diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project
index bd6e466..71008b0 100644
Binary files a/6040-003上下料 V2.1.project and b/6040-003上下料 V2.1.project differ
diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
index e4959f9..c32e56d 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 DEFDAT  CollDetect_UserAction
 
 
diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
index d530134..b0a5633 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 DEF CollDetect_UserAction( )
 
 
diff --git a/KUKA/KRC/R1/KUKA/masref_user.dat b/KUKA/KRC/R1/KUKA/masref_user.dat
index 83f285e..b2a7b8c 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.dat
+++ b/KUKA/KRC/R1/KUKA/masref_user.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/KUKA/masref_user.src b/KUKA/KRC/R1/KUKA/masref_user.src
index 4e90d6e..06a315a 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.src
+++ b/KUKA/KRC/R1/KUKA/masref_user.src
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/Program/ActionReturn.src b/KUKA/KRC/R1/Program/ActionReturn.src
index 50e52d3..d69c355 100644
--- a/KUKA/KRC/R1/Program/ActionReturn.src
+++ b/KUKA/KRC/R1/Program/ActionReturn.src
@@ -1,12 +1,8 @@
-&ACCESS RV2
+&ACCESS RV
 DEF   ActionReturn (nRet:IN )  
    DECL INT nRet  
-   CONTINUE
    Q_CmdCountRet=CmdCountLast
-   CONTINUE
    Q_CmdResult=nRet
-   CONTINUE
-   Q_CmdRet=CmdSave 
-   CONTINUE   
+   Q_CmdRet=CmdSave   
    Q_Cmd_Running=0      
 END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/Config.dat b/KUKA/KRC/R1/Program/Config.dat
index a753af2..c98d1fe 100644
--- a/KUKA/KRC/R1/Program/Config.dat
+++ b/KUKA/KRC/R1/Program/Config.dat
@@ -1,20 +1,20 @@
-&ACCESS RV5
+&ACCESS RV1
 DEFDAT  CONFIG PUBLIC
 
 GLOBAL INT PdtTypeLast=0
 GLOBAL INT CmdSave=11
-GLOBAL INT CmdCountLast=304
+GLOBAL INT CmdCountLast=108
 GLOBAL INT PlaceOffsetX_Save=-1258
 GLOBAL INT PlaceOffsetY_Save=-3000
 GLOBAL INT PlaceOffsetZ_Save=0
 GLOBAL INT PickOffsetX_Save=0
 GLOBAL INT PickOffsetY_Save=0
 GLOBAL INT PickOffsetZ_Save=0
-GLOBAL INT CountX_Save=0
-GLOBAL INT CountY_Save=3
+GLOBAL INT CountX_Save=10
+GLOBAL INT CountY_Save=2
 
 GLOBAL BOOL ConfMessSave=FALSE
 
-DECL GLOBAL E6POS END_POS={X -367.936188,Y 3333.63623,Z 553.180,A -166.138092,B 0.376110703,C 179.734543,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS END_POS={X 234.879028,Y 2044.02686,Z 377.353760,A -165.224686,B 0.377169758,C 179.736649,S 'B0010',T 'B00101011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 
 ENDDAT
diff --git a/KUKA/KRC/R1/Program/Grip/GripClose.src b/KUKA/KRC/R1/Program/Grip/GripClose.src
index 3c1b5b4..d1fc0b7 100644
--- a/KUKA/KRC/R1/Program/Grip/GripClose.src
+++ b/KUKA/KRC/R1/Program/Grip/GripClose.src
@@ -1,4 +1,4 @@
-&ACCESS RVP2
+&ACCESS RVO
 DEF  GripClose ( )
    Q_GripPosIndex=102
    Q_GripPosCount=I_GripPosCountRet+1
diff --git a/KUKA/KRC/R1/Program/Grip/GripOpen.src b/KUKA/KRC/R1/Program/Grip/GripOpen.src
index 2406d65..ba0b02e 100644
--- a/KUKA/KRC/R1/Program/Grip/GripOpen.src
+++ b/KUKA/KRC/R1/Program/Grip/GripOpen.src
@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEF  GripOpen ( )
    
    Q_GripPosIndex=101
diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.dat b/KUKA/KRC/R1/Program/Home/HomeModule.dat
index f6c336d..586fc08 100644
--- a/KUKA/KRC/R1/Program/Home/HomeModule.dat
+++ b/KUKA/KRC/R1/Program/Home/HomeModule.dat
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVO
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\Home
 DEFDAT  HOMEMODULE
diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.src b/KUKA/KRC/R1/Program/Home/HomeModule.src
index 7f770d3..4b28c6f 100644
--- a/KUKA/KRC/R1/Program/Home/HomeModule.src
+++ b/KUKA/KRC/R1/Program/Home/HomeModule.src
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVO
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\Home
 DEF  HomeModule ( )
diff --git a/KUKA/KRC/R1/Program/MainModule.dat b/KUKA/KRC/R1/Program/MainModule.dat
index 84f4ee4..292e6f9 100644
--- a/KUKA/KRC/R1/Program/MainModule.dat
+++ b/KUKA/KRC/R1/Program/MainModule.dat
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVO
 &REL 1
 DEFDAT MainModule
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
diff --git a/KUKA/KRC/R1/Program/MainModule.src b/KUKA/KRC/R1/Program/MainModule.src
index 1393689..5ada472 100644
--- a/KUKA/KRC/R1/Program/MainModule.src
+++ b/KUKA/KRC/R1/Program/MainModule.src
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVO
 &REL 1
 DEF MainModule()
    ;FOLD INI
@@ -15,10 +15,10 @@ DEF MainModule()
  INTERRUPT DECL 24 WHEN $CYCFLAG[1] DO StopSafty()
  INTERRUPT ON 24
 
-   ;FOLD PTP $POS_ACT Tool[0] Base[0]
+   ;FOLD PTP $POS_ACT Tool[1] Base[1]
       BAS(#INITMOV, 0)
-      BAS(#BASE, 0)
-      BAS(#TOOL, 0)
+      BAS(#BASE, 1)
+      BAS(#TOOL, 1)
       PTP $POS_ACT
    ;ENDFOLD
    $ov_pro=40
diff --git a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
index 71867a0..99b5dfe 100644
--- a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
+++ b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
@@ -1,4 +1,4 @@
-&ACCESS RVO2
+&ACCESS RVO
 DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
    DECL REAL R_offset
    DECL BOOL b_Pok
diff --git a/KUKA/KRC/R1/Program/Mylib/GetInt16.src b/KUKA/KRC/R1/Program/Mylib/GetInt16.src
index 3bd8bf3..ba33df7 100644
--- a/KUKA/KRC/R1/Program/Mylib/GetInt16.src
+++ b/KUKA/KRC/R1/Program/Mylib/GetInt16.src
@@ -1,4 +1,4 @@
-&ACCESS RV1
+&ACCESS RV
 DEFFCT INT GetInt16 (iVal:IN )
    DECL INT iVal,iRet
    IF iVal>32767 THEN
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
index e29e738..14e13f6 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT1PICK
@@ -15,10 +15,10 @@ DECL INT SUCCESS
 
 DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="}
 DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPickH={X -367.936188,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPickH={X -368.575958,Y 3343.96265,Z 553.180481,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPick={X -368.575958,Y 3343.96265,Z 53.1804581,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
index 645ec26..df253fd 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt1Pick ( )
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
index 8c6ea98..206fd9d 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 9
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT2PICK
@@ -18,8 +18,8 @@ DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT3; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2="}
-DECL E6POS XPickH={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL E6POS XPick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPickH={X -507.873199,Y 3343.96265,Z 553.180481,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPick={X -507.873199,Y 3343.96265,Z 53.1804581,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL LDAT LCPDAT3={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
index 598e0b9..361edb4 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 9
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt2Pick ( )
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
index e7c98bf..fed242c 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  NGBELTPLACE
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
index 1232cbd..c79722d 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  NgBeltPlace ( )
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
index f2e60fb..44472b4 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
@@ -1,4 +1,4 @@
-&ACCESS RV1
+&ACCESS RV
 &REL 15
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET1PLACE
@@ -15,13 +15,13 @@ DECL INT SUCCESS
 
 
 
-DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSig; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT6; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT8; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=  "}
-DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT6; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=    "}
+DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL E6POS XPlaceH={X 1501.64038,Y 1742.32153,Z 765.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL E6POS XPlace={X 1501.64038,Y 1742.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL LDAT LCPDAT2={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.src b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
index c57e53f..c54d7cf 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
@@ -1,4 +1,4 @@
-&ACCESS RV1
+&ACCESS RV
 &REL 15
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet1Place ( )
@@ -81,18 +81,18 @@ SET_CD_PARAMS (0)
 LIN XPlace
 ;ENDFOLD
    GripOpen()  
-;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;FOLD LIN PlaceH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+   ;FOLD Parameters ;%{h}
+      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+   ;ENDFOLD
+   $BWDSTART = FALSE
+   LDAT_ACT = LCPDAT2
+   FDAT_ACT = FPlaceH
+   BAS(#CP_PARAMS, 2.0)
+   SET_CD_PARAMS (0)
+   LIN XPlaceH
 ;ENDFOLD
-$BWDSTART = FALSE
-LDAT_ACT = LCPDAT2
-FDAT_ACT = FPlaceH
-BAS(#CP_PARAMS, 2.0)
-SET_CD_PARAMS (0)
-LIN XPlaceH C_Dis C_Dis
-;ENDFOLD
-   CONTINUE
+
    Q_AreaEnter2=FALSE
    ActionReturn(1)
    
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
index f275547..2f9af48 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 26
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET2PLACE
@@ -14,10 +14,10 @@ DECL INT SUCCESS
 ;ENDFOLD (EXTERNAL DECLARATIONS)
 DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
 DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlaceH={X 1492.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlaceH={X 234.879028,Y 2044.02686,Z 377.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlace={X 1492.87903,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlace={X 234.879028,Y 2044.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
@@ -33,12 +33,12 @@ DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981
 DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT18={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL LDAT LCPDAT5={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
-DECL E6POS XPlaceSigH={X 1442.87903,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlaceSigH={X 184.879028,Y 2044.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL LDAT LCPDAT6={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL PDAT PPDAT19={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL LDAT LCPDAT7={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
-DECL E6POS XPlaceSig={X 1442.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlaceSig={X 184.879028,Y 2044.02686,Z 377.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL LDAT LCPDAT8={VEL 2.00000,ACC 100.000,APO_DIST 493.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.src b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
index 4383787..3abe721 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 26
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet2Place ( )
@@ -69,7 +69,7 @@ LIN XPlaceH C_Dis C_Dis
    CONTINUE
    WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
-   Q_AreaEnter2=TRUE
+   Q_AreaEnter3=TRUE
 ;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
 ;FOLD Parameters ;%{h}
 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
@@ -93,8 +93,8 @@ BAS(#CP_PARAMS, 2.0)
 SET_CD_PARAMS (0)
 LIN XPlaceH
 ;ENDFOLD
-   CONTINUE
-   Q_AreaEnter2=FALSE
+
+   Q_AreaEnter3=FALSE
    ActionReturn(1)
   
    END_POS=$POS_ACT  
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
index d7f1765..6fb5cb4 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  REFEEDBELTPICK
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
index d36199c..efb287e 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  ReFeedBeltPick ( )
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
index caba36b..3777eba 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  WATERBELTPICK
@@ -14,10 +14,10 @@ DECL INT SUCCESS
 ;ENDFOLD (EXTERNAL DECLARATIONS)
 DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PickH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2= "}
 DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPickH={X -361.108734,Y -30.3251133,Z 595.508240,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPickH={X -374.435608,Y -52.7464218,Z 548.319702,A 104.528885,B 0.376218826,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPick={X -361.108734,Y -30.3251133,Z 95.5082550,A 105.463463,B 0.376274616,C 179.736298,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPick={X -374.435608,Y -52.7464218,Z 48.3197289,A 104.528885,B 0.376218826,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
index c288b3a..e0f608d 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  WaterBeltPick ( )
diff --git a/KUKA/KRC/R1/Program/PLC.sub b/KUKA/KRC/R1/Program/PLC.sub
index 3e5503b..813d382 100644
--- a/KUKA/KRC/R1/Program/PLC.sub
+++ b/KUKA/KRC/R1/Program/PLC.sub
@@ -1,9 +1,29 @@
-&ACCESS RVO
+&ACCESS RVP
 &COMMENT USER specified PLC program
 DEF  PLC ( )
    DECL STATE_T STAT
    DECL MODUS_T MODE
+   DECL E6POS ACT_Point
+   
    LOOP
+      ON_ERROR_PROCEED
+      IF $ERR.NUMBER > 0 THEN
+         Q_ActPosErr = TRUE            
+         ERR_CLEAR($ERR)
+      ELSE
+         Q_ActPosErr=FALSE                         
+         IF ($ACT_TOOL==1) AND ($ACT_BASE==1) THEN 
+            ON_ERROR_PROCEED
+            ACT_Point = $POS_ACT  
+            IF ACT_Point.Z>350.0 THEN
+               Q_PlaceSafe=TRUE
+            ELSE
+               Q_PlaceSafe=FALSE 
+            ENDIF 
+         ELSE
+            Q_PlaceSafe=FALSE 
+         ENDIF                   
+      ENDIF 
       
       IF $FLAG[10] THEN
          CWRITE($CMD,STAT,MODE,"RESET/R1/cell()")
@@ -37,6 +57,6 @@ DEF  PLC ( )
          Q_Error16=FALSE
       ENDIF
       ConfMessSave=$CONF_MESS
-      ON_ERROR_PROCEED      
+      
    ENDLOOP
 END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PosBase.dat b/KUKA/KRC/R1/Program/PosBase.dat
index 2d417bc..889281e 100644
--- a/KUKA/KRC/R1/Program/PosBase.dat
+++ b/KUKA/KRC/R1/Program/PosBase.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEFDAT  POSBASE PUBLIC
@@ -8,8 +8,8 @@ DEFDAT  POSBASE PUBLIC
 ;***************************************************
 DECL GLOBAL E6POS XPallet1PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XPallet2PlaceB={X 1492.87903,Y 2644.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL GLOBAL E6POS XFeedBelt1Pick={X -367.936188,Y 3333.63623,Z 53.1799889,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL GLOBAL E6POS XFeedBelt2Pick={X -510.559875,Y 3333.63623,Z 53.1799850,A -166.138535,B 0.376175523,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS XFeedBelt1Pick={X -368.575958,Y 3343.96265,Z 53.1804581,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS XFeedBelt2Pick={X -507.873199,Y 3343.96265,Z 53.1804581,A -166.138535,B 0.376172692,C 179.734436,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XNgBeltPlace={X -377.579193,Y -392.592957,Z 48.2309685,A 104.528885,B 0.376219094,C 179.734528,S 2,T 10,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XWaterBeltPick={X -374.435608,Y -52.7464218,Z 48.3197289,A 104.528885,B 0.376218826,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XReFeedBeltPick={X -364.351349,Y 284.098267,Z 50.3441315,A 104.528885,B 0.376218945,C 179.734528,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
diff --git a/KUKA/KRC/R1/Program/SignalIO.dat b/KUKA/KRC/R1/Program/SignalIO.dat
index 0a0ecd7..c97307d 100644
--- a/KUKA/KRC/R1/Program/SignalIO.dat
+++ b/KUKA/KRC/R1/Program/SignalIO.dat
@@ -67,7 +67,8 @@ GLOBAL SIGNAL I_PlaceOffsetZ $IN[273] TO $IN[288]
 
 GLOBAL SIGNAL Q_PickDone $OUT[33]
 GLOBAL SIGNAL Q_PlaceDone $OUT[34]
-
+GLOBAL SIGNAL Q_PlaceSafe $OUT[35]
+GLOBAL SIGNAL Q_ActPosErr $OUT[36]
 
 GLOBAL SIGNAL Q_InHome1 $OUT[49]
 GLOBAL SIGNAL Q_InHome2 $OUT[50]
diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat
index 3939824..88ce763 100644
--- a/KUKA/KRC/R1/System/$config.dat
+++ b/KUKA/KRC/R1/System/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$6
+&ACCESS RV$2
 DEFDAT  $CONFIG
 ;FOLD BASISTECH GLOBALS
 ;==================================
diff --git a/KUKA/KRC/R1/System/MqttConfig.dat b/KUKA/KRC/R1/System/MqttConfig.dat
index 3cac8ee..9ddf9a2 100644
--- a/KUKA/KRC/R1/System/MqttConfig.dat
+++ b/KUKA/KRC/R1/System/MqttConfig.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 DEFDAT  MqttConfig PUBLIC
 
 ; Publisher IP address for KukaConnect data-set configuration.
diff --git a/KUKA/KRC/R1/System/MsgLib.dat b/KUKA/KRC/R1/System/MsgLib.dat
index 5c79c42..845922f 100644
--- a/KUKA/KRC/R1/System/MsgLib.dat
+++ b/KUKA/KRC/R1/System/MsgLib.dat
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT Message library
 DEFDAT  MsgLib PUBLIC
 
diff --git a/KUKA/KRC/R1/System/MsgLib.src b/KUKA/KRC/R1/System/MsgLib.src
index 8c3db27..999fbb8 100644
--- a/KUKA/KRC/R1/System/MsgLib.src
+++ b/KUKA/KRC/R1/System/MsgLib.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT Message library
 DEF  MsgLib ( )
 ;**************************************************
diff --git a/KUKA/KRC/R1/System/bas.src b/KUKA/KRC/R1/System/bas.src
index 3077693..86b050e 100644
--- a/KUKA/KRC/R1/System/bas.src
+++ b/KUKA/KRC/R1/System/bas.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &REL 1
 &COMMENT BASIS package
 DEF  BAS (COMMAND :IN,REAL_PAR :IN )
diff --git a/KUKA/KRC/R1/System/collmonlib.dat b/KUKA/KRC/R1/System/collmonlib.dat
index 35ac6ce..41ed38d 100644
--- a/KUKA/KRC/R1/System/collmonlib.dat
+++ b/KUKA/KRC/R1/System/collmonlib.dat
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT Collision monitoring library
 DEFDAT  COLLMONLIB PUBLIC
 ;DO NOT MODIFY THIS FILE
diff --git a/KUKA/KRC/R1/System/collmonlib.src b/KUKA/KRC/R1/System/collmonlib.src
index 13ec076..a1d099c 100644
--- a/KUKA/KRC/R1/System/collmonlib.src
+++ b/KUKA/KRC/R1/System/collmonlib.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT Collision monitoring library
 DEF CollMonLib( )
 
diff --git a/KUKA/KRC/R1/System/ir_stopm.src b/KUKA/KRC/R1/System/ir_stopm.src
index 16dce14..a720129 100644
--- a/KUKA/KRC/R1/System/ir_stopm.src
+++ b/KUKA/KRC/R1/System/ir_stopm.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT HandlerOnRobotFault
 DEF  IR_STOPM ( )
 ;-----------------------------------
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
index 508fab7..5133721 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
index 79d4877..5035564 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
index 5e3b37f..bbd1771 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
index 18381d6..d502051 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
index 3e4ce60..7d24433 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO5
+&ACCESS RVO
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
index e0b75b6..81f1c7b 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
@@ -1,4 +1,4 @@
-&ACCESS RVO5
+&ACCESS RVO
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
index 2678b19..9946763 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
index 1462540..0fe0872 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
index 4d19fc4..6cc0297 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEFDAT  EthernetKRL PUBLIC
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
index 68f5a5c..a730daf 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEF EthernetKRL( )
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
index 48c5633..f2c0721 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO
 &REL 2314
 &PARAM DISKPATH = TP/EthernetKRL
 DEF EthernetKRL_USER( )
diff --git a/KUKA/KRC/R1/TP/p00.dat b/KUKA/KRC/R1/TP/p00.dat
index 3cc8574..1644eae 100644
--- a/KUKA/KRC/R1/TP/p00.dat
+++ b/KUKA/KRC/R1/TP/p00.dat
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT EXTERNAL package
 DEFDAT  P00
 
diff --git a/KUKA/KRC/R1/TP/p00.src b/KUKA/KRC/R1/TP/p00.src
index f62c145..45503ee 100644
--- a/KUKA/KRC/R1/TP/p00.src
+++ b/KUKA/KRC/R1/TP/p00.src
@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R1
 &COMMENT EXTERNAL package
 DEF  P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
   DECL P00_COMMAND COMMAND
diff --git a/KUKA/KRC/R1/cell.src b/KUKA/KRC/R1/cell.src
index d489b2a..db774e2 100644
--- a/KUKA/KRC/R1/cell.src
+++ b/KUKA/KRC/R1/cell.src
@@ -20,36 +20,12 @@ DEF  CELL ( )
     P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position 
   ENDIF
   ;ENDFOLD (CHECK HOME)
-  ;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
-  $H_POS=XHOME
-  PDAT_ACT=PDEFAULT
-  BAS (#PTP_DAT )
-  FDAT_ACT=FHOME
-  BAS (#FRAMES )
-  BAS (#VEL_PTP,100 )
-  PTP  XHOME
-  ;ENDFOLD
+
+Initmove()
   ;FOLD AUTOEXT INI
   P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
   ;ENDFOLD (AUTOEXT INI)
   LOOP
-    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
-    SWITCH  PGNO ; Select with Programnumber
-
-    CASE 1
-      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
-      ;EXAMPLE1 ( ) ; Call User-Program
-
-    CASE 2
-      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
-      ;EXAMPLE2 ( ) ; Call User-Program
-
-    CASE 3
-      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
-      ;EXAMPLE3 ( ) ; Call User-Program
-
-    DEFAULT
-      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
-    ENDSWITCH
+    MainModule()
   ENDLOOP
 END
diff --git a/KUKA/KRC/STEU/$config.dat b/KUKA/KRC/STEU/$config.dat
new file mode 100644
index 0000000..9280c1c
--- /dev/null
+++ b/KUKA/KRC/STEU/$config.dat
@@ -0,0 +1,4 @@
+&ACCESS RV$2
+DEFDAT $CONFIG
+
+ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/STEU/Mada/$custom.dat b/KUKA/KRC/STEU/Mada/$custom.dat
new file mode 100644
index 0000000..dcde8a2
--- /dev/null
+++ b/KUKA/KRC/STEU/Mada/$custom.dat
@@ -0,0 +1,650 @@
+&ACCESS RV$
+&PARAM VERSION = 1.0.0
+DEFDAT  $CUSTOM PUBLIC
+DECL SPREADSTARTPOLICY $SPREADSTARTPOLICY=#DEFAULT_BCO ;Zu nutzende Regel beim Verteilen des Start-Kommandos im RoboTeam
+CHAR $V_CUSTOM[32]
+$V_CUSTOM[]="V1.0.0/KUKA8.7" ;VERSIONSKENNUNG
+BOOL $SR_VEL_RED=TRUE ;TRUE: Overrideregelung des SafeRobot fuer Geschwindigkeitsgrenzen im Grundsystem aktiviert
+BOOL $BRAKE_ON_SBH=TRUE ;TRUE: Je nach anliegenden SBH werden entweder alle Bremsen sofort geschlossen bzw. nur diejenigen die zur Achsgruppe gehoeren
+BOOL $NO_MOVEMENT_ON_SBH=TRUE ;Bewegungsstart nicht moeglich bei SBH
+BOOL $SR_WORKSPACE_RED=TRUE ;TRUE: Overrideregelung des SafeRobot fuer Ueberwachungsraeume im Grundsystem aktiviert
+BOOL $TOOL_DIRECTION_LIN_CIRC=FALSE ;TRUE $TOOL_DIRECTION-Wert wird fuer Drehen und Schwenken und die TTS-Berechnung bei LIN- und CIRC-Bewegungen verwendet
+INT $SR_OV_RED=75 ;Reduzierungsfaktor der SafeRobot Overrideregelung zu Geschwindigkeitsgrenzen [10-95]
+DECL MOTION_MODE $DEFAULT_MOTION_MODE=#STANDARD ; Mit $DEFAULT_MOTION_MODE wird der default MotionMode angegeben
+BOOL $COLL_ENABLECAV=FALSE ;Enable/Disable Collision Avoidance
+REAL $COLL_DISTANCE_MAN[16] ;Distance tolerances when jogging manually or when no program running
+$COLL_DISTANCE_MAN[1]=0.0 ; 
+$COLL_DISTANCE_MAN[2]=0.0 ; 
+$COLL_DISTANCE_MAN[3]=0.0 ; 
+$COLL_DISTANCE_MAN[4]=0.0 ; 
+$COLL_DISTANCE_MAN[5]=0.0 ; 
+$COLL_DISTANCE_MAN[6]=0.0 ; 
+$COLL_DISTANCE_MAN[7]=0.0 ; 
+$COLL_DISTANCE_MAN[8]=0.0 ; 
+$COLL_DISTANCE_MAN[9]=0.0 ; 
+$COLL_DISTANCE_MAN[10]=0.0 ; 
+$COLL_DISTANCE_MAN[11]=0.0 ; 
+$COLL_DISTANCE_MAN[12]=0.0 ; 
+$COLL_DISTANCE_MAN[13]=0.0 ; 
+$COLL_DISTANCE_MAN[14]=0.0 ; 
+$COLL_DISTANCE_MAN[15]=0.0 ; 
+$COLL_DISTANCE_MAN[16]=0.0 ; 
+REAL $COLL_DISTANCE_PROG[16] ;Distance tolerance when program is selected
+BOOL $WORKSPACERESTOREACTIVE=FALSE ; Fuer Aktivierung der Arbeitsbereich Zustand-Wiederherstellung
+DECL AXIS_OF_COORDINATES $TOOL_DIRECTION=#X ;Werkzeugstossrichtung fuer neue CP-Bewegungen (Spline)
+DECL AXIS_OF_COORDINATES $BASE_ALIGN=#Z ;Achse des Base um Werkzeug auszurichten
+DECL SPLINE_PARA_VARIANT $SPTP_EXAX_PARA[6] ;Parametrisierungsart einer Zusatzachse beim PTP-Spline
+$SPTP_EXAX_PARA[1]=#DEFAULT_PARA
+$SPTP_EXAX_PARA[2]=#DEFAULT_PARA
+$SPTP_EXAX_PARA[3]=#DEFAULT_PARA
+$SPTP_EXAX_PARA[4]=#DEFAULT_PARA
+$SPTP_EXAX_PARA[5]=#DEFAULT_PARA
+$SPTP_EXAX_PARA[6]=#DEFAULT_PARA
+DECL STRIKE_OUT_COMPONENTS $MAX_ABS_STRIKE_OUT={ORIENTATION 20.0000,ROT_EXT_AXES 20.0000,LIN_EXT_AXES 100.000} ;maximaler Wert der ABSOLUTE-Komponenten von $STRIKE_OUT_DEFAULT oder $STRIKE_OUT
+DECL STRIKE_OUT_STRUC $STRIKE_OUT_DEFAULT={MODE #ON,ABSOLUTE {ORIENTATION 7.50000,ROT_EXT_AXES 7.50000,LIN_EXT_AXES 50.0000},RELATIVE {ORIENTATION 40.0000,ROT_EXT_AXES 40.0000,LIN_EXT_AXES 40.0000}} ;Standardkonfiguration der Ausholstrategie fuer SPL-Segmente im Spline-Block
+DECL PRO_IO_T $PRO_I_O_SYS={MODULE[] "/R1/SPS()",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] "/R1/PLC()",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID4={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID5={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID6={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID7={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID8={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID9={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL SER $PSER_1={PROTO 1,PROC 0,RCO 5,BL 0,BAUD 19200,NOC 8,NOS 1,PARITY 2,TRC 1,FLP 0,LLP 0,RT 300,PT 5,DSR 0,WCCXON 0,VXON 0,VXOFF 0,WEOBC 0,VEOBC 0} ;SCHNITTSTELLE 1
+DECL SER $PSER_2={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2
+DECL SER $PSER_3={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2
+DECL SER $PSER_4={PROTO 0,PROC 3,RCO 0,BL 0,BAUD 9600,NOC 7,NOS 2,PARITY 2,TRC 0,FLP 1,LLP 60,RT 0,PT 0,DSR 0,WCCXON 0,VXON 11,VXOFF 13,WEOBC 1,VEOBC 3} ;SCHNITTSTELLE 2
+DECL SER $PPG={PROTO 2,PROC 4,BAUD 9600} ;PG-SCHNITTSTELLE
+DECL EXT_MOD_T $EXT_MOD_1={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen
+DECL EXT_MOD_T $EXT_MOD_2={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen
+DECL EXT_MOD_T $EXT_MOD_3={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen
+DECL EXT_MOD_T $EXT_MOD_4={O_FILE[] " ",OPTION 'B0000'} ;ext. Modul Informationen
+CHANNEL :SER_1 :SER_1 $PSER_1
+CHANNEL :SER_2 :SER_2 $PSER_2
+CHANNEL :SER_3 :SER_3 $PSER_3
+CHANNEL :SER_4 :SER_4 $PSER_4
+CHANNEL :PG :SER_1 $PPG
+CHANNEL :LD_EXT_OBJ1 :LD_EXT_OBJ1 $EXT_MOD_1 ;external module 1
+CHANNEL :LD_EXT_OBJ2 :LD_EXT_OBJ2 $EXT_MOD_2 ;external module 2
+CHANNEL :LD_EXT_FCT1 :LD_EXT_FCT1 $EXT_MOD_3 ;external module 3
+CHANNEL :LD_EXT_FCT2 :LD_EXT_FCT2 $EXT_MOD_4 ;external module 4
+INT $IBUS_ON=0 ;EINSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
+INT $EDIT_MODE=1 ;KOMMUNIKATION TP - XEDIT
+INT $IBUS_OFF=0 ;ABSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
+DECL BOX $WORKSPACE[8] ;UEBERWACHT ARBEITSRAEUME
+$WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+$WORKSPACE[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
+BOOL $ABS_CONVERT=FALSE ;KONVERTIERUNG DER PUNKTKOORDINATEN
+BOOL $DEACTIVATE_ABS_ACCUR=FALSE
+REAL $NEARPATHTOL=200.000 ;TOLERANZ FUER DIE ABWEICHUNG VON $POS_RET
+INT $ASYNC_MODE='B0000' ;MODE FUER ASYNCHRONE ZUSATZACHSEN
+INT $TECH_FUNC='B0000' ;BITS ZUM AKTIVIEREN EINZELNER FUNKTIONEN DES FUNKTIONSGENERATORS
+BOOL $IMPROVED_COLLMON=TRUE ;Schalter Verbesserte Kollisionserkennung
+INT $COLLMON_STARTUP_MAX=200 ;maximale Abschaltzeit [ms] der Kollisionserkennung am Bewegungsstart (unbeschraenkt falls <=0)
+INT $COLLMON_TOL_PRO_DEF[12] ;Verbesserte Kollisionserkennung: Default-Sensibilitaetseinstellung Programm
+$COLLMON_TOL_PRO_DEF[1]=0 ;Achse 1
+$COLLMON_TOL_PRO_DEF[2]=0 ;Achse 2
+$COLLMON_TOL_PRO_DEF[3]=0 ;Achse 3
+$COLLMON_TOL_PRO_DEF[4]=0 ;Achse 4
+$COLLMON_TOL_PRO_DEF[5]=0 ;Achse 5
+$COLLMON_TOL_PRO_DEF[6]=0 ;Achse 6
+$COLLMON_TOL_PRO_DEF[7]=0 ;Achse 7
+$COLLMON_TOL_PRO_DEF[8]=0 ;Achse 8
+$COLLMON_TOL_PRO_DEF[9]=0 ;Achse 9
+$COLLMON_TOL_PRO_DEF[10]=0 ;Achse 10
+$COLLMON_TOL_PRO_DEF[11]=0 ;Achse 11
+$COLLMON_TOL_PRO_DEF[12]=0 ;Achse 12
+INT $COLLMON_TOL_COM_DEF[12] ;Verbesserte Kollisionserkennung: Default-Sensibilitaetseinstellung Kommando
+$COLLMON_TOL_COM_DEF[1]=0 ;Achse 1
+$COLLMON_TOL_COM_DEF[2]=0 ;Achse 2
+$COLLMON_TOL_COM_DEF[3]=0 ;Achse 3
+$COLLMON_TOL_COM_DEF[4]=0 ;Achse 4
+$COLLMON_TOL_COM_DEF[5]=0 ;Achse 5
+$COLLMON_TOL_COM_DEF[6]=0 ;Achse 6
+$COLLMON_TOL_COM_DEF[7]=0 ;Achse 7
+$COLLMON_TOL_COM_DEF[8]=0 ;Achse 8
+$COLLMON_TOL_COM_DEF[9]=0 ;Achse 9
+$COLLMON_TOL_COM_DEF[10]=0 ;Achse 10
+$COLLMON_TOL_COM_DEF[11]=0 ;Achse 11
+$COLLMON_TOL_COM_DEF[12]=0 ;Achse 12
+INT $TORQMON_DEF[12] ;DEFAULTWERTE FUER DEN MOMENTENUEBERWACHUNGSSCHLAUCH IM PROGRAMMBETRIEB [%]
+$TORQMON_DEF[1]=0 ;ACHSE 1
+$TORQMON_DEF[2]=0 ;ACHSE 2
+$TORQMON_DEF[3]=0 ;ACHSE 3
+$TORQMON_DEF[4]=0 ;ACHSE 4
+$TORQMON_DEF[5]=0 ;ACHSE 5
+$TORQMON_DEF[6]=0 ;ACHSE 6
+$TORQMON_DEF[7]=0 ;ACHSE 7
+$TORQMON_DEF[8]=0 ;ACHSE 8
+$TORQMON_DEF[9]=0 ;ACHSE 9
+$TORQMON_DEF[10]=0 ;ACHSE 10
+$TORQMON_DEF[11]=0 ;ACHSE 11
+$TORQMON_DEF[12]=0 ;ACHSE 12
+INT $TORQMON_COM_DEF[12] ;DEFAULTWERTE FUER DEN MOMENTENUEBERWACHUNGSSCHLAUCH IM KOMMANDOBETRIEB [%]
+$TORQMON_COM_DEF[1]=0 ;ACHSE 1
+$TORQMON_COM_DEF[2]=0 ;ACHSE 2
+$TORQMON_COM_DEF[3]=0 ;ACHSE 3
+$TORQMON_COM_DEF[4]=0 ;ACHSE 4
+$TORQMON_COM_DEF[5]=0 ;ACHSE 5
+$TORQMON_COM_DEF[6]=0 ;ACHSE 6
+$TORQMON_COM_DEF[7]=0
+$TORQMON_COM_DEF[8]=0
+$TORQMON_COM_DEF[9]=0
+$TORQMON_COM_DEF[10]=0
+$TORQMON_COM_DEF[11]=0
+$TORQMON_COM_DEF[12]=0
+REAL $TORQMON_TIME=0.0120000 ;ZEIT [MS], NACH DER DIE FAHRMOMENTUEBERWACHUNG ZUSCHLAEGT
+FRAME $SINGUL_ERR_PRO={A 0.0,B 0.0,C 0.0} ;MAX. ORIENTIERUNGSFEHLER PROGRAMMVERFAHREN
+FRAME $SINGUL_ERR_JOG={A 5.00000,B 5.00000,C 5.00000} ;MAX. ORIENTIERUNGSFEHLER HANDVERFAHREN
+DECL TARGET_STATUS $TARGET_STATUS=#SOURCE
+BOOL $RED_T1_OV_CP=FALSE ;BEHANDLUNG VON CP_BAHNEN IN T1 (FALSE=GESCHW.-REDUZ. AUF $VEL_CP_T1, TRUE=OVERRIDE-REDUZIERUNG UM $RED_T1)
+DECL CP_VEL_TYPE $CP_VEL_TYPE=#VAR_T1 ;RED. DER CP-GESCHW. BEI UEBERSCHREITUNG DER ACHSGRENZWERTE (#VAR_T1 : NUR IM T1-Betrieb, #VAR_ALL : IMMER, #VAR_ALL_MODEL: modellbasierte Achsgrenzwerte im Programmbetrieb und T2,AUT,EXT)
+DECL CP_STATMON $CP_STATMON=#NONE ;variable fuer die CP Konfigurationsueberwachung
+REAL $KCP_POS=0.0 ;STELLUNG DES KCP BZGL. DES ROBOTERS ( WINDROSE )
+BOOL $TECH_ANA_FLT_OFF[6] ;ZYKL. ANALOGAUSGABE DES TECHVALS GEFILTERT (FALSE)/UNGEFILTERT (TRUE) AUSGEBEN
+$TECH_ANA_FLT_OFF[1]=FALSE
+$TECH_ANA_FLT_OFF[2]=FALSE
+$TECH_ANA_FLT_OFF[3]=FALSE
+$TECH_ANA_FLT_OFF[4]=FALSE
+$TECH_ANA_FLT_OFF[5]=FALSE
+$TECH_ANA_FLT_OFF[6]=FALSE
+CHAR $WORKSPACE_NAME1[24]
+$WORKSPACE_NAME1[]="WORKSPACE 1"
+CHAR $WORKSPACE_NAME2[24]
+$WORKSPACE_NAME2[]="WORKSPACE 2"
+CHAR $WORKSPACE_NAME3[24]
+$WORKSPACE_NAME3[]="WORKSPACE 3"
+CHAR $WORKSPACE_NAME4[24]
+$WORKSPACE_NAME4[]="WORKSPACE 4"
+CHAR $WORKSPACE_NAME5[24]
+$WORKSPACE_NAME5[]="WORKSPACE 5"
+CHAR $WORKSPACE_NAME6[24]
+$WORKSPACE_NAME6[]="WORKSPACE 6"
+CHAR $WORKSPACE_NAME7[24]
+$WORKSPACE_NAME7[]="WORKSPACE 7"
+CHAR $WORKSPACE_NAME8[24]
+$WORKSPACE_NAME8[]="WORKSPACE 8"
+DECL COOP_KRC $COOP_KRC[16] ;POTENTIAL REMOTE ROBOTS
+$COOP_KRC[1]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[2]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[3]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[4]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[5]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[6]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[7]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[8]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[9]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[10]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[11]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[12]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[13]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[14]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[15]={IP_ADDR[] "               ",NAME[] " "}
+$COOP_KRC[16]={IP_ADDR[] "               ",NAME[] " "}
+DECL WS_CONFIG $WS_CONFIG[32] ;WORKSPACE CONFIGURATION FOR WORKSPACE SHARING
+$WS_CONFIG[1]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[2]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[3]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[4]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[5]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[6]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[7]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[8]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[9]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[10]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[11]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[12]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[13]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[14]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[15]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[16]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[17]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[18]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[19]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[20]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[21]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[22]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[23]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[24]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[25]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[26]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[27]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[28]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[29]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[30]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[31]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+$WS_CONFIG[32]={COOP_KRC 0,WS_NAME[] " ",WS_PRIO 0}
+INT $COUNT_I[160] ;COUNTER
+$COUNT_I[1]=0
+$COUNT_I[2]=0
+$COUNT_I[3]=0
+$COUNT_I[4]=0
+$COUNT_I[5]=0
+$COUNT_I[6]=0
+$COUNT_I[7]=0
+$COUNT_I[8]=0
+$COUNT_I[9]=0
+$COUNT_I[10]=0
+$COUNT_I[11]=0
+$COUNT_I[12]=0
+$COUNT_I[13]=0
+$COUNT_I[14]=0
+$COUNT_I[15]=0
+$COUNT_I[16]=0
+$COUNT_I[17]=0
+$COUNT_I[18]=0
+$COUNT_I[19]=0
+$COUNT_I[20]=0
+$COUNT_I[21]=0
+$COUNT_I[22]=0
+$COUNT_I[23]=0
+$COUNT_I[24]=0
+$COUNT_I[25]=0
+$COUNT_I[26]=0
+$COUNT_I[27]=0
+$COUNT_I[28]=0
+$COUNT_I[29]=0
+$COUNT_I[30]=0
+$COUNT_I[31]=0
+$COUNT_I[32]=0
+$COUNT_I[33]=0
+$COUNT_I[34]=0
+$COUNT_I[35]=0
+$COUNT_I[36]=0
+$COUNT_I[37]=0
+$COUNT_I[38]=0
+$COUNT_I[39]=0
+$COUNT_I[40]=0
+$COUNT_I[41]=0
+$COUNT_I[42]=0
+$COUNT_I[43]=0
+$COUNT_I[44]=0
+$COUNT_I[45]=0
+$COUNT_I[46]=0
+$COUNT_I[47]=0
+$COUNT_I[48]=0
+$COUNT_I[49]=0
+$COUNT_I[50]=0
+$COUNT_I[51]=0
+$COUNT_I[52]=0
+$COUNT_I[53]=0
+$COUNT_I[54]=0
+$COUNT_I[55]=0
+$COUNT_I[56]=0
+$COUNT_I[57]=0
+$COUNT_I[58]=0
+$COUNT_I[59]=0
+$COUNT_I[60]=0
+$COUNT_I[61]=0
+$COUNT_I[62]=0
+$COUNT_I[63]=0
+$COUNT_I[64]=0
+$COUNT_I[65]=0
+$COUNT_I[66]=0
+$COUNT_I[67]=0
+$COUNT_I[68]=0
+$COUNT_I[69]=0
+$COUNT_I[70]=0
+$COUNT_I[71]=0
+$COUNT_I[72]=0
+$COUNT_I[73]=0
+$COUNT_I[74]=0
+$COUNT_I[75]=0
+$COUNT_I[76]=0
+$COUNT_I[77]=0
+$COUNT_I[78]=0
+$COUNT_I[79]=0
+$COUNT_I[80]=0
+$COUNT_I[81]=0
+$COUNT_I[82]=0
+$COUNT_I[83]=0
+$COUNT_I[84]=0
+$COUNT_I[85]=0
+$COUNT_I[86]=0
+$COUNT_I[87]=0
+$COUNT_I[88]=0
+$COUNT_I[89]=0
+$COUNT_I[90]=0
+$COUNT_I[91]=0
+$COUNT_I[92]=0
+$COUNT_I[93]=0
+$COUNT_I[94]=0
+$COUNT_I[95]=0
+$COUNT_I[96]=0
+$COUNT_I[97]=0
+$COUNT_I[98]=0
+$COUNT_I[99]=0
+$COUNT_I[100]=0
+$COUNT_I[101]=0
+$COUNT_I[102]=0
+$COUNT_I[103]=0
+$COUNT_I[104]=0
+$COUNT_I[105]=0
+$COUNT_I[106]=0
+$COUNT_I[107]=0
+$COUNT_I[108]=0
+$COUNT_I[109]=0
+$COUNT_I[110]=0
+$COUNT_I[111]=0
+$COUNT_I[112]=0
+$COUNT_I[113]=0
+$COUNT_I[114]=0
+$COUNT_I[115]=0
+$COUNT_I[116]=0
+$COUNT_I[117]=0
+$COUNT_I[118]=0
+$COUNT_I[119]=0
+$COUNT_I[120]=0
+$COUNT_I[121]=0
+$COUNT_I[122]=0
+$COUNT_I[123]=0
+$COUNT_I[124]=0
+$COUNT_I[125]=0
+$COUNT_I[126]=0
+$COUNT_I[127]=0
+$COUNT_I[128]=0
+$COUNT_I[129]=0
+$COUNT_I[130]=0
+$COUNT_I[131]=0
+$COUNT_I[132]=0
+$COUNT_I[133]=0
+$COUNT_I[134]=0
+$COUNT_I[135]=0
+$COUNT_I[136]=0
+$COUNT_I[137]=0
+$COUNT_I[138]=0
+$COUNT_I[139]=0
+$COUNT_I[140]=0
+$COUNT_I[141]=0
+$COUNT_I[142]=0
+$COUNT_I[143]=0
+$COUNT_I[144]=0
+$COUNT_I[145]=0
+$COUNT_I[146]=0
+$COUNT_I[147]=0
+$COUNT_I[148]=0
+$COUNT_I[149]=0
+$COUNT_I[150]=0
+$COUNT_I[151]=0
+$COUNT_I[152]=0
+$COUNT_I[153]=0
+$COUNT_I[154]=0
+$COUNT_I[155]=0
+$COUNT_I[156]=0
+$COUNT_I[157]=0
+$COUNT_I[158]=0
+$COUNT_I[159]=0
+$COUNT_I[160]=0
+DECL BIN_TYPE $BIN_OUT[64] ;Binary Output configuration
+$BIN_OUT[1]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[2]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[3]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[4]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[5]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[6]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[7]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[8]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[9]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[10]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[11]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[12]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[13]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[14]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[15]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[16]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[17]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[18]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[19]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[20]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[21]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[22]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[23]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[24]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[25]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[26]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[27]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[28]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[29]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[30]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[31]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[32]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[33]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[34]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[35]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[36]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[37]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[38]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[39]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[40]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[41]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[42]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[43]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[44]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[45]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[46]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[47]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[48]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[49]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[50]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[51]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[52]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[53]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[54]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[55]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[56]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[57]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[58]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[59]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[60]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[61]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[62]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[63]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_OUT[64]={F_BIT 1,LEN 0,PARITY #NONE}
+DECL BIN_TYPE $BIN_IN[64] ;Binary Output configuration
+$BIN_IN[1]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[2]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[3]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[4]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[5]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[6]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[7]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[8]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[9]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[10]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[11]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[12]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[13]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[14]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[15]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[16]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[17]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[18]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[19]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[20]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[21]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[22]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[23]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[24]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[25]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[26]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[27]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[28]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[29]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[30]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[31]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[32]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[33]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[34]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[35]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[36]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[37]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[38]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[39]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[40]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[41]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[42]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[43]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[44]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[45]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[46]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[47]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[48]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[49]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[50]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[51]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[52]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[53]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[54]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[55]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[56]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[57]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[58]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[59]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[60]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[61]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[62]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[63]={F_BIT 1,LEN 0,PARITY #NONE}
+$BIN_IN[64]={F_BIT 1,LEN 0,PARITY #NONE}
+INT $SYNCCMD_SIM=0 ;Simulation aller ProgSync und MotionSync Befehle fuer eine def. Steuerung
+INT $SYNCLINESELECTMASK=0 ;erzwingt eine synchrone Statzanwahl auf Remote-Steuerung
+INT $SPREADACTION=0 ;kennzeichnet die angegebenen Steuerungen als Verbund
+BOOL $COLL_AVOID=FALSE ; COLL_AVOID
+DECL COOP_UPDATE_T $COOP_UPDATE ;Kommunikation zwische WCD und TPBASIS
+INT $TP_COOP_UPDATE=0 ;Kommunikation zwische CellMap und TPBASIS
+INT $TP_WS_UPDATE=0 ;Kommunikation zwische workspace sharing und TPBASIS
+DECL LDC_REACTION $LDC_CONFIG[128] ;Konfiguration der Lastdatenpruefung
+$LDC_CONFIG[1]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[2]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[3]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[4]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[5]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[6]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[7]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[8]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[9]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[10]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[11]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[12]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[13]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[14]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[15]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[16]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[17]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[18]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[19]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[20]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[21]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[22]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[23]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[24]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[25]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[26]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[27]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[28]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[29]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[30]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[31]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[32]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[33]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[34]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[35]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[36]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[37]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[38]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[39]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[40]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[41]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[42]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[43]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[44]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[45]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[46]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[47]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[48]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[49]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[50]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[51]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[52]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[53]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[54]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[55]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[56]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[57]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[58]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[59]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[60]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[61]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[62]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[63]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[64]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[65]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[66]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[67]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[68]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[69]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[70]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[71]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[72]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[73]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[74]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[75]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[76]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[77]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[78]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[79]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[80]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[81]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[82]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[83]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[84]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[85]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[86]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[87]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[88]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[89]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[90]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[91]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[92]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[93]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[94]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[95]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[96]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[97]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[98]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[99]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[100]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[101]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[102]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[103]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[104]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[105]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[106]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[107]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[108]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[109]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[110]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[111]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[112]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[113]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[114]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[115]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[116]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[117]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[118]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[119]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[120]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[121]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[122]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[123]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[124]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[125]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[126]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[127]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+$LDC_CONFIG[128]={UNDERLOAD #WARNONLY,OVERLOAD #STOPROBOT}
+ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/STEU/Mada/$machine.dat b/KUKA/KRC/STEU/Mada/$machine.dat
new file mode 100644
index 0000000..f9dad1a
--- /dev/null
+++ b/KUKA/KRC/STEU/Mada/$machine.dat
@@ -0,0 +1,103 @@
+&ACCESS RV$
+&REL 8
+&PARAM VERSION = 1.0.0
+DEFDAT  $MACHINE PUBLIC
+SIGNAL $CRIT_PERI_ACK_REQ $IN[1026] ;Schalter zur Konfiguration der Bewegung kritischer Peripherie
+SIGNAL $CRIT_PERI_ACK FALSE
+CHAR $V_STEUMADA[32]
+$V_STEUMADA[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG
+SIGNAL $MASTERINGTEST_REQ_EXT $IN[1026] ;TRUE = Referenzfahrt angefordert (extern)
+SIGNAL $BRAKETEST_REQ_EX $IN[1026] ;TRUE = Bremsentest soll gestartet werden
+SIGNAL $BRAKETEST_MONTIME FALSE
+SIGNAL $MAINTENANCE_TO_PLC FALSE
+SIGNAL $DRIVE_STOP_NOT_REQ $IN[1025] ;FALSE = Drehzahlstopp Anforderung
+SIGNAL $BRAKETEST_REQ_INT FALSE
+SIGNAL $BRAKETEST_WORK FALSE
+SIGNAL $BRAKES_OK FALSE
+SIGNAL $BRAKETEST_WARN FALSE
+DECL EMSTOP_PATH $EMSTOP_PATH={T1 #ON,T2 #ON,AUT #ON,EX #ON} ;PROJEKTIERUNG DES BAHNTREUEN NOT-AUS FUER T1,T2,AUT,EX
+SIGNAL $EXT_START $IN[3] ;EXTERNER START
+SIGNAL $MOVE_ENABLE $IN[4] ;FAHRFREIGABE GESAMT
+SIGNAL $RC_RDY1 $OUT[17] ;RC-BETRIEBSBEREIT 1
+SIGNAL $SPOC_MOTION_ENABLE $OUT[1015] ; FAHRFREIGABE DURCH SAFETY CONTROLLER
+SIGNAL $ALARM_STOP $OUT[1] ;NOT-STOP
+SIGNAL $T1 $OUT[10] ;BETRIEBSART T1
+SIGNAL $T2 $OUT[11] ;BETRIEBSART T2
+SIGNAL $AUT $OUT[12] ;BETRIEBSART AUTOMATIK
+SIGNAL $I_O_ACTCONF $OUT[18] ;E/A-SCHNITTSTELLE AKTIV QUITTUNG
+SIGNAL $MODE_AUTO FALSE
+SIGNAL $MODE_TEST FALSE
+SIGNAL $LOCAL_NETWORK_OK FALSE
+SIGNAL $COMPLETE_NETWORK_OK FALSE
+SIGNAL $EXT $OUT[13] ;BETRIEBSART EXTERN
+SIGNAL $STOPMESS $OUT[4] ;STOP-MELDUNG
+SIGNAL $CONF_MESS $IN[5] ;EXTERNE QUITTUNG
+SIGNAL $USER_SAF $OUT[2]
+SIGNAL $PERI_RDY $OUT[3]
+SIGNAL $IN_HOME $OUT[8] ;ROB IN HOMEPOSITION
+SIGNAL $IN_HOME1 $OUT[49]
+SIGNAL $IN_HOME2 $OUT[50]
+SIGNAL $IN_HOME3 $OUT[51]
+SIGNAL $IN_HOME4 $OUT[52]
+SIGNAL $IN_HOME5 $OUT[53]
+SIGNAL $DRIVES_ON $IN[7] ;ANTRIEBE EIN
+SIGNAL $DRIVES_OFF $IN[6] ;ANTRIEBE ENABLE
+SIGNAL $ON_PATH $OUT[9] ;ROB AUF BAHN
+SIGNAL $PR_MODE $OUT[19] ;HAND/PROGRAMMIERMODUS
+SIGNAL $SS_MODE $OUT[20] ;HAND/SINGLE-STEP
+SIGNAL $ALARM_STOP_INTERN $OUT[1002] ;NOT-STOP INTERN
+SIGNAL $WORKSTATE1 FALSE
+SIGNAL $WORKSTATE2 FALSE
+SIGNAL $WORKSTATE3 FALSE
+SIGNAL $WORKSTATE4 FALSE
+SIGNAL $WORKSTATE5 FALSE
+SIGNAL $WORKSTATE6 FALSE
+SIGNAL $WORKSTATE7 FALSE
+SIGNAL $WORKSTATE8 FALSE
+SIGNAL $CYLWORKSTATE1 FALSE
+SIGNAL $CYLWORKSTATE2 FALSE
+SIGNAL $CYLWORKSTATE3 FALSE
+SIGNAL $CYLWORKSTATE4 FALSE
+SIGNAL $CYLWORKSTATE5 FALSE
+SIGNAL $CYLWORKSTATE6 FALSE
+SIGNAL $CYLWORKSTATE7 FALSE
+SIGNAL $CYLWORKSTATE8 FALSE
+SIGNAL $AXWORKSTATE1 FALSE
+SIGNAL $AXWORKSTATE2 FALSE
+SIGNAL $AXWORKSTATE3 FALSE
+SIGNAL $AXWORKSTATE4 FALSE
+SIGNAL $AXWORKSTATE5 FALSE
+SIGNAL $AXWORKSTATE6 FALSE
+SIGNAL $AXWORKSTATE7 FALSE
+SIGNAL $AXWORKSTATE8 FALSE
+SIGNAL $DELTAWORKSTATE FALSE
+SIGNAL $ASYNC_AX1_P $IN[1026]
+SIGNAL $ASYNC_AX2_P $IN[1026]
+SIGNAL $ASYNC_AX3_P $IN[1026]
+SIGNAL $ASYNC_AX4_P $IN[1026]
+SIGNAL $ASYNC_AX5_P $IN[1026]
+SIGNAL $ASYNC_AX6_P $IN[1026]
+SIGNAL $ASYNC_AX1_M $IN[1026]
+SIGNAL $ASYNC_AX2_M $IN[1026]
+SIGNAL $ASYNC_AX3_M $IN[1026]
+SIGNAL $ASYNC_AX4_M $IN[1026]
+SIGNAL $ASYNC_AX5_M $IN[1026]
+SIGNAL $ASYNC_AX6_M $IN[1026]
+SIGNAL $ZUST_ASYNC $IN[1026]
+SIGNAL $NEAR_POSRET $OUT[14] ;ROBOTER IN TOLERANZFENSTER
+SIGNAL $COLLISION FALSE
+SIGNAL $COLLISION_STOP FALSE
+SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV
+SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
+SIGNAL $MOVE_ENA_ACK FALSE
+SIGNAL $COLL_ALARM FALSE
+SIGNAL $COLL_ENABLE FALSE
+SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
+SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV
+SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED
+REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG
+SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT
+SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON
+SIGNAL $PRO_ACT $OUT[5] ;PROZESS AKTIV
+SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV
+ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/STEU/Mada/$option.dat b/KUKA/KRC/STEU/Mada/$option.dat
new file mode 100644
index 0000000..0ec9dc0
--- /dev/null
+++ b/KUKA/KRC/STEU/Mada/$option.dat
@@ -0,0 +1,29 @@
+&ACCESS RV$
+&PARAM VERSION = 1.0.0
+DEFDAT  $OPTION PUBLIC
+CHAR $V_OPTION[32]
+$V_OPTION[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG
+BOOL $TECH_OPT=TRUE ;FUNKTIONSGENERATOR
+BOOL $CONSIDER_DLIN_ENERGY=FALSE ;Energie bei DLIN-Planung beruecksichtigen
+BOOL $TCP_IPO=TRUE ;GREIFERBEZOGENE INTERPOLATION
+BOOL $SEP_ASYNC_OV=FALSE ;Schalter fuer asynchrone Hand-Overrides
+BOOL $LOOP_CONT=FALSE
+CHAR $LOOP_MSG[128]
+BOOL $IDENT_OPT=TRUE
+INT $SINGUL_STRATEGY=0 ;0=NONE, 1=APPROX
+BOOL $MOT_STOP_OPT=FALSE ;AKTIVIERUNG "BLOCK EXTERNAL START"
+BOOL $CHCK_MOVENA=TRUE ;AB-UND EINSCHALTEN DER UEBERPRUEFUNG DER EINGANGSNUMMER VON $MOVE_ENABLE
+BOOL $COLLISAVOID=FALSE ; 
+BOOL $MOTIONCOOP=FALSE ; 
+BOOL $PROGCOOP=FALSE ; 
+BOOL $T2_OV_REDUCE=TRUE ;TRUE = Overridereduzierung auf 10 % in Mode T2
+BOOL $VAR_TCP_IPO=FALSE
+BOOL $SPL_VEL_MODE_OPT=TRUE ; Defaulteinstellung fuer $SPL_VEL_MODE
+INT $SPL_PTP_PARA_OPT=2 ; Defaulteinstellung fuer PTP-Spline Parametrisierung
+BOOL $IMPROVEDMIXEDBLENDING=TRUE ; verbessertes gemischtes Ueberschleifen
+BOOL $IMPROVEDSPLINEGEOMETRY=TRUE ;verbesserte Spline Geometrie
+DECL STEP_ENUM $SPL_MIXEDBLENDING_OPT=#STEP2 ;Optimierungen des gemischten Ueberschleifens im Spline
+DECL INSTALLED_MOTION_MODES $INSTALLED_MOTION_MODES={PATH FALSE,DYNAMIC FALSE,ECO FALSE} ;Motion modes are subject to charges! Do not set manually to true.
+CHAR $MAX_XROB_VERS[32] ;Hoechste zu verwendende Version des XROB-Absolutgenauigkeitsmodells
+$MAX_XROB_VERS[]="4.2" ;="Major.Minor"
+ENDDAT
\ No newline at end of file
diff --git a/doc/中试线烘烤FAT报告.xlsx b/doc/中试线烘烤FAT报告.xlsx
new file mode 100644
index 0000000..ab0980a
Binary files /dev/null and b/doc/中试线烘烤FAT报告.xlsx differ
diff --git a/doc/烘烤、注液流程.pdf b/doc/烘烤、注液流程.pdf
new file mode 100644
index 0000000..205317b
Binary files /dev/null and b/doc/烘烤、注液流程.pdf differ
diff --git a/doc/烘烤注液-新聚力通用上位机接口协议V5.0.0.pdf b/doc/烘烤注液-新聚力通用上位机接口协议V5.0.0.pdf
new file mode 100644
index 0000000..e8527d6
Binary files /dev/null and b/doc/烘烤注液-新聚力通用上位机接口协议V5.0.0.pdf differ