Kuka KR16 KRC2 external axis not work in RoboDK - Printable Version

Code:
DEF RoboDKsync33test()

INT io_id
INT j_id
INT program_id

BAS(#INITMOV,0)

PTP $AXIS_ACT

$ORI_TYPE = #VAR
$CIRC_TYPE = #BASE
$VEL.ORI1 = 200
$VEL.ORI2 = 200
$ACC.ORI1 = 100
$ACC.ORI2 = 100

$VEL.CP=3
$ACC.CP=10

$BASE = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$TOOL = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}

$ADVANCE = 0
COM_ROUNDM = -1
COM_ACTION = 0
COM_ACTCNT = 0
$APO.CPTP = 0
$APO.CDIS = 0

WHILE COM_ACTION >= 0

SWITCH COM_ACTION
CASE 1
;do nothing
COM_ACTCNT = COM_ACTCNT + 1
COM_ACTION = 0

CASE 2
IF COM_ROUNDM >= 0 THEN
PTP COM_E6AXIS C_PTP
ELSE
PTP COM_E6AXIS
ENDIF
COM_ACTION = 0

CASE 3
IF COM_ROUNDM >= 0 THEN
LIN COM_FRAME C_DIS
ELSE
LIN COM_FRAME
ENDIF
COM_ACTION = 0

CASE 4
IF COM_ROUNDM >= 0 THEN
中国保监会COM_POS, COM_FRAMEC_DIS
ELSE
中国保监会COM_POS, COM_FRAME
ENDIF
COM_ACTION = 0


CASE 5
COM_ACTCNT = COM_ACTCNT + 1
$TOOL = COM_FRAME
COM_ACTION = 0

CASE 6
COM_ACTCNT = COM_ACTCNT + 1
$VEL.CP = COM_VALUE1
COM_ACTION = 0

CASE 7
COM_ACTCNT = COM_ACTCNT + 1
IF COM_VALUE1 > 0 THEN
$VEL.CP = COM_VALUE1
ENDIF
IF COM_VALUE2 > 0 THEN
;$VEL.ORI1 = COM_VALUE2
;$VEL.ORI2 = COM_VALUE2
FOR j_id=1 TO 6
IF COM_VALUE2 > 100 THEN
$VEL_AXIS[j_id] = 100
ELSE
$VEL_AXIS[j_id] = COM_VALUE2
ENDIF
ENDFOR
ENDIF
IF COM_VALUE3 > 0 THEN
$ACC.CP = COM_VALUE3
ENDIF
IF COM_VALUE4 > 0 THEN
;$ACC.ORI1 = COM_VALUE4
;$ACC.ORI2 = COM_VALUE4
FOR j_id=1 TO 6
IF COM_VALUE4 > 100 THEN
$ACC_AXIS[j_id] = 100
ELSE
$ACC_AXIS[j_id] = COM_VALUE4
ENDIF
ENDFOR
ENDIF
COM_ACTION = 0

CASE 8
COM_ACTCNT = COM_ACTCNT + 1
IF COM_ROUNDM >= 0 THEN
IF COM_ROUNDM > 100 THEN
$APO.CPTP = 100
ELSE
$APO.CPTP = COM_ROUNDM
ENDIF
$APO.CDIS = COM_ROUNDM
$ADVANCE = 1
ELSE
$APO.CPTP = 0
$APO.CDIS = 0
$ADVANCE = 0
ENDIF
COM_ACTION = 0

CASE 9
COM_ACTCNT = COM_ACTCNT + 1
WAIT SEC COM_VALUE1
COM_ACTION = 0

CASE 10
COM_ACTCNT = COM_ACTCNT + 1
io_id = COM_VALUE1
IF COM_VALUE2 > 0.5 THEN
$OUT[io_id] = TRUE
ELSE
$OUT[io_id] = FALSE
ENDIF
COM_ACTION = 0

CASE 11
PTP COM_E6AXIS
LIN COM_FRAME
WAIT SEC 0
COM_ACTION = 0


CASE 12
COM_ACTCNT = COM_ACTCNT + 1
io_id = COM_VALUE1
IF COM_VALUE2 > 0.5 THEN
WAIT FOR $IN[io_id]==TRUE
ELSE
WAIT FOR $IN[io_id]==FALSE
ENDIF
COM_ACTION = 0


CASE 13
;----- Run program COM_VALUE1 ---------
;(to trigger from RoboDK: use robot.RunCodeCustom("program id", INSTRUCTION_CALL_PROGRAM)
program_id = COM_VALUE1
SWITCH program_id
CASE 1
;-- run program 1 --
;钻()
;-------------------
CASE 2
;-- run program 2 --
;Cut()
;-------------------
ENDSWITCH

;--------------------------------------------
COM_VALUE1 = 0
COM_ACTION = 0



;DEFAULT
;COM_ACTION = 0

ENDSWITCH


ENDWHILE

END