;折叠SPTP回家或者= 100%违约;% {PE};折叠持平ameters ;%{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.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 SPTP StacksHome Vel=100 % PDAT1 Tool[2]:ForkNew Base[4]:EUpalletNEW ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=StacksHome; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP ;ENDFOLD SPTP XStacksHome WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FStacksHome), $BASE = SBASE(FStacksHome.BASE_NO), $IPO_MODE = SIPO_MODE(FStacksHome.IPO_FRAME), $LOAD = SLOAD(FStacksHome.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) ;ENDFOLD