tested KRL template, src changes

lasercladding/kuka.py

@@ -65,23 +65,25 @@ class Kuka_Prog:
     def save_prog(self, filename):
         srcfile = open(filename+'.src','w')
         srcfile.write(header_src)
-        # subroutine definition

+        # subroutine definition
         srcfile.write("DEF "+filename+"( )\n\n")
         srcfile.write(";- Kuka src file, generated by KVT\n")
         srcfile.write(";- "+ time.asctime()+"\n\n")
         # defining world and base
+        srcfile.write("E6POS startp\n")
         srcfile.write(";------------- definitions ------------\n")
         srcfile.write("EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World\n")
         srcfile.write("BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on \n\n")
-
-        srcfile.write("$BASE = BASE_DATA[6] ; SET BASE to WORKPLACE\n\n")
-        srcfile.write("\n;------------- main part ------------\n")
-
+        srcfile.write("BAS (#TOOL,6) ;Initialicing the defaults for Vel and so on \n\n")
+        srcfile.write("BAS (#BASE,2) ;Initialicing the defaults for Vel and so on \n\n")
+        srcfile.write("PTP {A1 -1.9, A2 -105.76, A3 79.97, A4 178.83, A5 -20.3, A6 -4.37, E1 -90, E2 0}\n")
+        srcfile.write(";------------- main part ------------\n")
+        srcfile.write("startp=$POS_ACT\n")
         #V = w.Velocity / 1000.0 # from mm/s to m/s
         V = 0.05
         srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V)
         for pose in self.pose_list:
-            srcfile.write("LIN {} ; GENERATED\n".format(pose.to_string()))
+            srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(pose.to_string()))
         # end of subroutine
         srcfile.write("\n;------------- end ------------\n")
         srcfile.write("END \n\n")