6040-003/KUKA/KRC/R1/Program/PL/Pallet1Place.src

&ACCESS RV
&REL 3
&PARAM DISKPATH = KRC:\R1\Program\PL
DEF  Pallet1Place ( )
   DECL REAL x_offset,y_offset,z_offset
;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
  ;ENDFOLD (INI)
  
   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)  
   XPlace=XPallet1PlaceB
   x_offset=PlaceOffsetX_Save/10.0
   y_offset=PlaceOffsetY_Save/10.0
   z_offset=PlaceOffsetZ_Save/10.0
   XPlace.X=XPallet1PlaceB.X + CountX_Save*x_offset
   XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset    
   XPlace.Z=XPallet1PlaceB.Z + z_offset 
   XPlaceH=XPlace
   XPlaceH.Z=XPlace.Z+500
  

;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
   
;FOLD SPTP PlaceH CONT Vel=100 % PDAT4 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XPlaceH WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
   CONTINUE
   WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
   CONTINUE
   Q_AreaEnter2=TRUE
;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
   ;ENDFOLD
   SLIN XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
   GripOpen()  
;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
   ;ENDFOLD
   SLIN XPlaceH WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
   CONTINUE
   Q_AreaEnter2=FALSE
   ActionReturn(1)
;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
   
   END_POS=$POS_ACT   
END