54 lines
1.8 KiB
Plaintext
54 lines
1.8 KiB
Plaintext
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&ACCESS RVO
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&REL 19
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&PARAM EDITMASK = *
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&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
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&PARAM DISKPATH = KRC:\R1\Program\TP
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DEF T( )
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;FOLD INI;%{PE}
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
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INTERRUPT ON 3
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BAS (#INITMOV,0 )
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;ENDFOLD (BASISTECH INI)
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD (USER INI)
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;ENDFOLD (INI)
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;FOLD PTP home CONT Vel=100 % PDAT3 ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT3
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FDAT_ACT = Fhome
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP Xhome C_Dis
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;ENDFOLD
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;FOLD PTP Pass2 Vel=100 % PDAT5 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT5
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FDAT_ACT = FPass2
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPass2
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;ENDFOLD
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;FOLD PTP Pass Vel=100 % PDAT6 Tool[1] Base[1] ;%{PE}
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;FOLD Parameters ;%{h}
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;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
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;ENDFOLD
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$BWDSTART = FALSE
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PDAT_ACT = PPDAT6
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FDAT_ACT = FPass
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BAS(#PTP_PARAMS, 100.0)
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SET_CD_PARAMS (0)
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PTP XPass
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;ENDFOLD
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END
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