Metalizado

&ACCESS RVP

&REL 1

&COMMENT GENERATED BY ROBOTMASTER

&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

&PARAM EDITMASK = *

DEF PROGRAM_1()

EXT BAS(BAS_COMMAND: IN, REAL: IN)

INT I

; Setup 1 - Program 1

BAS (#INITMOV, 0)

;******SETTINGS FOR PTP MOTION***********************

;FOLD PTP $VEL_AXIS AND $ACC_AXIS

FOR I=1 TO 6

$VEL_AXIS[I] = 50

$ACC_AXIS[I] = 50

ENDFOR

;ENDFOLD (PTP $VEL_AXIS AND $ACC_AXIS)

;******SETTINGS FOR LIN AND ARC MOTION***************

;FOLD LIN AND ARC MOTION VARIABLES

$VEL.ORI1 = 200

$VEL.ORI2 = 200

$ACC.CP = 3

$ACC.ORI1 = 100

$ACC.ORI2 = 100

;ENDFOLD (LIN AND ARC MOTION VARIABLES)

;******SETTINGS FOR POSITIONING CRITERIA*************

;FOLD POSITIONING CRITERIA

$APO.CDIS = 0.5

$ORI_TYPE = #VAR

;ENDFOLD (POSITIONING CRITERIA)

$BASE={X -1190.7400,Y 3154.8000,Z 199.5700,A 0.0000,B 0.0000,C 0.0000}

$TOOL={X 646.4805,Y 240.0047,Z 744.3560,A 179.2600,B -75.9600,C 0.0000}

$ADVANCE = 5

; --- Home ---

PTP {A1 8.0000,A2 -60.0000,A3 125.0000,A4 25.0000,A5 -25.0000,A6 160.0000,E1 0.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

; --- Transition 2 ---

PTP {A1 -98.3057,A2 -80.3976,A3 53.1987,A4 -163.5449,A5 -71.4899,A6 91.0084,E1 0.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

; --- Surface paths 1 ---

PTP {X 0.0000,Y -297.9753,Z 205.0885,A 127.8454,B 38.2971,C -154.2889,E1 -90.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0,S 2,T 11}

PTP {X 0.0000,Y -301.5108,Z 201.5529,A 127.8454,B 38.2971,C -154.2889,E1 -90.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0,S 2,T 11}

PTP {X 0.0000,Y -305.0463,Z 198.0174,A 127.8454,B 38.2971,C -154.2889,E1 -90.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0,S 2,T 11}

$VEL.CP = 0.05 ;50mm/s

LIN {X 0.0000,Y -308.5819,Z 194.4819,A 127.8454,B 38.2971,C -154.2889,E1 -90.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -12.7103,Y -308.2726,Z 194.4357,A 125.4713,B 38.2770,C -154.3089,E1 -87.6383,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -25.4193,Y -307.4377,Z 194.3891,A 123.1167,B 38.2954,C -154.2907,E1 -85.2725,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -38.1151,Y -306.0762,Z 194.3427,A 120.7330,B 38.2760,C -154.3099,E1 -82.9007,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -50.7303,Y -304.1938,Z 194.2964,A 118.3756,B 38.2953,C -154.2908,E1 -80.5315,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -63.2262,Y -301.7975,Z 194.2495,A 115.9995,B 38.2765,C -154.3095,E1 -78.1670,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -75.6253,Y -298.8819,Z 194.2031,A 113.6445,B 38.2963,C -154.2900,E1 -75.7999,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -87.9122,Y -295.4521,Z 194.1565,A 111.2612,B 38.2768,C -154.3093,E1 -73.4287,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -100.0415,Y -291.5202,Z 194.1103,A 108.9027,B 38.2961,C -154.2904,E1 -71.0585,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -111.9780,Y -287.0983,Z 194.0635,A 106.5239,B 38.2764,C -154.3098,E1 -68.6918,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -123.7129,Y -282.1886,Z 194.0170,A 104.1704,B 38.2954,C -154.2912,E1 -66.3267,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -135.2538,Y -276.7893,Z 193.9704,A 101.7883,B 38.2763,C -154.3102,E1 -63.9565,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -146.5654,Y -270.9169,Z 193.9241,A 99.4293,B 38.2959,C -154.2909,E1 -61.5856,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -157.6163,Y -264.5875,Z 193.8776,A 97.0488,B 38.2772,C -154.3095,E1 -59.2167,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -168.3763,Y -257.8186,Z 193.8308,A 94.6963,B 38.2971,C -154.2899,E1 -56.8521,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -178.8554,Y -250.6038,Z 193.7844,A 92.3157,B 38.2771,C -154.3098,E1 -54.4839,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -189.0398,Y -242.9538,Z 193.7378,A 89.9560,B 38.2958,C -154.2914,E1 -52.1130,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -198.8990,Y -234.8907,Z 193.6915,A 87.5733,B 38.2765,C -154.3106,E1 -49.7422,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -208.3998,Y -226.4422,Z 193.6447,A 85.2186,B 38.2959,C -154.2916,E1 -47.3757,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -217.5321,Y -217.6169,Z 193.5984,A 82.8416,B 38.2771,C -154.3103,E1 -45.0105,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -226.3108,Y -208.4022,Z 193.5517,A 80.4834,B 38.2970,C -154.2908,E1 -42.6403,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -234.7047,Y -198.8298,Z 193.5053,A 78.0998,B 38.2774,C -154.3103,E1 -40.2688,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS

LIN {X -242.6880,Y -188.9294,Z 193.4588,A 75.7424,B 38.2967,C