&ACCESS RVP &REL 1 &COMMENT GENERATED BY ROBOTMASTER &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF PRESI() EXT BAS (BAS_COMMAND :IN,REAL :IN ) EXT TOOLCHANGE(INT:IN) INT I ;FOLD INI ;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 ;UBC's extra BAS initialization. Make your modifications here $OUT[OutSpindleFwdReq]=FALSE $OUT[OutSpindleRevReq]=FALSE $OUT[OutReleaseTool]=FALSE $OUT[OutTaperClean]=FALSE $OUT[OutMachInProg]=FALSE ;Signal PLC of machining stop ;ENDFOLD (USER INI) ;ENDFOLD (INI) ;******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 $VEL_EXTAX[1]=30 ;Velocity of external axis 1 (only external axis) [%] $VEL_EXTAX[2]=30 ;Velocity of external axis 2 (only external axis) [%] $ACC_EXTAX[1]=60 ;Acceleration of external axis 1 (only external axis) [%] $ACC_EXTAX[2]=60 ;Acceleration of external axis 2 (only external axis) [%] ;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS) ;******SETTINGS FOR LIN AND ARC MOTION*************** ;FOLD ;SET LIN AND ARC MOTION VARIABLES $VEL.CP=0.2004 $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 ;Set C_DIS to 20 mm $APO.CDIS = 20 $ORI_TYPE = #VAR ;ENDFOLD (SET POSITIONING CRITERIA) BAS(#ex_Base,2); $TOOL={X 445.2300,Y 0.0000,Z 109.0000,A 0.0000,B -90.0000,C 180.0000} $ADVANCE = 5 PTP {A1 0.0000,A2 -130.0000,A3 130.0000,A4 0.0000,A5 0.0000,A6 0.0000,E1 -200.0000,E2 1800.0000,E3 0.0,E4 0.0,E5 0.0,E6 0.0} TOOLCHANGE(2) OutSpindleSpeedReq=18000 ;Required spindle speed in RPM ; $OUT[OutSpindleFwdReq]=FALSE ;Start spindle forward ; WAIT FOR $IN[InSpindleFwd] BAS(#ex_Base,2); $TOOL={X 445.2300,Y 0.0000,Z 109.0000,A 0.0000,B -90.0000,C 180.0000} ;PTP {X -118.8701,Y -11.4893,Z 152.5999,A -174.6808,B -0.0207,C -179.9738,E1 600.0000,E2 1974.6807,E3 0.0,E4 0.0,E5 0.0,E6 0.0,S 2,T 35} ; MOVE TO INITIAL POSITION PTP {X -2644.39,Y 502.69,Z 928.26,A 69.09,B -1.31,C -177.10,E1 600.0000,E2 1800.0000,E3 0.0,E4 0.0,E5 0.0,E6 0.0,S 2,T 35} $VEL.CP=0.1909 ;190.9mm/s ; Trajectory LIN {X -2644.39,Y 502.69,Z 928.26,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -2422.92,Y 502.69,Z 957.57,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -2214.532,Y 502.69,Z 985.739,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -2018.515,Y 502.69,Z 1013.521,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1834.798,Y 502.69,Z 1042.367,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1662.915,Y 502.69,Z 1074.515,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1503.018,Y 502.69,Z 1113.162,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1354.404,Y 502.69,Z 1160.52,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1213.45,Y 502.69,Z 1212.926,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -1075.444,Y 502.69,Z 1257.25,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -939.351,Y 502.69,Z 1268.274,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -808.881,Y 502.69,Z 1235.714,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -687.079,Y 502.69,Z 1160.8,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -577.382,Y 502.69,Z 1046.41,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -484.936,Y 502.69,Z 929.096,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -406.393,Y 502.69,Z 836.602,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -334.917,Y 502.69,Z 768.935,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -273.507,Y 502.69,Z 691.562,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -223.618,Y 502.69,Z 591.001,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -185.374,Y 502.69,Z 470.367,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -157.74,Y 502.69,Z 333.919,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS LIN {X -139.771,Y 502.69,Z 197.54,A 69.09,B -1.31,C -177.1,E1 600,E2 1800.0000,E3 0,E4 0,E5 0,E6 0.0} C_DIS ; $OUT[OutSpindleFwdReq]=FALSE ;Stop spindle forward END