访问RVP rel 1参数模板= C: \的方式呈现\ Roboter\Template\vorgabe &PARAM EDITMASK = * DEF Prog1 ( ) ;FOLD INI BAS (#INITMOV,0 ) ;ENDFOLD (INI) ;FOLD STARTPOS $BWDSTART = FALSE PDAT_ACT = PDEFAULT BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS(#FRAMES) ;ENDFOLD ;FOLD SET DEFAULT SPEED $VEL.CP=0.2 BAS(#VEL_PTP,100) BAS(#TOOL,0) BAS(#BASE,0) ;ENDFOLD $ADVANCE = 5 PTP $AXIS_ACT ; skip BCO quickly ; Program generated by RoboDK v4.0.0 for KUKA KR 200-2 on 14/11/2019 12:30:04 ; Using nominal kinematics. BASE_DATA[0] = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000} ;FOLD PTP P1 Vel=100 % PDAT1 Tool[1] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1 $BWDSTART=FALSE PDAT_ACT=PPDAT1 FDAT_ACT=FP1 BAS(#PTP_PARAMS,100) PTP XP1 C_PTP ;ENDFOLD ;FOLD PTP P2 Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2 $BWDSTART=FALSE PDAT_ACT=PPDAT2 FDAT_ACT=FP2 BAS(#PTP_PARAMS,100) PTP XP2 C_PTP ;ENDFOLD ;FOLD PTP P3 Vel=100 % PDAT3 Tool[1] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:, 5:100, 7:PDAT3 $BWDSTART=FALSE PDAT_ACT=PPDAT3 FDAT_ACT=FP3 BAS(#PTP_PARAMS,100) PTP XP3 C_PTP ;ENDFOLD ;FOLD PTP P4 Vel=100 % PDAT4 Tool[1] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:, 5:100, 7:PDAT4 $BWDSTART=FALSE PDAT_ACT=PPDAT4 FDAT_ACT=FP4 BAS(#PTP_PARAMS,100) PTP XP4 C_PTP ;ENDFOLD END