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Copy pathTeachProgram.src
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170 lines (157 loc) · 6.51 KB
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;FOLD Joints
;FOLD PTP J_Home Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=J_Home; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = FJ_Home
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XJ_Home
;ENDFOLD
HALT
;FOLD PTP J_Service Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=J_Service; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FJ_Service
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XJ_Service
;ENDFOLD
HALT
;FOLD PTP J_Corner_1 Vel=100 % PDAT3 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=J_Corner_1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT3
FDAT_ACT = FJ_Corner_1
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XJ_Corner_1
;ENDFOLD
HALT
;FOLD PTP J_Corner_2 Vel=100 % PDAT4 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=J_Corner_2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT4
FDAT_ACT = FJ_Corner_2
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (0)
PTP XJ_Corner_2
;ENDFOLD
HALT
;ENDFOLD Joints
;FOLD Descartes
;FOLD Type1
;FOLD LIN P_Pick_PCB_T1 Vel=2 m/s CPDAT5 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Pick_PCB_T1; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT5
FDAT_ACT = FP_Pick_PCB_T1
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Pick_PCB_T1
;ENDFOLD
HALT
;FOLD LIN P_Place_PCB_T1 Vel=2 m/s CPDAT6 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Place_PCB_T1; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT6; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT6
FDAT_ACT = FP_Place_PCB_T1
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Place_PCB_T1
;ENDFOLD
HALT
;ENDFOLD Type1
;FOLD Type2
;FOLD LIN P_Pick_PCB_T2 Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Pick_PCB_T2; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT7
FDAT_ACT = FP_Pick_PCB_T2
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Pick_PCB_T2
;ENDFOLD
HALT
;FOLD LIN P_Place_PCB_T2 Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Place_PCB_T2; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT8
FDAT_ACT = FP_Place_PCB_T2
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Place_PCB_T2
;ENDFOLD
HALT
;ENDFOLD Type2
;FOLD Type3
;FOLD LIN P_Pick_PCB_T3 Vel=2 m/s CPDAT9 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Pick_PCB_T3; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT9; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT9
FDAT_ACT = FP_Pick_PCB_T3
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Pick_PCB_T3
;ENDFOLD
HALT
;FOLD LIN P_Place_PCB_T3 Vel=2 m/s CPDAT10 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Place_PCB_T3; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT10; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT10
FDAT_ACT = FP_Place_PCB_T3
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Place_PCB_T3
;ENDFOLD
HALT
;ENDFOLD Type3
;FOLD Type4
;FOLD LIN P_Pick_PCB_T4 Vel=2 m/s CPDAT11 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Pick_PCB_T4; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT11; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT11
FDAT_ACT = FP_Pick_PCB_T4
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Pick_PCB_T4
;ENDFOLD
HALT
;FOLD LIN P_Place_PCB_T4 Vel=2 m/s CPDAT12 Tool[1] Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P_Place_PCB_T4; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT12; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT12
FDAT_ACT = FP_Place_PCB_T4
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
LIN XP_Place_PCB_T4
;ENDFOLD
HALT
;ENDFOLD Type4
;ENDFOLD Descartes
END