Hi,
Code
&ACCESS RVP
&REL 1
&COMMENT GENERATED BY ROBOTMASTER
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF REC3()
EXT BAS (BAS_COMMAND :IN,REAL :IN )
INT I
BAS (#INITMOV,0 )
;******SETTINGS FOR PTP MOTION***********************
;FOLD
;SET PTP $VEL_AXIS AND $ACC_AXIS
FOR I=1 TO 6
$VEL_AXIS[I]=50
$ACC_AXIS[I]=100
ENDFOR
;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS)
;******SETTINGS FOR LIN AND ARC MOTION***************
;FOLD
;SET LIN AND ARC MOTION VARIABLES
$VEL.CP=0.003581
$VEL.ORI1=200
$VEL.ORI2=200
$ACC.ORI1=100
$ACC.ORI2=100
;ENDFOLD (SET LIN AND ARC MOTION VARIABLES)
;******SETTINGS FOR POSITIONING CRITERIA*************
;FOLD
;SET POSITIONING CRITERIA
$APO.CPTP = 50.0000
$APO.CDIS = 0.5000
;ENDFOLD (SET POSITIONING CRITERIA)
$BASE={X 1320.0000,Y 16.5000,Z 358.0000,A 0.0000,B 0.0000,C 0.0000}
$TOOL={X 437.7458,Y -8.5000,Z 553.5430,A 180.0000,B -59.0000,C 0.0000}
$ADVANCE = 5
PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000}
PTP {X 298.0000,Y 25.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 35} C_PTP
PTP {X 298.0000,Y 25.0000,Z 25.0000,A 0.5095,B 0.0000,C 180.0000,S 2,T 35} C_PTP
PTP {X 298.0000,Y 25.0000,Z 10.0000,A 1.6746,B 0.0000,C 180.0000,S 2,T 35} C_PTP
$VEL.CP=0.003581
LIN {X 298.0000,Y 25.0000,Z 0.0000,A 3.2190,B 0.0000,C 180.0000} C_DIS
LIN {X 298.0000,Y 15.0000,Z 0.0000,A 5.0131,B 0.0000,C 180.0000} C_DIS
CIRC {X 300.9289,Y 7.9289,Z 0.0000,A 6.9834,B 0.0000,C 180.0000},{X 308.0000,Y 5.0000,Z 0.0000,A 9.0826,B 0.0000,C 180.0000} C_DIS
LIN {X 616.0000,Y 5.0000,Z 0.0000,A 11.2783,B 0.0000,C 180.0000} C_DIS
CIRC {X 619.5355,Y 3.5355,Z 0.0000,A 13.5461,B 0.0000,C 180.0000},{X 621.0000,Y 0.0000,Z 0.0000,A 15.8670,B 0.0000,C 180.0000} C_DIS
LIN {X 621.0000,Y -910.0000,Z 0.0000,A 18.2254,B 0.0000,C 180.0000} C_DIS
CIRC {X 619.5355,Y -913.5355,Z 0.0000,A 20.6079,B 0.0000,C 180.0000},{X 616.0000,Y -915.0000,Z 0.0000,A 23.0020,B 0.0000,C 180.0000} C_DIS
LIN {X 0.0000,Y -915.0000,Z 0.0000,A 25.3962,B 0.0000,C 180.0000} C_DIS
CIRC {X -3.5355,Y -913.5355,Z 0.0000,A 27.7786,B 0.0000,C 180.0000},{X -5.0000,Y -910.0000,Z 0.0000,A 30.1370,B 0.0000,C 180.0000} C_DIS
LIN {X -5.0000,Y 0.0000,Z 0.0000,A 32.4580,B 0.0000,C 180.0000} C_DIS
CIRC {X -3.5355,Y 3.5355,Z 0.0000,A 34.7257,B 0.0000,C 180.0000},{X 0.0000,Y 5.0000,Z 0.0000,A 36.9214,B 0.0000,C 180.0000} C_DIS
LIN {X 308.0000,Y 5.0000,Z 0.0000,A 39.0207,B 0.0000,C 180.0000} C_DIS
CIRC {X 315.0711,Y 7.9289,Z 0.0000,A 40.9909,B 0.0000,C 180.0000},{X 318.0000,Y 15.0000,Z 0.0000,A 42.7851,B 0.0000,C 180.0000} C_DIS
LIN {X 318.0000,Y 25.0000,Z 0.0000,A 44.3294,B 0.0000,C 180.0000} C_DIS
PTP {X 318.0000,Y 25.0000,Z 25.0000,A 45.4945,B 0.0000,C 180.0000,S 2,T 34} C_PTP
PTP {X 318.0000,Y 25.0000,Z 250.0000,A 46.0040,B 0.0000,C 180.0000,S 2,T 34} C_PTP
PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000}
END
Display More
I would like to switch spindle on after this line:
PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000}
spindle on (3000,1)
I was told that I need to write a subroutine for "spindle on", please explain subroutine and how does it work?
thanks,
thanks,