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Add ABB120 demo suite and docs

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wangdequan
2026-06-28 20:58:18 +08:00
parent 84a5b54195
commit 65187499d6
820 changed files with 215410 additions and 211 deletions
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19
kdl-wasm/web/tests/fixtures/abb120/spec-programs/error/W2_E30_MotionDiagnostics.grl vendored Normal file
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language grl 0.1
module W2MotionDiagnostics
const speed v = joint(30 %)
const speed vl = linear(100 mm/s)
const zone zf = fine
target too_far_joint = joint_target { joints: [220 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
target unreachable_pose = pose_target { pose: pose(2000 mm, 0 mm, 2000 mm, 0 deg, 0 deg, 0 deg) }
target arc_a = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
target arc_b = pose_target { pose: pose(550 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
target arc_c = pose_target { pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
path empty_path {
}
proc main()
movej too_far_joint speed v zone zf
movel unreachable_pose speed vl zone zf
movec via arc_b target arc_c speed vl zone zf
run_path empty_path
end
end

14
kdl-wasm/web/tests/fixtures/abb120/spec-programs/error/W2_E50_RuntimeTimeout.grl vendored Normal file
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language grl 0.1
module W2RuntimeTimeout
const speed v = joint(30 %)
const zone zf = fine
target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
proc on_timeout_recover()
alarm TIMEOUT_RECOVER "timeout recover" severity warning
end
proc main()
wait io.di[99] == true timeout 100 ms on_timeout alarm "DI99 timeout"
wait io.di[98] == true timeout 100 ms on_timeout call on_timeout_recover()
movej home speed v zone zf
end
end