更新：更新kuka程序

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