KukaExporter Namespace Reference

Functions
def	ExportCompactSub (Rob, Trak, FileName)
def	ExportFullSub (Rob, Trak, FileName)

Variables
string	HeaderSrc
string	TeachPointDat
string	TeachPointFold

Function Documentation

ExportCompactSub()

def KukaExporter.ExportCompactSub	(		Rob,
			Trak,
			FileName
	)

ExportFullSub()

def KukaExporter.ExportFullSub	(		Rob,
			Trak,
			FileName
	)

Variable Documentation

HeaderSrc

string KukaExporter.HeaderSrc

Initial value:

=  """&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = * 
"""

TeachPointDat

string KukaExporter.TeachPointDat

Initial value:

=  """
DECL E6POS XP4={X -25.1844196,Y 1122.42603,Z 1158.07996,A -14.3267002,B 0.537901878,C 179.028305,S 6,T 59,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
"""

TeachPointFold

string KukaExporter.TeachPointFold

Initial value:

=  """
;FOLD LIN P4  Vel= 0.2 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 5.4.27,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:0.2, 7:CPDAT1
$BWDSTART = FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP4
BAS(#CP_PARAMS,0.2)
LIN XP4 
;ENDFOLD
"""