访问RVP rel 1参数模板= C: \的方式呈现\ Roboter\Template\vorgabe &PARAM EDITMASK = * DEF Prog3 ( ) 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 v5.3.4 for KUKA KR 240-2 on 26/01/2022 09:14:04 ; Using nominal kinematics. ; ---- Setting reference (Base) ---- $BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000} ; BASE_DATA[1] = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000} ; $BASE = BASE_DATA[1] ; -------------------------- ; ---- Setting tool (TCP) ---- $TOOL = {FRAME: X 311.882,Y -5.552,Z 133.052,A 102.336,B 88.126,C 73.248} ; -------------------------- PTP {A1 74.44270,A2 -16.62010,A3 30.08650,A4 42.58910,A5 -16.93310,A6 -12.24560,E1 0.00000} LIN {X 780.587,Y -1342.880,Z 238.405,A 147.510,B -0.118,C 179.882,E1 0.00000} LIN {X 304.890,Y -1855.320,Z 325.546,A 87.510,B -0.161,C -179.956,E1 0.00000} LIN {X 304.262,Y -1855.030,Z 175.548,A 87.510,B -0.161,C -179.956,E1 0.00000} END