From 4a84f4a61469ca239ccc78f29f1afeabd722d7c1 Mon Sep 17 00:00:00 2001 From: shak Date: Wed, 12 Feb 2014 14:21:06 +0100 Subject: [PATCH] Set Tool #2 (force sensor) in krl script --- script/friISIR.dat | 4 ++-- script/friISIR.src | 5 +++-- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/script/friISIR.dat b/script/friISIR.dat index 2c8051e..0cdd902 100644 --- a/script/friISIR.dat +++ b/script/friISIR.dat @@ -1,5 +1,5 @@ -&ACCESS RVO -&REL 94 +&ACCESS RVP +&REL 96 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEFDAT friISIR diff --git a/script/friISIR.src b/script/friISIR.src index 501334b..eacde1e 100644 --- a/script/friISIR.src +++ b/script/friISIR.src @@ -1,5 +1,5 @@ -&ACCESS RVO -&REL 94 +&ACCESS RVP +&REL 96 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF friISIR( ) @@ -33,6 +33,7 @@ DEF friISIR( ) resetSTIFFNESS() $FRI_TO_INT[2] = 10 + BAS(#TOOL,2) ;Force to be in T1 mode IF $MODE_OP<>#t1 then REPEAT