访问RVP rel 1评论由RoboDK代替ARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF Prog1 ( ) ;FOLD INI BAS (#INITMOV,0 ) ;ENDFOLD (INI) ;FOLD STARTPOS $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP,50) ;ENDFOLD ;FOLD SET DEFAULT SPEED $VEL.CP=0.2 BAS(#VEL_PTP,50) BAS(#TOOL,0) BAS(#BASE,0) ;ENDFOLD ;FOLD PTP FIRST POSITION $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS(#FRAMES) $ADVANCE = 5 ;ENDFOLD PTP $AXIS_ACT ; skip BCO quickly ; Program generated by RoboDK v5.4.2 for KUKA KR 6 R700 sixx on 15/07/2022 16:20:29 ; Using nominal kinematics. ; ---- Setting reference (Base) ---- $BASE = {FRAME: X 579.110,Y -169.215,Z 205.958,A 0.268,B -1.272,C -1.638} ; -------------------------- ; ---- Setting tool (TCP) ---- $TOOL = {FRAME: X 34.347,Y -0.521,Z 48.347,A 1.067,B 20.000,C 1.094} ; -------------------------- ;FOLD PTP P1 Vel=100.000 % PDAT1 Tool[1] Base[1];%{PE}%R 8.3.42,%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 LIN P2 Vel=1.000 m/s CPDAT2 Tool[1] Base[1];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:, 5:1, 7:CPDAT2 $BWDSTART=FALSE LDAT_ACT=LCPDAT2 FDAT_ACT=FP2 BAS(#CP_PARAMS,1.000) LIN XP2 C_DIS ;ENDFOLD ;FOLD LIN P3 Vel=1.000 m/s CPDAT3 Tool[1] Base[1];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:1, 7:CPDAT3 $BWDSTART=FALSE LDAT_ACT=LCPDAT3 FDAT_ACT=FP3 BAS(#CP_PARAMS,1.000) LIN XP3 C_DIS ;ENDFOLD END