I need the krc2 package for v5.4 or the Mada folder data in the v5.4 installation package.
Can anyone have such an old installation package???
I need the krc2 package for v5.4 or the Mada folder data in the v5.4 installation package.
Can anyone have such an old installation package???
thanks for your sharing,i am look for a function Set_KrlDlg ...
I want to add something to the standard motion instructions, which is in this picture. I have succeeded. Thank you!!!
Hi Guys,
I Want to ADD something in PTP OR LIN, So Could I Find motion .KFD files for editing With USERTECH ?
I have Write a MOVEFUCTION.kfd ,bue it doesn't work. Can SomeOne Solve It?
Thanks!
DEFTP Mo= {SOT FALSE}
Decl PARAM Frames={SHORTNAME[] "",VALUE {Name: DEFAULT[] "MovPDAT1"}}
Decl PARAM MotionPARAM={SHORTNAME[] "",VALUE {Name: DEFAULT[] "MovFDAT1"}}
DECL PARAM FIELD_CONT={SHORTNAME[] "Approximation distance:",VALUE {NUMBER:MIN 0, MAX 100, STEP 1, AUTOLIMIT TRUE, DEFAULT 10}}
DECL PARAM VEL_LINE={ ShortName[] "Vel : ", Value {Real:NUMBER:MIN 0, MAX 2, STEP 1, AUTOLIMIT TRUE, DEFAULT 0.5},Unit[] " m/s", ShortCut[] "Vel"}
DECL PARAM VEL_PTP={ ShortName[] "Vel : ", Value {Real:NUMBER:MIN 0, MAX 100, STEP 1, AUTOLIMIT TRUE, DEFAULT 100.0},Unit[] " %", ShortCut[] "Vel"}
DECL PARAM MEM_POSITION={VALUE {FREE: DEFAULT[] "yes"}}
DECL PARAM P_Punkt={SHORTNAME[] "Name: ",VALUE {NAME: DEFAULT[] "MovP1"},shortcut[] "MovP1", USERMODE 0, ENABLE TRUE}
DECL PARAM BASE_NUM={SHORTNAME[] "BASENUM:",VALUE {NUMBER:MIN 0, MAX 16, STEP 1, AUTOLIMIT TRUE, DEFAULT 1}}
DECL PARAM TOOL_NUM={SHORTNAME[] "TOOLNUM:",VALUE {NUMBER:MIN 0, MAX 16, STEP 1, AUTOLIMIT TRUE, DEFAULT 1}}
DECL PARAM ACC_NUM={SHORTNAME[] "ACCNUM:",VALUE {NUMBER:MIN 0, MAX 100, STEP 1, AUTOLIMIT TRUE, DEFAULT 100}}
DECL PARAM CONT_T={ SHORTNAME[] "", Value {LIST: _
ITEM[1] {ITEM: VALUE[] " ",DISP[] " "}, _
ITEM[2] {ITEM: VALUE[] "C_DIS",DISP[] "CONT"} _
}, SHORTCUT[] "Cont"}
;Decl PARAM PL_LsrTool = {SHORTNAME[] "PLTOOL", VAR[] "LSC_TOOL_TYP", SHORTCUT[] "LT", UNIT[] "TOOL" ,Value {FREE: DEFAULT[] "_"}}
DECL PLIST LsrTool[2] -> Frames
LsrTool[1] = TOOL_NUM
LsrTool[2] = BASE_NUM
DECL PLIST Pdata[2] -> MotionPARAM
Pdata[1] = ACC_NUM
Pdata[2] = FIELD_CONT
;STRUC LSC_TOOL_TYP INT FIELD_CONT,INT VELCPMOC,INT BASE_NUM,INT TOOL_NUM,INT ACC_NUM
;DECL LSC_TOOL_TYP LTDEFAULT={FIELD_CONT 100,VELCPMOC 2,BASE_NUM 1,TOOL_NUM 1,ACC_NUM 100}
DECL FOLD LINE_CP_PUNKT[4]
F_PTP_PUNKT[1]="$BWDSTART=FALSE "
F_PTP_PUNKT[2]="LDAT_ACT=L%P_Punkt "
F_PTP_PUNKT[3]="FDAT_ACT=F%P_Punkt "
F_PTP_PUNKT[4]="BAS(#CP_PARAMS,%VEL_LINE ) "
F_PTP_PUNKT[5]="LIN X%P_Punkt "
;ENDFOLD"
DECL FOLD PTP_CP_PUNKT[4]
F_PTP_PUNKT[1]="$BWDSTART=FALSE "
F_PTP_PUNKT[2]="LDAT_ACT=L%P_Punkt "
F_PTP_PUNKT[3]="FDAT_ACT=F%P_Punkt "
F_PTP_PUNKT[4]="BAS(#CP_PARAMS,%VEL_PTP ) "
F_PTP_PUNKT[5]="PTP X%P_Punkt "
;ENDFOLD"
DEFSCRIPT SetTool
SetVar (FullPath[] "$TOOL", Value[] "TOOL_DATA[%TOOL_NUM ]")
SetVar (FullPath[] "$ACT_TOOL", Value[] "%TOOL_NUM ")
ENDSCRIPT
DEFSCRIPT SetBase
SetVar (FullPath[] "$BASE", Value[] "BASE_DATA[%BASE_NUM ]")
SetVar (FullPath[] "$ACT_BASE", Value[] "%BASE_NUM ")
ENDSCRIPT
DEFSCRIPT NEWPOINTL_LINE
setvar(Fullpath[] "$DATAPATH[]", value[] "/"%MODULE/"")
Do SetTool
Do SetBase
SHOWVAR(FULLPATH[] "$POS_ACT", PARAM MEM_POSITION )
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL E6POS X%P_Punkt =%MEM_POSITION ")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_LINE ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt has been created "
Do AcceptInlineForm
ENDSCRIPT
DEFSCRIPT NEWPOINTL_PTP
setvar(Fullpath[] "$DATAPATH[]", value[] "/"%MODULE/"")
Do SetTool
Do SetBase
SHOWVAR(FULLPATH[] "$POS_ACT", PARAM MEM_POSITION )
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL E6POS X%P_Punkt =%MEM_POSITION ")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_PTP ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt has been created "
Do AcceptInlineForm
ENDSCRIPT
DEFSCRIPT TEACHL_LINE
Do SetTool
Do SetBase
SHOWVAR(FULLPATH[] "$POS_ACT", PARAM MEM_POSITION )
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL E6POS X%P_Punkt =%MEM_POSITION ")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_LINE ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt has been modified "
;Do AcceptInlineForm
ENDSCRIPT
DEFSCRIPT TEACHL_PTP
Do SetTool
Do SetBase
SHOWVAR(FULLPATH[] "$POS_ACT", PARAM MEM_POSITION )
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL E6POS X%P_Punkt =%MEM_POSITION ")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_PTP ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt has been modified "
;Do AcceptInlineForm
ENDSCRIPT
DEFSCRIPT NOTHING
ENDSCRIPT
DEFSCRIPT PARAMCHANGE_LINE
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_LINE ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt Parameters Modified"
ENDSCRIPT
DEFSCRIPT PARAMCHANGE_PTP
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL LDAT L%P_Punkt ={VEL %VEL_PTP ,ACC %ACC_NUM ,APO_DIST %FIELD_CONT ,APO_FAC 50,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}")
REDECL(PATH[] "%MODULE ",DECLARATION[] "DECL FDAT F%P_Punkt ={TOOL_NO %TOOL_NUM ,BASE_NO %BASE_NUM , IPO_FRAME #BASE,POINT2[] /" /",TQ_STATE FALSE}")
Message "Point %P_punkt Parameters Modified"
ENDSCRIPT
DEFSCRIPT PointExist
SWITCH "ISCHANGE"
CASE "TRUE" Do PARAMCHANGE
CASE "FALSE" Do NEWPOINTL
ENDSWITCH
ENDSCRIPT
DEFSCRIPT CHECKTEACHL
SWITCH DIALOG "RECORD THIS POINT?"
CASE "NO" DO NOTHING
CASE "YES" DO TEACHL
ENDSWITCH
ENDSCRIPT
DECL INLINEFORM eLINE={FOLD[1] LINE_CP_PUNKT,PARAM[1] P_Punkt,PARAM[2] Frames,PARAM[3] CONT_T,PARAM[4] VEL_PTP,PARAM[5] MotionPARAM,ONACCEPT PointExist,ONTOUCHUP CHECKTEACHL}
DECL INLINEFORM ePTP={FOLD[1] PTP_CP_PUNKT,PARAM[1] P_Punkt,PARAM[2] Frames,PARAM[3] CONT_T,PARAM[4] VEL_PTP,PARAM[5] MotionPARAM,ONACCEPT PointExist,ONTOUCHUP CHECKTEACHL}
ENDTP
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with instruction:
while do endwhile
i think EIO or MOC had an error.
suggest:Rebuild the system,Backup before...