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stiffness.src
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&ACCESS RVP
&REL 23
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF stiffness( )
DECL STIFFNESS customStiffness
;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 SPOTTECH INI
;USERSPOT(#INIT)
;ENDFOLD (SPOTTECH INI)
;FOLD GRIPPERTECH INI
;USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPERTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;Start in control position mode
$STIFFNESS.STRATEGY=10
$OV_PRO=75
;FOLD PTP StartPos Vel= 100 % PDAT3 Tool[2] Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
HALT
;Free XYZ RXRYRZ
customStiffness=$STIFFNESS
customStiffness.STRATEGY=20 ;Cartesian Impedance control
customStiffness.FRAMETYPE=#TOOL
customStiffness.TOOL=TOOL_DATA[2] ;Force sensor as tool
customStiffness.CPSTIFFNESS={x 0, y 0, z 0, a 0, b 0, c 0} ;Cartesian stiffness
customStiffness.CPDAMPING={x 0.5, y 0.5, z 0.5, a 0.5, b 0.5, c 0.5} ;Cartesian damping
customStiffness.AXISSTIFFNESS={a1 0,a2 0, a3 0, a4 0, a5 0, a6 0, e1 0} ;Axis stiffness
customStiffness.CPMAXDELTA={x 1399.0, y 1399.0, z 1399.0, a 1399.0, b 1399.0, c 1399.0}
$STIFFNESS=customStiffness
;FOLD PTP StartPos Vel= 100 % PDAT3 Tool[2] Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
;In FREE XYZ ABC
HALT
;Stiffness no move
customStiffness=$STIFFNESS
customStiffness.STRATEGY=20 ;Cartesian Impedance control
customStiffness.FRAMETYPE=#TOOL
customStiffness.TOOL=TOOL_DATA[2] ;Force sensor as tool
customStiffness.CPSTIFFNESS={x 5000, y 5000, z 5000, a 300, b 300, c 300} ;Cartesian stiffness
customStiffness.CPDAMPING={x 0.5, y 0.5, z 0.5, a 0.5, b 0.5, c 0.5} ;Cartesian damping
customStiffness.AXISSTIFFNESS={a1 500,a2 500, a3 500, a4 500, a5 500, a6 500, e1 500} ;Axis stiffness
customStiffness.CPMAXDELTA={x 1399.0, y 1399.0, z 1399.0, a 1399.0, b 1399.0, c 1399.0}
$STIFFNESS=customStiffness
;FOLD PTP StartPos Vel= 100 % PDAT3 Tool[2] Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
;NO MOVE
HALT
;Z free
customStiffness=$STIFFNESS
customStiffness.STRATEGY=20 ;Cartesian Impedance control
customStiffness.FRAMETYPE=#TOOL
customStiffness.TOOL=TOOL_DATA[2] ;Force sensor as tool
customStiffness.CPSTIFFNESS={x 1000, y 1000, z 0, a 300, b 300, c 300} ;Cartesian stiffness
customStiffness.CPDAMPING={x 0.7, y 0.7, z 0.7, a 0.7, b 0.7, c 0.7} ;Cartesian damping
customStiffness.AXISSTIFFNESS={a1 200,a2 200, a3 200, a4 200, a5 200, a6 200, e1 200} ;Axis stiffness
$STIFFNESS=customStiffness
;FOLD PTP StartPos Vel= 100 % PDAT3 Tool[2] Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
;Z FREE
HALT
;XYZ free
customStiffness=$STIFFNESS
customStiffness.STRATEGY=20 ;Cartesian Impednace control
customStiffness.FRAMETYPE=#TOOL ;
customStiffness.CPSTIFFNESS={x 0, y 0, z 0, a 300, b 300, c 300} ;Cartesian impedance control
customStiffness.CPDAMPING={x 0.7, y 0.7, z 0.7, a 0.7, b 0.7, c 0.7} ;Cartesian damping
customStiffness.AXISSTIFFNESS={a1 1,a2 200, a3 200, a4 200, a5 200, a6 200, e1 200} ;Axis stiffness
$STIFFNESS=customStiffness
;FOLD PTP StartPos Vel= 100 % PDAT3 Tool[2] Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
;XYZ FREE
HALT
;ABC Free
customStiffness=$STIFFNESS
customStiffness.STRATEGY=20 ;Cartesian Impedance control
customStiffness.FRAMETYPE=#TOOL
customStiffness.CPSTIFFNESS={x 2000, y 2000, z 2000, a 0, b 0, c 0} ;Cartesian stiffness
customStiffness.CPDAMPING={x 0.7, y 0.7, z 0.7, a 0.7, b 0.7, c 0.7} ;Cartesian damping
$STIFFNESS=customStiffness
;FOLD PTP StartPos Vel= 100 % PDAT8 Tool[1]:Greifer leer Base[0]
$BWDSTART = FALSE
PDAT_ACT=PPDAT8
FDAT_ACT=FStartPos
BAS(#PTP_PARAMS,100)
PTP XStartPos
;ENDFOLD
;ABC FREE
;End script
HALT
END