KUKA UserTech3.3 如何转换成KUKA UserTech4.0

KUKA UserTech3.3（8.3的系统）和KUKA UserTech4.0（8.6的系统）差别还是比较大的，此前文章“KUKA 机器人UserTech 联机表格--自定义指令”所使用的是KUKA UserTech3.3版本。

自定指令主要的两个文件：

KUKA UserTech3.3：

KFD文件

SmartHMI.User.Config

KUKA UserTech4.0：

KFDx文件

SmartHMI.exe.UserTech.InlineForms.config

KUKA UserTech3.3的KFD文件如何转换成KFDx文件呢?

1、将8.3系统中的，此前文章“KUKA 机器人UserTech 联机表格--自定义指令”Logic.KFD文件拷贝到8.6系统C:\KRC\TP\UserTech\TEMPLATE文件夹中。

2、使用：KukaRoboter.UserTech.KfdConverter.exe软件，双击运行即可将Logic.kfd转换成Logic.kfdx文件。路径：C:\KRC\TP\UserTech\SmartHMI

3、工艺集成于 KUKA smartHMI的文件：SmartHMI.exe.UserTech.InlineForms.config路径：C:\KRC\TP\UserTech\SmartHMI

<?xml version="1.0" encoding="utf-8" ?>
<configuration>
  <configSections>
    <section name="KukaRoboter.SmartHMI.Menu" type="Ade.Internal.ConfigurationSectionHandler, Ade.ComponentsImpl" allowExeDefinition="MachineToLocalUser"/>
    <section name="KukaRoboter.TechHandler2.IlfProviders" type="Ade.Internal.ConfigurationSectionHandler, Ade.ComponentsImpl" allowExeDefinition="MachineToLocalUser"/>
    <section name="KukaRoboter.TechHandler2.IlfParamsParsers" type="Ade.Internal.ConfigurationSectionHandler, Ade.ComponentsImpl" allowExeDefinition="MachineToLocalUser"/>
  </configSections>
  <KukaRoboter.SmartHMI.Menu type="KukaRoboter.SmartHMI.UIFramework.Menu.MenuRootImpl, SmartHMI">
    <!-- Menue tree of UserTech InlineForms -->
    <MenuRoot SystemName="CommandMenu">
      <MenuFolder DisplayName="UserTechILFs#UserTech" MergeOrder="902">

        <MenuItem DisplayName="UserTechILFs#MyCmd" MergeOrder="110">
          <CommandCall Target="LegacyLoader.InvokeModuleProc">
            <Argument Name="PlugInName">INLINEFORM</Argument>
            <Argument Name="ProcID">2011</Argument>
            <Argument Name="ParamList">Kuka.UserTech;MYTECH;MyCmd</Argument>
          </CommandCall>
        </MenuItem>
        <MenuItem DisplayName="UserTechILFs#Ilf_With_ParamList" MergeOrder="120">
          <CommandCall Target="LegacyLoader.InvokeModuleProc">
            <Argument Name="PlugInName">INLINEFORM</Argument>
            <Argument Name="ProcID">2011</Argument>
            <Argument Name="ParamList">Kuka.UserTech;MYTECH;ILF_With_ParamList</Argument>
          </CommandCall>
        </MenuItem>
        <MenuItem DisplayName="UserTechILFs#AREA_REQ" MergeOrder="130">
          <CommandCall Target="LegacyLoader.InvokeModuleProc">
            <Argument Name="PlugInName">INLINEFORM</Argument>
            <Argument Name="ProcID">2011</Argument>
            <Argument Name="ParamList">Kuka.UserTech;Logic;AREA_REQ</Argument>
          </CommandCall>
        </MenuItem>
        <MenuItem DisplayName="UserTechILFs#AREA_REL" MergeOrder="140">
          <CommandCall Target="LegacyLoader.InvokeModuleProc">
            <Argument Name="PlugInName">INLINEFORM</Argument>
            <Argument Name="ProcID">2011</Argument>
            <Argument Name="ParamList">Kuka.UserTech;Logic;AREA_REL</Argument>
          </CommandCall>
        </MenuItem>        
      </MenuFolder>
    </MenuRoot>

  </KukaRoboter.SmartHMI.Menu>

  <KukaRoboter.TechHandler2.IlfProviders type="KukaRoboter.Common.Technology.TechHandler2.IlfProviderConfiguration, KukaRoboter.Common.Technology">
    <IlfProvider Name="Kuka.UserTech" Type="KukaRoboter.KukaUserTech.InlineForms.UserTech" Assembly="KukaRoboter.UserTech.InlineForms" OptionPackageName="UserTech" SplineType="BLOCK_TYPE_ALL" />
  </KukaRoboter.TechHandler2.IlfProviders>

  <KukaRoboter.TechHandler2.IlfParamsParsers type="KukaRoboter.Common.Technology.TechHandler2.IlfParamsParserConfiguration, KukaRoboter.Common.Technology">
    <IlfParamsParser ParsesOldParams="false" Id="FoldParamsParser" Impl="KukaRoboter.Common.Technology.TechHandler2.FoldParamsParser, KukaRoboter.Common.Technology" />
    <IlfParamsParser ParsesOldParams="false" Id="UserTechParamsParser" Impl="KukaRoboter.KukaUserTech.InlineForms.UserTechParamsParser, KukaRoboter.UserTech.InlineForms" />
  </KukaRoboter.TechHandler2.IlfParamsParsers>

</configuration>