTP = 1.000 $APO.CDIS = 1.000 $VEL.CP = 1.00000 ; ---- Setting reference (Base) ---- $BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 180.000,B 0.000,C 0.000} ; -------------------------- ; ---- Setting tool (TCP) ---- $TOOL = {FRAME: X -140.000,Y 0.000,Z 180.000,A 0.000,B 0.000,C 0.000} ; -------------------------- ; Show Buse PTP {A1 -17.31160,A2 -22.47620,A3 56.76320,A4 0.00000,A5 55.71300,A6 -17.31160,E1 0.00000} C_PTP LIN {X -810.000,Y -240.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS $VEL.CP = 0.05000 LIN {X -770.000,Y -240.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -238.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -238.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -236.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -236.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -234.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -234.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -232.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -232.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -230.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -230.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -228.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -228.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -226.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -226.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -224.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -224.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -222.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -222.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -220.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -220.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -218.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -218.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -216.000,Z 88.000,A 0.000,B 0.000,C -180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -216.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -214.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -214.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -212.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -212.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -770.000,Y -210.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -210.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS LIN {X -810.000,Y -208.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS $VEL.CP = 1.00000 LIN {X -910.000,Y -208.000,Z 88.000,A 0.000,B 0.000,C 180.000,E1 0.00000} C_DIS END