Roboter Geschwindigkeit

&ACCESS RVP
&REL 61
&PARAM DISKPATH = KRC:\R1\Program
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF plan( )
;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
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)
ptp $axis_act

;#######################################
reset_IO()
ptp $axis_act

iT_layer=2

iDT_speed=214   ;Drehzahl (*10)
;#######################################

oProgram_active=TRUE   ;Program aktive to PLC

;Roboter Hubtisch muss unten sein
WAIT FOR eTisch_oben == FALSE

;check, if robot in Homeposition
goto ohne_home
WAIT FOR $IN_HOME1 == TRUE

;FOLD PTP HOME1 Vel=20 % PDAT4;%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME1, 3:, 5:20, 7:PDAT4
$BWDSTART=FALSE
PDAT_ACT=PPDAT4
FDAT_ACT=FHOME1
BAS(#PTP_PARAMS,20)
PTP XHOME1 
;ENDFOLD
ohne_home:
$OV_PRO=100
;################# 
IF iT_layer ==0 Then
GOTO end_coating
ENDIF

;PTP Zuendpos
;FOLD LIN Ignitionpos Vel=0.1 m/s CPDAT34 Tool[1] Base[1];%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Ignitionpos, 3:, 5:0.1, 7:CPDAT34
$BWDSTART=FALSE
LDAT_ACT=LCPDAT34
FDAT_ACT=FIgnitionpos
BAS(#CP_PARAMS,0.1)
LIN XIgnitionpos 
;ENDFOLD
;recipe_chg()
oT_speed = iDT_speed
;DT_start()
;Gun_START()
;Powder_START()
oT_layer_ACT=0     ;clear counter
L=0
goto start1
;FOLD LIN Startpunkt Vel=1 m/s CPDAT8 Tool[1] Base[1];%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Startpunkt, 3:, 5:1, 7:CPDAT8
$BWDSTART=FALSE
LDAT_ACT=LCPDAT8
FDAT_ACT=FStartpunkt
BAS(#CP_PARAMS,1)
LIN XStartpunkt 
;ENDFOLD
;######
;FOLD PTP temp Vel=50 % PDAT14 Tool[1] Base[1];%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:temp, 3:, 5:50, 7:PDAT14
$BWDSTART=FALSE
PDAT_ACT=PPDAT14
FDAT_ACT=Ftemp
BAS(#PTP_PARAMS,50)
LIN Xtemp 
;ENDFOLD
start1:

Xtemp=XStartpunkt


;FOLD LIN temp CONT Vel=0.1 m/s CPDAT32 Tool[1] Base[1];%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:temp, 3:C_DIS C_DIS, 5:0.1, 7:CPDAT32
$BWDSTART=FALSE
LDAT_ACT=LCPDAT32
FDAT_ACT=Ftemp
BAS(#CP_PARAMS,0.1)
LIN Xtemp C_DIS C_DIS
;ENDFOLD
LOOP_Layer:        ;loop layer
$vel.cp= 0.00183
oT_layer_ACT=oT_layer_ACT+1
FOR x =1 TO 186
continue
Xtemp.x = Xtemp.x -1
continue
$vel.cp = $vel.cp + 0.00000403
LIN Xtemp c_dis

ENDFOR

FOR x =1 TO 186
continue
Xtemp.x = Xtemp.x +1
continue
$vel.cp = $vel.cp - 0.00000403
LIN Xtemp c_dis

ENDFOR

L=L+1

IF L>=iT_Layer THEN
  GOTO loop_layer_end
ENDIF
oT_layer_ACT=oT_layer_ACT+1
L=L+1
IF L>=iT_Layer THEN
  GOTO loop_layer_end
ENDIF

GOTO LOOP_Layer  ;next loop
;######

LOOP_Layer_End:

;Powder_Stop()
;Gun_stop()
;goto end_prg

end_coating:
;#####################################################
;FOLD LIN Ignitionpos Vel=0.1 m/s CPDAT35 Tool[1] Base[1];%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Ignitionpos, 3:, 5:0.1, 7:CPDAT35
$BWDSTART=FALSE
LDAT_ACT=LCPDAT35
FDAT_ACT=FIgnitionpos
BAS(#CP_PARAMS,0.1)
LIN XIgnitionpos 
;ENDFOLD
;Powder_Stop()
;Gun_stop()

end_prg:
;DT_Stop()

;################
goto ohne_home2
;FOLD PTP HOME1 Vel=20 % PDAT5;%{PE}%R 8.2.19,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME1, 3:, 5:20, 7:PDAT5
$BWDSTART=FALSE
PDAT_ACT=PPDAT5
FDAT_ACT=FHOME1
BAS(#PTP_PARAMS,20)
PTP XHOME1 
;ENDFOLD
ohne_home2:
WAIT SEC .5
oProgram_active=FALSE   ;Program end


;+++++++++++++++++++++++++++++++++
;++++++++  Program end ++++++++++
;+++++++++++++++++++++++++++++++++


END