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83 lines
2.3 KiB
83 lines
2.3 KiB
3 years ago
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&ACCESS RVP
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&REL 1
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
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&PARAM EDITMASK = *
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DEF kvt_{{artikel}}( )
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;- Kuka src file, generated by FreeCAD LaserCladding WorkBench (by KVT)
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E6POS refpose
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E6POS pulverstart
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REAL WELDSPEED
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REAL TRAVELSPEED
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REAL LASERPOWER
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INT POWDEROUT
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;------------- definitions ------------
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EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World
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BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on
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BAS (#TOOL,{{tool}}) ;Initialicing the defaults for Vel and so on
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BAS (#BASE,{{base}}) ;Initialicing the defaults for Vel and so on
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; Home Pos
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PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}
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; hier teach punkt eingeben
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;FOLD PTP P1 Vel=25 % PDAT1 Tool[6]:LASER Base[6]:Laser;%{PE}%R 8.2.24,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:25, 7:PDAT1
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$BWDSTART=FALSE
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PDAT_ACT=PPDAT1
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FDAT_ACT=FP1
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BAS(#PTP_PARAMS,25)
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PTP XP1
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;ENDFOLD
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;------------- main part ------------
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;- Process Parameters (change here)
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TRAVELSPEED = {{vmax}} ; m/s
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WELDSPEED = {{vproc}}; m/s
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LASERPOWER = {{laserpower}} ; Set laser power
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POWDEROUT = {{powder_out}}
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;- Movement parameters
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$VEL.CP = TRAVELSPEED ; m/s ; m/s
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$APO.CDIS = 2.300000 ; mm
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$APO.CVEL = 95.000000 ; percent
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;- Input/Output settings
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$ANOUT[1] = LASERPOWER ; Set laser power
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$OUT[{{laser_out}}] = FALSE ; Set Laser off
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$OUT[2] = TRUE ; Set Laser activation on
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$OUT[POWDER_OUT] = FALSE ; Set powder on
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$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas on
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;- Ab hier nicht mehr aendern!
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;- Starting point
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refpose=$POS_ACT
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pulverstart = {X -110.0, Y 0.0, Z 0.0, A 0.0000, B 0.0000, C 0.0000, E1 0.0000, E2 0.0000}
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pulverstart.S = refpose.S
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pulverstart.T = refpose.T
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LIN refpose:pulverstart C_VEL; GENERATED
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WAIT SEC 7.0
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$OUT[2] = TRUE ; Set Laser activation on
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$OUT[POWDEROUT] = TRUE ; Set powder on
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$OUT[{{inert_gas_out}}] = TRUE ; Set inert gas on
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;- =============================
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;- == generated poses ==
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{{paths}}
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;- =============================
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$OUT[{{laser_out}}] = FALSE ; Set Laser off
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$OUT[2] = FALSE ; Set Laser activation on
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$OUT[POWDEROUT] = FALSE ; Set powder on
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$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas on
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$VEL.CP = 0.100000 ; m/s ; m/s
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;- Move to HOME position
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PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}
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;------------- end ------------
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END
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