更新优化程序

6040-003上下料 V2.1.Device.Application.xml

@@ -1292,13 +1292,15 @@
       <UserDefElement iecname="xHmiAuto" type="T_BOOL" byteoffset="19" vartype="VAR" />
       <UserDefElement iecname="xHmiManual" type="T_BOOL" byteoffset="20" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_UDT_RM_Input" size="18" nativesize="20" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Input">
+    <TypeUserDef name="T_UDT_RM_Input" size="20" nativesize="20" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Input">
       <UserDefElement iecname="rActPos" type="T_REAL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="rActVel" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="rActTrq" type="T_REAL" byteoffset="8" vartype="VAR" />
       <UserDefElement iecname="rActForce" type="T_REAL" byteoffset="12" vartype="VAR" />
       <UserDefElement iecname="usHomeRef" type="T_USINT" byteoffset="16" vartype="VAR" />
       <UserDefElement iecname="usError" type="T_USINT" byteoffset="17" vartype="VAR" />
+      <UserDefElement iecname="usBatteryError" type="T_USINT" byteoffset="18" vartype="VAR" />
+      <UserDefElement iecname="usEncoderError" type="T_USINT" byteoffset="19" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_UDT_RM_Output" size="23" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Output">
       <UserDefElement iecname="rSetPos" type="T_REAL" byteoffset="0" vartype="VAR" />
@@ -1511,7 +1513,7 @@
       <UserDefElement iecname="wstringStepName" type="T_WSTRING_30_" byteoffset="612" vartype="VAR" />
       <UserDefElement iecname="intActStep" type="T_INT" byteoffset="674" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Input">
+    <TypeUserDef name="T_U1_EM00_Input" size="84" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Input">
       <UserDefElement iecname="biEMG" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="biAirPressure" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="biCabinetTemp" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1605,7 +1607,7 @@
       <UserDefElement iecname="Data" type="T_U1_EM00_ToRobot" byteoffset="-1" vartype="VAR" />
       <UserDefElement iecname="Bytes" type="T_ARRAY__0__63__OF_BYTE" byteoffset="-1" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U2_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Input">
+    <TypeUserDef name="T_U2_EM00_Input" size="84" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Input">
       <UserDefElement iecname="biEMG" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="biAirPressure" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="biCabinetTemp" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1692,7 +1694,7 @@
       <UserDefElement iecname="Data" type="T_U2_EM00_ToRobot" byteoffset="-1" vartype="VAR" />
       <UserDefElement iecname="Bytes" type="T_ARRAY__0__250__OF_BYTE" byteoffset="-1" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U3_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Input">
+    <TypeUserDef name="T_U3_EM00_Input" size="84" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Input">
       <UserDefElement iecname="biEMG" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="biAirPressure" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="biCabinetTemp" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1779,7 +1781,7 @@
       <UserDefElement iecname="Data" type="T_U3_EM00_ToRobot" byteoffset="-1" vartype="VAR" />
       <UserDefElement iecname="Bytes" type="T_ARRAY__0__63__OF_BYTE" byteoffset="-1" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U4_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Input">
+    <TypeUserDef name="T_U4_EM00_Input" size="84" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Input">
       <UserDefElement iecname="biEMG" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="biAirPressure" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="biCabinetTemp" type="T_BOOL" byteoffset="2" vartype="VAR" />

KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 DEFDAT  CollDetect_UserAction
 
 

KUKA/KRC/R1/KUKA/CollDetect_UserAction.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 DEF CollDetect_UserAction( )
 
 

KUKA/KRC/R1/KUKA/masref_user.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program

KUKA/KRC/R1/KUKA/masref_user.src

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program

KUKA/KRC/R1/Mada/$machine.dat

@@ -612,9 +612,9 @@ FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
 FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
 FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
 FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
-E6AXIS $H_POS={A1 -40.6010590,A2 -89.9439621,A3 107.739754,A4 -0.0583330207,A5 71.7248154,A6 -24.9933281,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS $H_POS={A1 -40.3666763,A2 -83.7005,A3 104.610184,A4 -0.0553556271,A5 68.6550,A6 -25.0909958,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS $AXIS_HOME[5]
-$AXIS_HOME[1]={A1 -54.9559364,A2 -61.7260933,A3 72.9432526,A4 0.0665770397,A5 78.3046722,A6 -39.3794899,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$AXIS_HOME[1]={A1 -47.3356514,A2 -65.9847336,A3 82.3962097,A4 0.00171302236,A5 73.1501541,A6 -32.0802269,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[2]={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[3]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[4]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

KUKA/KRC/R1/Program/ActionReturn.src

@@ -1,4 +1,4 @@
-&ACCESS RV4
+&ACCESS RV1
 DEF   ActionReturn (nRet:IN )  
    DECL INT nRet  
    CONTINUE

KUKA/KRC/R1/Program/Config.dat

@@ -1,16 +1,20 @@
-&ACCESS RV6
+&ACCESS RV3
 DEFDAT  CONFIG PUBLIC
 
 GLOBAL INT PdtTypeLast=0
-GLOBAL INT CmdCountLast=582
 GLOBAL INT CmdSave=11
-GLOBAL INT OffsetX_Save=1247
+GLOBAL INT CmdCountLast=2
-GLOBAL INT OffsetY_Save=2200
+GLOBAL INT PlaceOffsetX_Save=-1167
-GLOBAL INT CountX_Save=10
+GLOBAL INT PlaceOffsetY_Save=-3250
-GLOBAL INT CountY_Save=3
+GLOBAL INT PlaceOffsetZ_Save=0
+GLOBAL INT PickOffsetX_Save=0
+GLOBAL INT PickOffsetY_Save=0
+GLOBAL INT PickOffsetZ_Save=0
+GLOBAL INT CountX_Save=2
+GLOBAL INT CountY_Save=0
 
 GLOBAL BOOL ConfMessSave=FALSE
 
-DECL GLOBAL E6POS END_POS={X -371.799255,Y 3335.85059,Z 535.821533,A -167.311752,B 0.414277077,C 179.724655,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 567.624878,Y 2965.83350,Z 747.798157,A -164.436340,B 0.381067097,C 179.743317,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 
 ENDDAT

KUKA/KRC/R1/Program/Grip/GripClose.src

@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV
 DEF  GripClose ( )
    Q_GripPosIndex=102
    Q_GripPosCount=I_GripPosCountRet+1

KUKA/KRC/R1/Program/Grip/GripOpen.src

@@ -1,4 +1,4 @@
-&ACCESS RV2
+&ACCESS RV1
 DEF  GripOpen ( )
    
    Q_GripPosIndex=101

KUKA/KRC/R1/Program/Home/HomeModule.dat

@@ -10,4 +10,5 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
+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=PDAT3; 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=False; 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="}
 ENDDAT

KUKA/KRC/R1/Program/Home/HomeModule.src

@@ -19,7 +19,7 @@ DEF  HomeModule ( )
    
    ;FOLD SPTP HOME Vel=100 % DEFAULT ;%{PE}
       ;FOLD Parameters ;%{h}
-         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
       ;ENDFOLD
       SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
    ;ENDFOLD

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

KUKA/KRC/R1/Program/MainModule.src

@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVO
 &REL 1
 DEF MainModule()
    ;FOLD INI
@@ -15,7 +15,6 @@ DEF MainModule()
  INTERRUPT DECL 24 WHEN $CYCFLAG[1] DO StopSafty()
  INTERRUPT ON 24
 
-
    ;FOLD PTP $POS_ACT Tool[0] Base[0]
       BAS(#INITMOV, 0)
       BAS(#BASE, 0)
@@ -37,12 +36,16 @@ DEF AutoRun()
       HALT
    ENDIF
    PdtTypeLast=I_ProductType   
-   WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> CmdCountLast) AND (Q_Cmd_Running==0)
+   WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> Q_CmdCountRet) AND (Q_Cmd_Running==0)
    CmdSave = I_Cmd
-   CmdCountLast = I_CmdCount   
+   CmdCountLast=I_CmdCount
    Q_Cmd_Running=CmdSave
-   OffsetX_Save=I_OffsetX
+   PickOffsetX_Save=GetInt16(I_PickOffsetX)
-   OffsetY_Save=I_OffsetY
+   PickOffsetY_Save=GetInt16(I_PickOffsetY)
+   PickOffsetZ_Save=GetInt16(I_PickOffsetZ)
+   PlaceOffsetX_Save=GetInt16(I_PlaceOffsetX)
+   PlaceOffsetY_Save=GetInt16(I_PlaceOffsetY)
+   PlaceOffsetZ_Save=GetInt16(I_PlaceOffsetZ)
    CountX_Save=I_CountX
    CountY_Save=I_CountY
 

KUKA/KRC/R1/Program/Mylib/CheckInPos.src

@@ -1,4 +1,4 @@
-&ACCESS RVO4
+&ACCESS RVO1
 DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
    DECL REAL R_offset
    DECL BOOL b_Pok

KUKA/KRC/R1/Program/Mylib/FixA6Jump.src

@@ -0,0 +1,18 @@
+&ACCESS RV
+DEFFCT E6POS FixA6Jump(TargetPos:IN)
+    DECL E6POS TargetPos,NewPos
+    DECL REAL dA6
+    NewPos=TargetPos
+    dA6 = TargetPos.A - $AXIS_ACT.A6
+
+    WHILE dA6 > 180.0
+        NewPos.A = NewPos.A - 360.0
+        dA6 = TargetPos.A - $AXIS_ACT.A6
+    ENDWHILE
+
+    WHILE dA6 < -180.0
+        NewPos.A = NewPos.A + 360.0
+        dA6 = NewPos.A - $AXIS_ACT.A6
+    ENDWHILE
+    RETURN NewPos
+ENDFCT

KUKA/KRC/R1/Program/Mylib/GetInt16.src

@@ -0,0 +1,10 @@
+&ACCESS RV
+DEFFCT INT GetInt16 (iVal:IN )
+   DECL INT iVal,iRet
+   IF iVal>32767 THEN
+      iRet=iVal-65536
+   ELSE
+       iRet=iVal
+   ENDIF
+   RETURN iRet
+ENDFCT

KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat

@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 1
 &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=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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=CPDAT1; 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 -371.799255,Y 3335.85059,Z 535.821533,A -167.311752,B 0.414277077,C 179.724655,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 -371.799255,Y 3335.85059,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,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 -371.799255,Y 3335.85059,Z 35.8215332,A -167.311752,B 0.414277077,C 179.724655,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 -371.799255,Y 3335.85059,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,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}

KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src

@@ -1,7 +1,8 @@
-&ACCESS RVO1
+&ACCESS RVO
 &REL 1
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt1Pick ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -15,6 +16,13 @@ DEF  FeedBelt1Pick ( )
 ;ENDFOLD (INI)
    
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)   
+   XPick=XFeedBelt1Pick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt1Pick.X + x_offset
+   XPick.Y=XFeedBelt1Pick.Y + y_offset
+   XPick.Z=XFeedBelt1Pick.Z + z_offset
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
 ;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}

KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat

@@ -1,4 +1,6 @@
-&ACCESS RVO1
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT2PICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -16,7 +18,7 @@ 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=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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=CPDAT1; 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 -513.757690,Y 3336.04053,Z 535.817505,A -167.311752,B 0.414277077,C 179.724655,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 -513.757690,Y 3336.04053,Z 537.000,A -167.311752,B 0.414277077,C 179.724655,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 -513.757690,Y 3336.04053,Z 35.8174858,A -167.311752,B 0.414277077,C 179.724655,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 -513.757690,Y 3336.04053,Z 37.0000,A -167.311752,B 0.414277077,C 179.724655,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[] " "}
 ENDDAT

KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src

@@ -1,5 +1,8 @@
-&ACCESS RVO1
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt2Pick ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -13,6 +16,13 @@ DEF  FeedBelt2Pick ( )
 ;ENDFOLD (INI)
 
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XFeedBelt2Pick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt2Pick.X + x_offset
+   XPick.Y=XFeedBelt2Pick.Y + y_offset
+   XPick.Z=XFeedBelt2Pick.Z + z_offset
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
 ;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}

KUKA/KRC/R1/Program/PL/NgBeltPlace.dat

@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEFDAT  NGBELTPLACE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P

KUKA/KRC/R1/Program/PL/NgBeltPlace.src

@@ -1,5 +1,6 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEF  NgBeltPlace ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -13,6 +14,13 @@ DEF  NgBeltPlace ( )
 ;ENDFOLD (INI)
 
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPlace=XNgBeltPlace
+   x_offset=PlaceOffsetX_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
+   z_offset=PlaceOffsetZ_Save/10.0
+   XPlace.X=XNgBeltPlace.X + x_offset
+   XPlace.Y=XNgBeltPlace.Y + y_offset    
+   XPlace.Z=XNgBeltPlace.Z + z_offset 
    XPlaceH=XPlace
    XPlaceH.Z=XPlace.Z+500
 ;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}

KUKA/KRC/R1/Program/PL/Pallet1Place.dat

@@ -1,5 +1,5 @@
-&ACCESS RV1
+&ACCESS RV
-&REL 1
+&REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET1PLACE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -15,14 +15,17 @@ DECL INT SUCCESS
 
 
 
-DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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=CPDAT1; 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 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=PDAT3; 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 FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlaceH={X 1384.94043,Y 2642.32153,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 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlace={X 1384.94043,Y 2642.32153,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 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 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FHOME1={BASE_NO 1,TOOL_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}
+DECL PDAT PPDAT2={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+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 PPDAT3 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL PDAT PPDAT4 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
 ENDDAT

KUKA/KRC/R1/Program/PL/Pallet1Place.src

@@ -1,8 +1,8 @@
-&ACCESS RV1
+&ACCESS RV
-&REL 1
+&REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet1Place ( )
-   DECL REAL x_offset,y_offset
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -17,17 +17,28 @@ DEF  Pallet1Place ( )
   
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)  
    XPlace=XPallet1PlaceB
-   x_offset=OffsetX_Save/10.0
+   x_offset=PlaceOffsetX_Save/10.0
-   y_offset=OffsetY_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
-   XPlace.X=XPallet1PlaceB.X - CountX_Save*x_offset
+   z_offset=PlaceOffsetZ_Save/10.0
-   XPlace.Y=XPallet1PlaceB.Y - CountY_Save*y_offset    
+   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 PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
+  
+
+;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE}
    ;FOLD Parameters ;%{h}
-      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+      ;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 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(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
+   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
@@ -50,10 +61,10 @@ DEF  Pallet1Place ( )
    Q_AreaEnter2=FALSE
    ActionReturn(1)
 ;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
-;FOLD Parameters ;%{h}
+   ;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
+      ;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
+   ;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)
+   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   

KUKA/KRC/R1/Program/PL/Pallet2Place.dat

@@ -1,5 +1,5 @@
-&ACCESS RVO1
+&ACCESS RVP
-&REL 1
+&REL 5
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET2PLACE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -12,14 +12,18 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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=CPDAT1; 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 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=PDAT3; 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 FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlaceH={X 254.640381,Y 1982.32153,Z 665.978271,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 E6POS XPlaceH={X 1268.24036,Y 2642.32153,Z 665.978271,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 254.640381,Y 1982.32153,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 E6POS XPlace={X 1268.24036,Y 2642.32153,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 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 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FHOME1={TOOL_NO 0,BASE_NO 0,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}
+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 PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XHOME1={X 1407.35352,Y 1741.39893,Z 1283.17041,A -164.745026,B 0.372301966,C 179.768570,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 ENDDAT

KUKA/KRC/R1/Program/PL/Pallet2Place.src

@@ -1,8 +1,8 @@
-&ACCESS RVO1
+&ACCESS RVP
-&REL 1
+&REL 5
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet2Place ( )
-   DECL REAL x_offset,y_offset
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -16,17 +16,28 @@ DEF  Pallet2Place ( )
 ;ENDFOLD (INI)
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPlace=XPallet2PlaceB
-   x_offset=OffsetX_Save/10.0
+   x_offset=PlaceOffsetX_Save/10.0
-   y_offset=OffsetY_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
-   XPlace.X=XPallet1PlaceB.X - CountX_Save*x_offset
+   z_offset=PlaceOffsetZ_Save/10.0
-   XPlace.Y=XPallet1PlaceB.Y - CountY_Save*y_offset       
+   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+400
-;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 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=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;FOLD SPTP HOME1 CONT Vel=100 % PDAT3 ;%{PE}
-   ;ENDFOLD
+;FOLD Parameters ;%{h}
-   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(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
+;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 SLIN PlaceH CONT Vel=2 m/s CPDAT3 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.MoveDataName=CPDAT3; 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, , LCPDAT3), $TOOL = STOOL2(FPlaceH), $BASE = SBASE(FPlaceH.BASE_NO), $IPO_MODE = SIPO_MODE(FPlaceH.IPO_FRAME), $LOAD = SLOAD(FPlaceH.TOOL_NO), $ACC = SACC_CP(LCPDAT3), $ORI_TYPE = SORI_TYP(LCPDAT3), $APO = SAPO(LCPDAT3), $JERK = SJERK(LCPDAT3), $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
@@ -49,10 +60,10 @@ DEF  Pallet2Place ( )
    Q_AreaEnter2=FALSE
    ActionReturn(1)
 ;FOLD SPTP HOME1 Vel=100 % PDAT2 ;%{PE}
-;FOLD Parameters ;%{h}
+   ;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
+      ;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
+   ;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)
+   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  

KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat

@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEFDAT  REFEEDBELTPICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P

KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src

@@ -1,5 +1,6 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEF  ReFeedBeltPick ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -13,6 +14,13 @@ DEF  ReFeedBeltPick ( )
 ;ENDFOLD (INI)
 
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XReFeedBeltPick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt1Pick.X + x_offset
+   XPick.Y=XFeedBelt1Pick.Y + y_offset
+   XPick.Z=XFeedBelt1Pick.Z + z_offset
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
 ;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}

KUKA/KRC/R1/Program/PL/WaterBeltPick.dat

@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEFDAT  WATERBELTPICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -12,7 +12,7 @@ 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=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; 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=CPDAT1; 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 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPickH={X -362.541016,Y -53.0821304,Z 535.058350,A 103.969742,B 0.385545105,C 179.739044,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 -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

KUKA/KRC/R1/Program/PL/WaterBeltPick.src

@@ -1,5 +1,6 @@
-&ACCESS RVP1
+&ACCESS RVO
 DEF  WaterBeltPick ( )
+   DECL REAL x_offset,y_offset,z_offset
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
     GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
@@ -13,6 +14,13 @@ DEF  WaterBeltPick ( )
 ;ENDFOLD (INI)
 
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XWaterBeltPick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt1Pick.X + x_offset
+   XPick.Y=XFeedBelt1Pick.Y + y_offset
+   XPick.Z=XFeedBelt1Pick.Z + z_offset
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
 ;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}

KUKA/KRC/R1/Program/PosBase.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEFDAT  POSBASE PUBLIC
@@ -8,11 +8,11 @@ DEFDAT  POSBASE PUBLIC
 ;***************************************************
 DECL GLOBAL E6POS XPallet1PlaceB={X 1501.64038,Y 2642.32153,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 GLOBAL E6POS XPallet2PlaceB={X 1501.64038,Y 2642.32153,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 GLOBAL E6POS XFeedBelt1Pick={X 1797.49475,Y 1360.66516,Z 667.609802,A -165.399490,B -1.87913013,C 179.432770,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 -371.799255,Y 3335.85059,Z 37,A -167.311752,B 0.414277077,C 179.724655,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 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,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 XFeedBelt2Pick={X -513.757690,Y 3336.04053,Z 37,A -167.311752,B 0.414277077,C 179.724655,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 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,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 XNgBeltPlace={X -372.497620,Y -392.548706,Z 42.0128441,A 103.970634,B 0.387568325,C 179.739,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 XWaterBeltPick={X 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,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 XWaterBeltPick={X -362.541016,Y -53.0821304,Z 35.0583267,A 103.969742,B 0.385545105,C 179.739044,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 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,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 XReFeedBeltPick={X -355.786682,Y 285.198730,Z 34.5330734,A 103.969742,B 0.385545075,C 179.739044,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 
 
 

KUKA/KRC/R1/Program/SignalIO.dat

@@ -51,10 +51,16 @@ GLOBAL SIGNAL I_CmdCount $IN[97] TO $IN[112]
 GLOBAL SIGNAL I_GripPosIndexRet $IN[113] TO $IN[128]
 GLOBAL SIGNAL I_GripPosCountRet $IN[129] TO $IN[144]
 GLOBAL SIGNAL I_GripPosResult $IN[145] TO $IN[160]
-GLOBAL SIGNAL I_OffsetX $IN[161] TO $IN[176]
+
-GLOBAL SIGNAL I_OffsetY $IN[177] TO $IN[192]
+GLOBAL SIGNAL I_CountX $IN[161] TO $IN[176]
-GLOBAL SIGNAL I_CountX $IN[193] TO $IN[208]
+GLOBAL SIGNAL I_CountY $IN[177] TO $IN[192]
-GLOBAL SIGNAL I_CountY $IN[209] TO $IN[224]
+GLOBAL SIGNAL I_PickOffsetX $IN[193] TO $IN[208]
+GLOBAL SIGNAL I_PickOffsetY $IN[209] TO $IN[224]
+GLOBAL SIGNAL I_PickOffsetZ $IN[225] TO $IN[240]
+GLOBAL SIGNAL I_PlaceOffsetX $IN[241] TO $IN[256]
+GLOBAL SIGNAL I_PlaceOffsetY $IN[257] TO $IN[272]
+GLOBAL SIGNAL I_PlaceOffsetZ $IN[273] TO $IN[288]
+
 ;ENDFOLD
 
 ;FOLD KUKA_TO_PLC

KUKA/KRC/R1/System/$config.dat

@@ -1,4 +1,4 @@
-&ACCESS RV$7
+&ACCESS RV$4
 DEFDAT  $CONFIG
 ;FOLD BASISTECH GLOBALS
 ;==================================
@@ -175,8 +175,8 @@ INT $ACT_GROUP='B0001'
 
 ; HOME POSITION
 ;----------------------------------
-E6AXIS XHOME={A1 -40.6010590,A2 -89.9439621,A3 107.739754,A4 -0.0583330207,A5 71.7248154,A6 -24.9933281,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME={A1 -40.3666763,A2 -83.7005,A3 104.610184,A4 -0.0553556271,A5 68.6550,A6 -25.0909958,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-E6AXIS XHOME1={A1 -54.9559364,A2 -61.7260933,A3 72.9432526,A4 0.0665770397,A5 78.3046722,A6 -39.3794899,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME1={A1 -47.3356514,A2 -65.9847336,A3 82.3962097,A4 0.00171302236,A5 73.1501541,A6 -32.0802269,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME2={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME3={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME4={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

KUKA/KRC/R1/System/MqttConfig.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 DEFDAT  MqttConfig PUBLIC
 
 ; Publisher IP address for KukaConnect data-set configuration.

KUKA/KRC/R1/System/MsgLib.dat

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT Message library
 DEFDAT  MsgLib PUBLIC
 

KUKA/KRC/R1/System/MsgLib.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT Message library
 DEF  MsgLib ( )
 ;**************************************************

KUKA/KRC/R1/System/bas.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &REL 1
 &COMMENT BASIS package
 DEF  BAS (COMMAND :IN,REAL_PAR :IN )

KUKA/KRC/R1/System/collmonlib.dat

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT Collision monitoring library
 DEFDAT  COLLMONLIB PUBLIC
 ;DO NOT MODIFY THIS FILE

KUKA/KRC/R1/System/collmonlib.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT Collision monitoring library
 DEF CollMonLib( )
 

KUKA/KRC/R1/System/ir_stopm.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT HandlerOnRobotFault
 DEF  IR_STOPM ( )
 ;-----------------------------------

KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat

@@ -1,4 +1,4 @@
-&ACCESS RVO5
+&ACCESS RVO2
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src

@@ -1,4 +1,4 @@
-&ACCESS RVO5
+&ACCESS RVO2
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src

@@ -1,4 +1,4 @@
-&ACCESS RV5
+&ACCESS RV2
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *

KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat

@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO2
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEFDAT  EthernetKRL PUBLIC

KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src

@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO2
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEF EthernetKRL( )

KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src

@@ -1,4 +1,4 @@
-&ACCESS RO5
+&ACCESS RO2
 &REL 2314
 &PARAM DISKPATH = TP/EthernetKRL
 DEF EthernetKRL_USER( )

KUKA/KRC/R1/TP/p00.dat

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT EXTERNAL package
 DEFDAT  P00
 

KUKA/KRC/R1/TP/p00.src

@@ -1,4 +1,4 @@
-&ACCESS R6
+&ACCESS R3
 &COMMENT EXTERNAL package
 DEF  P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
   DECL P00_COMMAND COMMAND