访问RVP rel 1评论由RoboDK代替ARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF testrechteck ( ) ;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 v4.0.1 for KUKA KR 210 R2700 extra on 15/11/2019 17:23:29 ; Using nominal kinematics. $APO.CPTP = 1.000 $APO.CDIS = 1.000 Wait for StrClear($LOOP_MSG[]) $LOOP_CONT = TRUE $LOOP_MSG[] = "/'testrechteck'" Wait for StrClear($LOOP_MSG[]) $LOOP_CONT = TRUE $LOOP_MSG[] = "/''" Wait for StrClear($LOOP_MSG[]) $LOOP_CONT = TRUE $LOOP_MSG[] = "/'2D-Kontur1'" SetTool(1) SetRPM(5000.0) $VEL.CP = 1.00000 $BASE = {X 1200.000,Y 100.000,Z 1200.000,A 0.000,B 0.000,C 0.000} $TOOL = {X 278.600,Y 0.000,Z 88.000,A 0.000,B 90.000,C 0.000} ; Anzeigen Spindle PTP {A1 -6.13197,A2 -122.79825,A3 123.13588,A4 -86.86043,A5 -6.14122,A6 86.84234} C_PTP LIN {X 24.500,Y -1.000,Z 15.000,A -180.000,B -0.000,C -180.000} C_DIS $VEL.CP = 1.00000 LIN {X 24.500,Y -1.000,Z 5.000,A -180.000,B 0.000,C 180.000} C_DIS $VEL.CP = 0.00556 LIN {X 24.500,Y -1.000,Z 1.000,A -180.000,B 0.000,C -180.000} C_DIS LIN {X 24.500,Y -1.000,Z -0.000,A -180.000,B -0.000,C -180.000} C_DIS CIRC {X 24.793,Y -1.000,Z -0.707,A -180.000,B 0.000,C -180.000},{X 25.500,Y -1.000,Z -1.000,A -180.000,B 0.000,C 180.000} C_DIS $VEL.CP = 0.01667 LIN {X 26.500,Y -1.000,Z -1.000,A -180.000,B -0.000,C 180.000} C_DIS CIRC {X 27.207,Y -0.707,Z -1.000,A -180.000,B -0.000,C 180.000},{X 27.500,Y 0.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS LIN {X 27.500,Y 25.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS LIN {X -27.500,Y 25.000,Z -1.000,A -180.000,B -0.000,C -180.000} C_DIS LIN {X -27.500,Y -25.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS LIN {X 27.500,Y -25.000,Z -1.000,A 180.000,B 0.000,C 180.000} C_DIS LIN {X 27.500,Y 0.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS CIRC {X 27.207,Y 0.707,Z -1.000,A -180.000,B -0.000,C 180.000},{X 26.500,Y 1.000,Z -1.000,A 180.000,B -0.000,C 180.000} C_DIS LIN {X 25.500,Y 1.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS CIRC {X 24.793,Y 1.000,Z -0.707,A 180.000,B -0.000,C -180.000},{X 24.500,Y 1.000,Z -0.000,A 180.000,B 0.000,C -180.000} C_DIS $VEL.CP = 1.00000 LIN {X 24.500,Y 1.000,Z 15.000,A 180.000,B 0.000,C -180.000} C_DIS LIN {X 24.500,Y 1.000,Z 115.000,A 180.000,B 0.000,C -180.000} C_DIS END