Posts by fuzzy_l

;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

DEF wpTestOnML( )
   
    techSet ()

    PTP XP1

    LIN XP10 C_Dis C_Dis

    TRIGGER WHEN PATH=-10.0 DELAY=0 DO MultyLayerTechOn () PRIO=-1

    LIN XP11 ; ArcOn    <= here the robot twitches
    WATE FOR TRUE

    LIN XP15 C_DIS C_DIS

    LIN XP20 ;ArcOf     <= here the robot twitches
    WATE FOR TRUE
    
    $TECH[5].MODE = #OFF
    $TECH[6].MODE = #OFF
    
    LIN XP30

ENDDEF

DEF MultyLayerTechOn ()
    
    REAL Offset_Z, Offset_Y
    
    $TECH_C[5].FCTCTRL.SCALE_OUT = 10
    $TECH_C[6].FCTCTRL.SCALE_OUT = 10
    
    $TECH_C[5].MODE = #SINGLE
    $TECH_C[6].MODE = #SINGLE
    
END ;(MultyLayerTechOn)

DEF techSet ()
    
        REAL Offset_Z, Offset_Y
        
    $TECHSYS = #TTS
    $TECH[5].FCTCTRL.GEOREF = #Z 
    $TECH[6].FCTCTRL.GEOREF = #Y 
    
    ; correction using the function generator Z
    $TECH[5].CLASS = #PATH
    $TECH[5].FCTCTRL.SCALE_IN = 2.0 
    $TECH[5].FCTCTRL.OFFSET_IN = 0.0 ;
    $TECH[5].FCTCTRL.SCALE_OUT = 0.0; <==
    $TECH[5].FCTCTRL.OFFSET_OUT = 0.0;
    ; correction using the function generator Y
    $TECH[6].CLASS = #PATH
    $TECH[6].FCTCTRL.SCALE_IN = 2.0 
    $TECH[6].FCTCTRL.OFFSET_IN = 0.0 ;
    $TECH[6].FCTCTRL.SCALE_OUT = 0.0; <==
    $TECH[6].FCTCTRL.OFFSET_OUT = 0.0;
    
    ;================================================
    $TECH[5].FCT.ORDER = 1 ;
    $TECH[5].FCT.CPNUM = 3 ;
    $TECH[5].FCT.CPS1.X1 = 0.0 ;
    $TECH[5].FCT.CPS1.Y1 = 1.0 ;
    $TECH[5].FCT.CPS1.X2 = 0.5 ;
    $TECH[5].FCT.CPS1.Y2 = 1.0 ;
    $TECH[5].FCT.CPS1.X3 = 1.0 ;
    $TECH[5].FCT.CPS1.Y3 = 1.0 ;
    
    $TECH[6].FCT.ORDER = 1 ;
    $TECH[6].FCT.CPNUM = 3 ;
    $TECH[6].FCT.CPS1.X1 = 0.0 ;
    $TECH[6].FCT.CPS1.Y1 = -1.0 ;
    $TECH[6].FCT.CPS1.X2 = 0.5 ;
    $TECH[6].FCT.CPS1.Y2 = -1.0 ;
    $TECH[6].FCT.CPS1.X3 = 1.0 ;
    $TECH[6].FCT.CPS1.Y3 = -1.0 ;
    
END ;(techSet)

<?xml version="1.0" encoding="utf-8"?>
<CodeSnippets>

   <CodeSnippet Format="1.0.0">
      <Header>
         <Title>PTP(Inline) - Snippet</Title>
         <Text>ptpi</Text> 
         <Shortcut>ptpi</Shortcut>
         <Shortcut>Ptpi</Shortcut>
         <Shortcut>PTPI</Shortcut>
         <Extensions>.src</Extensions>
         <Scope>InFunction</Scope>
         <Description>Code snippet for PTP traffic that can be edited using the built-in form</Description>
         <Author>converted from Kuka Roboter GmbH</Author>
         <SnippetTypes>
            <SnippetType>Expansion</SnippetType>
         </SnippetTypes>
      </Header>
      <Snippet>
         <Declarations>
            <Literal>
               <ID>point</ID>
               <ToolTip>The point to move to in the ptp movement</ToolTip>
               <Default>e6p_P1</Default>
            </Literal>
            <Literal>
               <ID>pdat</ID>
               <ToolTip>PDAT to the specified point</ToolTip>
               <Default>e6p_P1</Default>
            </Literal>
         </Declarations>
         <Macro Type="Completion">KukaRoboter.Editors.Krl.CreatePtpData, KukaRoboter.Editors</Macro>
         <Code Language="KRL">
            <![CDATA[;FOLD PTP $point$ Vel=100 % $pdat$ Tool[0] Base[0];%{PE}%R 8.2.10,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P$point$, 3:, 5:100, 7:PDAT$point$
   $BWDSTART=FALSE
   PDAT_ACT=P$pdat$
   FDAT_ACT=F$point$
   BAS(#PTP_PARAMS,100)
   PTP X$point$ 
    ;ENDFOLD
    ]]>
         </Code>
      </Snippet>
   </CodeSnippet>

</CodeSnippets>

<?xml version="1.0" encoding="utf-8"?>
<Templates>
  <Template DisplayName="src">
    <File Name="$Name$" Extension=".src"><![CDATA[DEF  $Name$ ( )
    ;FOLD TITLE
        ;***************************************************
        ;*               ....................              *
        ;*                 www...........ru                *
        ;*                                                 *
        ;*                                                 *
        ;*                                                 *
        ;*                                                 *
        ;*=================================================*
        ;*   Robottyp      : ___________                   *
        ;*   SN Robot      : ___________                   *
        ;*   SN Steuerung  : ___________                   *
        ;*   Version       : 0.0                           *
        ;*   Сlient        : OOO"______"                   *
        ;*   Сreator       : ___________________           *
        ;*   Date          : xx.xx.200x                    *
        ;*   Born in agony and convulsions in Samara       *
        ;***************************************************
    ;ENDFOLD (TITLE)
    ;FOLD VARIABLES
        
    ;ENDFOLD (VARIABLES)
    
END
]]></File>
  </Template>
</Templates>