更新：更新kuka程序

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