增加烤箱和上位机通信文档

.gitignore

@@ -5,4 +5,12 @@ CppProject/
 *.projectbackup
 *.~u
 *.project.autosave
+*.project.autosave
+*.Device.*
+*.bak1
+*.bak2
+*.bak3
+*.debug
+*.cxob
+~*
 

KUKA/Connections.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Connections>
+  <Connection Type="KukaRoboter.WorkOnline.Connections.KrcConnectionTarget" ConnectionString="PCRC-3HXLTUHYM6;PCRC-3HXLTUHYM6;192.168.1.15;810169497;V8.7.9.701;KR C;Options:DiagnosisSafety,3.2.4.84|DiagnosisServiceEtherCAT,1.0.4.187|EthernetKRL,3.2.5.1098|KUKA.BoardPackage,3.6.5.4|KUKA.DeviceConnector pre-installed,2.1.13.17|KUKA.EtherNetIP MS,5.1.3.18|KUKA.SoftwarePackage smartPAD-2,1.1.6.1|KUKA.UpdatePackageFirmware,1.2.2.71|KUKA.UpdateService,1.1.24.822|KUKA.UpdateServiceConfiguration,1.0.14.269" LastActive="true" />
+</Connections>

KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat

@@ -0,0 +1,5 @@
+&ACCESS R1
+DEFDAT  CollDetect_UserAction
+
+
+ENDDAT

KUKA/KRC/R1/KUKA/CollDetect_UserAction.src

@@ -0,0 +1,5 @@
+&ACCESS R1
+DEF CollDetect_UserAction( )
+
+
+END

KUKA/KRC/R1/KUKA/masref_user.dat

@@ -0,0 +1,25 @@
+&ACCESS RV
+&REL 1
+&COMMENT Mastering Reference User Program
+&PARAM DISKPATH = KRC:\R1\Program
+DEFDAT MasRef_User PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+  EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make here your modifications
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLARATIONS)
+;FOLD reference groups
+; order of master reference group number in array is of no relevance, but group "1" is required
+; "0" means no master reference test
+; "1" means group number for robot axes and robroot kinematic axes
+; "2", "3" means group number of external kinematic axes
+DECL GLOBAL CONST INT MASREFg_GroupSequence[3] ; contains reference groups to test
+MASREFg_GroupSequence[1]=1 
+MASREFg_GroupSequence[2]=0
+MASREFg_GroupSequence[3]=0
+;ENDFOLD (reference groups)
+ENDDAT

KUKA/KRC/R1/KUKA/masref_user.src

@@ -0,0 +1,42 @@
+&ACCESS RV
+&REL 1
+&COMMENT Mastering Reference User Program
+&PARAM DISKPATH = KRC:\R1\Program
+DEF MasRef_USER()
+END 
+
+GLOBAL DEF MASREFSTARTG1()
+;FOLD Teach path and position for reference group 1
+;ENDFOLD
+
+END
+
+GLOBAL DEF MASREFBACKG1()
+;FOLD Teach path back for reference group 1
+;ENDFOLD
+
+END
+
+GLOBAL DEF MASREFSTARTG2()
+;FOLD Teach path and position for reference group 2
+;ENDFOLD
+
+END
+
+GLOBAL DEF MASREFBACKG2()
+;FOLD Teach path back for reference group 2
+;ENDFOLD
+
+END
+
+GLOBAL DEF MASREFSTARTG3()
+;FOLD Teach path and position for reference group 3
+;ENDFOLD
+
+END
+
+GLOBAL DEF MASREFBACKG3()
+;FOLD Teach path back for reference group 3
+;ENDFOLD
+
+END

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

@@ -0,0 +1,642 @@
+&ACCESS RV$
+&PARAM VERSION = 1.0.0
+DEFDAT  $MACHINE PUBLIC
+CHAR $V_R1MADA[32]
+$V_R1MADA[]="V42.601.8.1/KUKA8.7" ;VERSIONSKENNUNG
+INT $TECH_MAX=6 ;MAX. ANZAHL FUNKTIONSGENERATOREN
+INT $NUM_AX=6 ;ACHSEN DES ROBOTERSYSTEMS
+INT $AXIS_TYPE[12] ;ACHSENKENNUNG
+$AXIS_TYPE[1]=3 ;1 = LINEAR, 3 = ROTATORISCH, 5 = ENDLOS
+$AXIS_TYPE[2]=3
+$AXIS_TYPE[3]=3
+$AXIS_TYPE[4]=3
+$AXIS_TYPE[5]=3
+$AXIS_TYPE[6]=3
+$AXIS_TYPE[7]=3
+$AXIS_TYPE[8]=3
+$AXIS_TYPE[9]=3
+$AXIS_TYPE[10]=3
+$AXIS_TYPE[11]=3
+$AXIS_TYPE[12]=3
+DECL FRA $COUP_COMP[6,6] ;ACHSKOPPLUNGSFAKTOR N = ZAEHLER, D = NENNER
+$COUP_COMP[1,2]={N 0,D 1}
+$COUP_COMP[1,3]={N 0,D 1}
+$COUP_COMP[1,4]={N 0,D 1}
+$COUP_COMP[1,5]={N 0,D 1}
+$COUP_COMP[1,6]={N 0,D 1}
+$COUP_COMP[2,1]={N 0,D 1}
+$COUP_COMP[2,3]={N 0,D 1}
+$COUP_COMP[2,4]={N 0,D 1}
+$COUP_COMP[2,5]={N 0,D 1}
+$COUP_COMP[2,6]={N 0,D 1}
+$COUP_COMP[3,1]={N 0,D 1}
+$COUP_COMP[3,2]={N 0,D 1}
+$COUP_COMP[3,4]={N 0,D 1}
+$COUP_COMP[3,5]={N 0,D 1}
+$COUP_COMP[3,6]={N 0,D 1}
+$COUP_COMP[4,1]={N 0,D 1}
+$COUP_COMP[4,2]={N 0,D 1}
+$COUP_COMP[4,3]={N 0,D 1}
+$COUP_COMP[4,5]={N -161,D 12580}
+$COUP_COMP[4,6]={N -172,D 22917}
+$COUP_COMP[5,1]={N 0,D 1}
+$COUP_COMP[5,2]={N 0,D 1}
+$COUP_COMP[5,3]={N 0,D 1}
+$COUP_COMP[5,4]={N 0,D 1}
+$COUP_COMP[5,6]={N -188,D 21461}
+$COUP_COMP[6,1]={N 0,D 1}
+$COUP_COMP[6,2]={N 0,D 1}
+$COUP_COMP[6,3]={N 0,D 1}
+$COUP_COMP[6,4]={N 0,D 1}
+$COUP_COMP[6,5]={N 0,D 1}
+DECL FRA $EXCOUP_COMP[6,6] ;KOPPLUNGSFAKTOREN ACHSE 7 (INDEX 1) BIS ACHSE 12 (INDEX 6), N = ZAEHLER, D =NENNER
+$EXCOUP_COMP[1,2]={N 0,D 1}
+$EXCOUP_COMP[1,3]={N 0,D 1}
+$EXCOUP_COMP[1,4]={N 0,D 1}
+$EXCOUP_COMP[1,5]={N 0,D 1}
+$EXCOUP_COMP[1,6]={N 0,D 1}
+$EXCOUP_COMP[2,1]={N 0,D 1}
+$EXCOUP_COMP[2,3]={N 0,D 1}
+$EXCOUP_COMP[2,4]={N 0,D 1}
+$EXCOUP_COMP[2,5]={N 0,D 1}
+$EXCOUP_COMP[2,6]={N 0,D 1}
+$EXCOUP_COMP[3,1]={N 0,D 1}
+$EXCOUP_COMP[3,2]={N 0,D 1}
+$EXCOUP_COMP[3,4]={N 0,D 1}
+$EXCOUP_COMP[3,5]={N 0,D 1}
+$EXCOUP_COMP[3,6]={N 0,D 1}
+$EXCOUP_COMP[4,1]={N 0,D 1}
+$EXCOUP_COMP[4,2]={N 0,D 1}
+$EXCOUP_COMP[4,3]={N 0,D 1}
+$EXCOUP_COMP[4,5]={N 0,D 1}
+$EXCOUP_COMP[4,6]={N 0,D 1}
+$EXCOUP_COMP[5,1]={N 0,D 1}
+$EXCOUP_COMP[5,2]={N 0,D 1}
+$EXCOUP_COMP[5,3]={N 0,D 1}
+$EXCOUP_COMP[5,4]={N 0,D 1}
+$EXCOUP_COMP[5,6]={N 0,D 1}
+$EXCOUP_COMP[6,1]={N 0,D 1}
+$EXCOUP_COMP[6,2]={N 0,D 1}
+$EXCOUP_COMP[6,3]={N 0,D 1}
+$EXCOUP_COMP[6,4]={N 0,D 1}
+$EXCOUP_COMP[6,5]={N 0,D 1}
+REAL $MAMES[12] ;VERSCHIEBUNG ZW. MECH. UND MATH. NULLPUNKT ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
+$MAMES[1]=-25.0000
+$MAMES[2]=-100.000
+$MAMES[3]=100.000
+$MAMES[4]=0.0
+$MAMES[5]=0.0
+$MAMES[6]=0.0
+$MAMES[7]=0.0
+$MAMES[8]=0.0
+$MAMES[9]=0.0
+$MAMES[10]=0.0
+$MAMES[11]=0.0
+$MAMES[12]=0.0
+DECL INDIVIDUAL_MAMES $INDIVIDUAL_MAMES=#RDC ; Existenz individueller MAMES-Werte
+FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTER IM WELTKOORDINATENSYSTEM [MM,GRAD]
+FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTERFUSSPUNKTKINEMATIK IM WELTKOORDINATENSYSTEM [MM,GRAD]
+DECL FRA $RAT_MOT_AX[12] ;UEBERSETZUNG MOTOR-ACHSE N = ZAEHLER, D = NENNER
+$RAT_MOT_AX[1]={N -1798,D 7}
+$RAT_MOT_AX[2]={N -4576,D 17}
+$RAT_MOT_AX[3]={N 754,D 3}
+$RAT_MOT_AX[4]={N -10387,D 55}
+$RAT_MOT_AX[5]={N -91834,D 483}
+$RAT_MOT_AX[6]={N 6485103,D 49400}
+$RAT_MOT_AX[7]={N 0,D 1}
+$RAT_MOT_AX[8]={N 0,D 1}
+$RAT_MOT_AX[9]={N 0,D 1}
+$RAT_MOT_AX[10]={N 0,D 1}
+$RAT_MOT_AX[11]={N 0,D 1}
+$RAT_MOT_AX[12]={N 0,D 1}
+REAL $VEL_AXIS_MA[12] ;NENNDREHZAHL DES MOTORS ACHSE[I] (I=1:A1,I=7:E1) [U/MIN]
+$VEL_AXIS_MA[1]=4999.99
+$VEL_AXIS_MA[2]=4999.99
+$VEL_AXIS_MA[3]=4999.99
+$VEL_AXIS_MA[4]=5980.39
+$VEL_AXIS_MA[5]=5703.97
+$VEL_AXIS_MA[6]=5688.68
+$VEL_AXIS_MA[7]=0.0
+$VEL_AXIS_MA[8]=0.0
+$VEL_AXIS_MA[9]=0.0
+$VEL_AXIS_MA[10]=0.0
+$VEL_AXIS_MA[11]=0.0
+$VEL_AXIS_MA[12]=0.0
+INT $VEL_CPT1_MA[12]
+$VEL_CPT1_MA[1]=29
+$VEL_CPT1_MA[2]=29
+$VEL_CPT1_MA[3]=29
+$VEL_CPT1_MA[4]=29
+$VEL_CPT1_MA[5]=29
+$VEL_CPT1_MA[6]=29
+$VEL_CPT1_MA[7]=29
+$VEL_CPT1_MA[8]=29
+$VEL_CPT1_MA[9]=29
+$VEL_CPT1_MA[10]=29
+$VEL_CPT1_MA[11]=29
+$VEL_CPT1_MA[12]=29
+INT $VEL_MOT_MON[12] ;achsweise Ueberwachungsgrenzen der Geschwindigkeit
+$VEL_MOT_MON[1]=136
+$VEL_MOT_MON[2]=136
+$VEL_MOT_MON[3]=136
+$VEL_MOT_MON[4]=136
+$VEL_MOT_MON[5]=136
+$VEL_MOT_MON[6]=136
+$VEL_MOT_MON[7]=136
+$VEL_MOT_MON[8]=136
+$VEL_MOT_MON[9]=136
+$VEL_MOT_MON[10]=136
+$VEL_MOT_MON[11]=136
+$VEL_MOT_MON[12]=136
+INT $RED_VEL_AXC[12] ;REDUZIERFAKTOR FUER AXIALE GESCHWINDIGKEIT BEI ACHSSPEZ. HANDVERFAHREN UND   KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
+$RED_VEL_AXC[1]=13
+$RED_VEL_AXC[2]=12
+$RED_VEL_AXC[3]=11
+$RED_VEL_AXC[4]=9
+$RED_VEL_AXC[5]=10
+$RED_VEL_AXC[6]=5
+$RED_VEL_AXC[7]=0
+$RED_VEL_AXC[8]=0
+$RED_VEL_AXC[9]=0
+$RED_VEL_AXC[10]=0
+$RED_VEL_AXC[11]=0
+$RED_VEL_AXC[12]=0
+INT $RED_ACC_AXC[12] ;REDUZIERFAKTOR FUER AXIALE BESCHLEUNIGUNG BEI ACHSSPEZ. HANDVERFAHREN UND  KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
+$RED_ACC_AXC[1]=15
+$RED_ACC_AXC[2]=15
+$RED_ACC_AXC[3]=15
+$RED_ACC_AXC[4]=15
+$RED_ACC_AXC[5]=15
+$RED_ACC_AXC[6]=15
+$RED_ACC_AXC[7]=0
+$RED_ACC_AXC[8]=0
+$RED_ACC_AXC[9]=0
+$RED_ACC_AXC[10]=0
+$RED_ACC_AXC[11]=0
+$RED_ACC_AXC[12]=0
+INT $RED_ACC_DYN=100
+REAL $RED_VEL_CPC=6.67000 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSGESCHWINDIGKEIT BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
+REAL $RED_ACC_CPC=8.00000 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSBESCHLEUNIGUNGEN BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
+REAL $VEL_CP_T1=0.229000 ;BAHNGESCHWINDIGKEIT IN T1 [M/S] MAX: 0.25
+REAL $SPEED_LIMIT_TEACH_MODE=0.229000 ;REDUZIERUNG DER TCP- UND FLANSCHGESCHWINDIGKEIT IN [M/S] MAX: 0.25
+REAL $RED_JUS_UEB=100.000 ;REDUZIERFAKTOR FUER UEBERNAHMEFAHRT [%]
+INT $RED_ACC_OV[12] ;AXIALE REDUZIERUNG DER BESCHLEUNIGUNG FUER OVERRIDE ACHSE[I] (I=1:A1,I=7:E1) [%]
+$RED_ACC_OV[1]=100
+$RED_ACC_OV[2]=100
+$RED_ACC_OV[3]=100
+$RED_ACC_OV[4]=100
+$RED_ACC_OV[5]=100
+$RED_ACC_OV[6]=100
+$RED_ACC_OV[7]=0
+$RED_ACC_OV[8]=0
+$RED_ACC_OV[9]=0
+$RED_ACC_OV[10]=0
+$RED_ACC_OV[11]=0
+$RED_ACC_OV[12]=0
+FRAME $ACC_CAR_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME (ACCORDING TO FLANGE) FOR CARTESIAN ACCELERATION MONITORING
+DECL ACC_CAR $ACC_CAR_LIMIT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,ABS 0.0} ;LIMITS FOR THE CARTESIAN ACCELERATION $ACC_CAR_ACT
+BOOL $ACC_CAR_STOP=FALSE ;ENABLE (TRUE) OR DISABLE (FALSE) CARTESIAN ACCELERATION MONITORING
+INT $RED_ACC_EMX[12] ;REDUZIERFAKTOR FUER BAHNTREUE NOT-AUS-RAMPE [ % ]
+$RED_ACC_EMX[1]=165
+$RED_ACC_EMX[2]=280
+$RED_ACC_EMX[3]=200
+$RED_ACC_EMX[4]=250
+$RED_ACC_EMX[5]=250
+$RED_ACC_EMX[6]=250
+$RED_ACC_EMX[7]=0
+$RED_ACC_EMX[8]=0
+$RED_ACC_EMX[9]=0
+$RED_ACC_EMX[10]=0
+$RED_ACC_EMX[11]=0
+$RED_ACC_EMX[12]=0
+INT $RED_VEL_ECO_LEVEL[12] ; Reduzierfaktor der Achse [I] fuer Geschwindigkeit im EcoLevel (I=1: A1,I=7: E1) [%]
+$RED_VEL_ECO_LEVEL[1]=100
+$RED_VEL_ECO_LEVEL[2]=100
+$RED_VEL_ECO_LEVEL[3]=100
+$RED_VEL_ECO_LEVEL[4]=100
+$RED_VEL_ECO_LEVEL[5]=100
+$RED_VEL_ECO_LEVEL[6]=100
+$RED_VEL_ECO_LEVEL[7]=100
+$RED_VEL_ECO_LEVEL[8]=100
+$RED_VEL_ECO_LEVEL[9]=100
+$RED_VEL_ECO_LEVEL[10]=100
+$RED_VEL_ECO_LEVEL[11]=100
+$RED_VEL_ECO_LEVEL[12]=100
+INT $RED_ACC_ECO_LEVEL[12] ; Reduzierfaktor der Achse [I] fuer Beschleunigung im EcoLevel (I=1: A1,I=7: E1) [%]
+$RED_ACC_ECO_LEVEL[1]=100
+$RED_ACC_ECO_LEVEL[2]=100
+$RED_ACC_ECO_LEVEL[3]=100
+$RED_ACC_ECO_LEVEL[4]=100
+$RED_ACC_ECO_LEVEL[5]=100
+$RED_ACC_ECO_LEVEL[6]=100
+$RED_ACC_ECO_LEVEL[7]=100
+$RED_ACC_ECO_LEVEL[8]=100
+$RED_ACC_ECO_LEVEL[9]=100
+$RED_ACC_ECO_LEVEL[10]=100
+$RED_ACC_ECO_LEVEL[11]=100
+$RED_ACC_ECO_LEVEL[12]=100
+BOOL $WARMUP_RED_VEL=FALSE ;WARMFAHR-FUNKTIONALITAET EINGESCHALTET
+REAL $WARMUP_TIME=30.0000 ;[MIN]
+REAL $COOLDOWN_TIME=360.000 ;NACH DIESER ZEIT IM STILLSTAND [MIN] WIRD DER ROBOTER ALS KALT BETRACHTET
+INT $WARMUP_CURR_LIMIT=99 ;[%] DES MAXIMAL STROM
+INT $WARMUP_MIN_FAC=60 ;[%]
+REAL $WARMUP_SLEW_RATE=5.00000 ;[%/sec]
+REAL $ST_TOL_VEL[12] ;GESCHWINDIGKEITSTOLERANZ FUER STILLSTANDSERKENNUNG ACHSE[I] (I=1:A1,I=7:E1) [U_MOT/MIN]
+$ST_TOL_VEL[1]=15.0000
+$ST_TOL_VEL[2]=15.0000
+$ST_TOL_VEL[3]=15.0000
+$ST_TOL_VEL[4]=15.0000
+$ST_TOL_VEL[5]=15.0000
+$ST_TOL_VEL[6]=15.0000
+$ST_TOL_VEL[7]=15.0000
+$ST_TOL_VEL[8]=15.0000
+$ST_TOL_VEL[9]=15.0000
+$ST_TOL_VEL[10]=15.0000
+$ST_TOL_VEL[11]=15.0000
+$ST_TOL_VEL[12]=15.0000
+INT $ST_TOL_TIME=200 ;ERKENNUNGSZEIT [MS]
+REAL $VEL_AX_JUS[12] ;GESCHWINDIGKEIT BEI EMT-JUSTAGE ACHSE[I] (I=1:A1,I=7:E1) [GRAD/SEC]
+$VEL_AX_JUS[1]=0.0520870
+$VEL_AX_JUS[2]=0.0563930
+$VEL_AX_JUS[3]=0.0757880
+$VEL_AX_JUS[4]=0.169510
+$VEL_AX_JUS[5]=0.572960
+$VEL_AX_JUS[6]=0.203180
+$VEL_AX_JUS[7]=0.0
+$VEL_AX_JUS[8]=0.0
+$VEL_AX_JUS[9]=0.0
+$VEL_AX_JUS[10]=0.0
+$VEL_AX_JUS[11]=0.0
+$VEL_AX_JUS[12]=0.0
+REAL $L_EMT_MAX[12] ;LAENGE JUSTAGE-WEG EMT ACHSE[I] (I=1:A1,I=7:E1) [GRAD]
+$L_EMT_MAX[1]=1.60000
+$L_EMT_MAX[2]=1.76000
+$L_EMT_MAX[3]=2.40000
+$L_EMT_MAX[4]=4.32000
+$L_EMT_MAX[5]=11.0000
+$L_EMT_MAX[6]=4.80000
+$L_EMT_MAX[7]=0.0
+$L_EMT_MAX[8]=0.0
+$L_EMT_MAX[9]=0.0
+$L_EMT_MAX[10]=0.0
+$L_EMT_MAX[11]=0.0
+$L_EMT_MAX[12]=0.0
+REAL $TC_SYM=0.100000 ;ZEITKONST. SYMMETRIERFILTER
+INT $TM_CON_VEL=0 ;MINIMALE KONSTANTFAHRPHASE [MS]
+REAL $APO_DIS_PTP[12] ;MAXIMALER UEBERSCHLEIFWEG PTP ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
+$APO_DIS_PTP[1]=90.0000
+$APO_DIS_PTP[2]=90.0000
+$APO_DIS_PTP[3]=90.0000
+$APO_DIS_PTP[4]=90.0000
+$APO_DIS_PTP[5]=90.0000
+$APO_DIS_PTP[6]=90.0000
+$APO_DIS_PTP[7]=0.0
+$APO_DIS_PTP[8]=0.0
+$APO_DIS_PTP[9]=0.0
+$APO_DIS_PTP[10]=0.0
+$APO_DIS_PTP[11]=0.0
+$APO_DIS_PTP[12]=0.0
+DECL CP $ACC_MA={CP 10.0000,ORI1 1000.00,ORI2 1000.00} ;CP = MAX. BAHNBESCHLEUNIGUNG [M/SEC2], ORI1 = MAX. SCHWENKBESCHLEUNIGUNG     [GRAD/SEC2], ORI2 = MAX. DREHBESCHLEUNIGUNG [GRAD/SEC2]
+DECL JERK_STRUC $JERK_MA={CP 500.000,ORI 50000.0,AX {A1 1000.00,A2 1000.00,A3 1000.00,A4 1000.00,A5 1000.00,A6 1000.00,E1 1000.00,E2 1000.00,E3 1000.00,E4 1000.00,E5 1000.00,E6 1000.00}} ;Maximaler Ruck CP: [m/s^3], ORI: [deg/^3], AX: [deg/s^3] (rotatorisch) bzw. [m/s^3] (linear)
+DECL CP $VEL_MA={CP 3.00000,ORI1 400.000,ORI2 400.000} ;CP = MAX. BAHNGESCHWINDIGKEIT [M/SEC], ORI1 = MAX. SCHWENKGESCHWINDIGKEIT    [GRAD/SEC], ORI2 = MAX. DREHGESCHWINDIGKEIT [GRAD/SEC]
+DECL CP $ACC_OV={CP 4.60000,ORI1 200.000,ORI2 200.000} ;CP = BAHNBESCHL. BEI OV.-AEND. [M/SEC2], ORI1 = SCHWENKBESCHL. BEI OV.-AEND.  [GRAD/SEC2], ORI2 = DREHBESCHL. BEI OV.-AEND. [GRAD/SEC2]
+INT $RED_T1=7 ;REDUKTIONSFAKTOR T1 [%] MAX: 15%
+INT $DEF_FLT_PTP=204 ;DEFAULTFILTER PTP
+INT $DEF_FLT_CP=144 ;DEFAULTFILTER CP
+INT $DEF_OV_JOG=10 ;VORBESETZUNG FUER OVERRIDE
+INT $SEQ_CAL[12] ;REFERIER-REIHENFOLGE DER ACHSEN SCHRITT[I]
+$SEQ_CAL[1]='B0001'
+$SEQ_CAL[2]='B0010'
+$SEQ_CAL[3]='B0100'
+$SEQ_CAL[4]='B1000'
+$SEQ_CAL[5]='B00010000'
+$SEQ_CAL[6]='B00100000'
+$SEQ_CAL[7]='B01000000'
+$SEQ_CAL[8]='B10000000'
+$SEQ_CAL[9]='B000100000000'
+$SEQ_CAL[10]='B001000000000'
+$SEQ_CAL[11]='B010000000000'
+$SEQ_CAL[12]='B100000000000'
+INT $DIR_CAL='B000111111111' ;REFERIER-RICHTUNG
+INT $RECOVERY_MASTERING_AXES='B0000' ;Achsen die Recovery Justage unterstuetzen
+INT $RED_CAL_SD=0 ;REDUKTIONSFAKTOR NACH ERREICHEN DES NOCKENS [%]
+INT $RED_CAL_SF=0 ;REDUKTIONSFAKTOR VOR ERREICHEN DES NOCKENS [%]
+INT $BRK_DEL=20000 ;BREMSVERZOEGERUNGSZEIT [MS]
+BOOL $GEARTORQ_MON=TRUE ;GETRIEBEMOMENTENUEBERWACHUNG EIN/AUS
+INT $ACC_ACT_MA=250 ;GRENZWERT SOLLBESCHLEUNIGUNG [%]
+INT $VEL_ACT_MA=110 ;GRENZWERT SOLLGESCHWINDIGKEIT [%]
+INT $ILLEGAL_SPEED=200 ; GRENZWERT GESCHWINDIGKEIT VOR FILTER [%]
+BOOL $MONITOR_ILLEGAL_SPEED=TRUE ; GESCHWINDIGKEITSUEBERWACHUNG VOR FILTER
+REAL $IN_POS_CAR=0.100000 ;KARTESISCHES POSITIONIERFENSTER (TRANSLATIONSSTEIL) [MM]
+REAL $IN_POS_ORI=0.100000 ;KARTESISCHES POSITIONIERFENSTER (ORIENTIERUNGSTEIL) [DEG]
+REAL $IN_POS_MA[12] ;POSITIONIERFENSTER ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
+$IN_POS_MA[1]=0.100000
+$IN_POS_MA[2]=0.100000
+$IN_POS_MA[3]=0.100000
+$IN_POS_MA[4]=0.100000
+$IN_POS_MA[5]=0.100000
+$IN_POS_MA[6]=0.100000
+$IN_POS_MA[7]=0.0
+$IN_POS_MA[8]=0.0
+$IN_POS_MA[9]=0.0
+$IN_POS_MA[10]=0.0
+$IN_POS_MA[11]=0.0
+$IN_POS_MA[12]=0.0
+INT $TIME_POS[12] ;POSITIONIERZEIT ACHSE[I] (I=1:A1,I=7:E1)
+$TIME_POS[1]=512
+$TIME_POS[2]=512
+$TIME_POS[3]=512
+$TIME_POS[4]=512
+$TIME_POS[5]=512
+$TIME_POS[6]=512
+$TIME_POS[7]=512
+$TIME_POS[8]=512
+$TIME_POS[9]=512
+$TIME_POS[10]=512
+$TIME_POS[11]=512
+$TIME_POS[12]=512
+INT $IN_STILL_MA=4 ;FAKTOR FUER STILLSTANDSFENSTER
+INT $VEL_ENC_CO=50 ;DREHZAHLSOLLWERTSCHWELLE FUER GEBERUEBERWACHUNG [WANDLERINKR.]
+REAL $COM_VAL_MI[12] ;SOLLDREHZAHLBEGRENZUNG ACHSE[I] (I=1:A1,I=7:E1) [%]
+$COM_VAL_MI[1]=150.000
+$COM_VAL_MI[2]=150.000
+$COM_VAL_MI[3]=150.000
+$COM_VAL_MI[4]=150.000
+$COM_VAL_MI[5]=150.000
+$COM_VAL_MI[6]=150.000
+$COM_VAL_MI[7]=150.000
+$COM_VAL_MI[8]=150.000
+$COM_VAL_MI[9]=150.000
+$COM_VAL_MI[10]=150.000
+$COM_VAL_MI[11]=150.000
+$COM_VAL_MI[12]=150.000
+INT $TL_COM_VAL=50 ;TOLERANZZEIT SOLLDREHZAHLBEGRENZUNG [MS]
+REAL $SOFTN_END[12] ;SOFTWARE-ENDSCHALTER NEGATIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
+$SOFTN_END[1]=-185.000
+$SOFTN_END[2]=-140.000
+$SOFTN_END[3]=-120.000
+$SOFTN_END[4]=-350.000
+$SOFTN_END[5]=-125.000
+$SOFTN_END[6]=-178.000
+$SOFTN_END[7]=0.0
+$SOFTN_END[8]=0.0
+$SOFTN_END[9]=0.0
+$SOFTN_END[10]=0.0
+$SOFTN_END[11]=0.0
+$SOFTN_END[12]=0.0
+REAL $SOFTP_END[12] ;SOFTWARE-ENDSCHALTER POSITIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
+$SOFTP_END[1]=185.000
+$SOFTP_END[2]=-5.00000
+$SOFTP_END[3]=168.000
+$SOFTP_END[4]=350.000
+$SOFTP_END[5]=125.000
+$SOFTP_END[6]=178.000
+$SOFTP_END[7]=0.0
+$SOFTP_END[8]=0.0
+$SOFTP_END[9]=0.0
+$SOFTP_END[10]=0.0
+$SOFTP_END[11]=0.0
+$SOFTP_END[12]=0.0
+DECL AXBOX $AXWORKSPACE[8] ;ACHSSPEZ. ARBEITSRAEUME
+$AXWORKSPACE[1]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[2]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[3]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[4]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[5]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[6]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[7]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+$AXWORKSPACE[8]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF,STATE FALSE}
+CHAR $AXWORKSPACE_NAME1[24]
+$AXWORKSPACE_NAME1[]="AXWORKSPACE_NAME 1"
+CHAR $AXWORKSPACE_NAME2[24]
+$AXWORKSPACE_NAME2[]="AXWORKSPACE_NAME 2"
+CHAR $AXWORKSPACE_NAME3[24]
+$AXWORKSPACE_NAME3[]="AXWORKSPACE_NAME 3"
+CHAR $AXWORKSPACE_NAME4[24]
+$AXWORKSPACE_NAME4[]="AXWORKSPACE_NAME 4"
+CHAR $AXWORKSPACE_NAME5[24]
+$AXWORKSPACE_NAME5[]="AXWORKSPACE_NAME 5"
+CHAR $AXWORKSPACE_NAME6[24]
+$AXWORKSPACE_NAME6[]="AXWORKSPACE_NAME 6"
+CHAR $AXWORKSPACE_NAME7[24]
+$AXWORKSPACE_NAME7[]="AXWORKSPACE_NAME 7"
+CHAR $AXWORKSPACE_NAME8[24]
+$AXWORKSPACE_NAME8[]="AXWORKSPACE_NAME 8"
+DECL CYLINDER $CYLWORKSPACE[8] ;ZYLINDRISCHE KARTESISCHE ARBEITSRAEUME
+$CYLWORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+$CYLWORKSPACE[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,Z1 0.0,Z2 0.0,R 0.0,MODE #OFF,REFERENCE #WORLD,STATE FALSE}
+CHAR $CYLWORKSPACE_NAME1[24]
+$CYLWORKSPACE_NAME1[]="CYLWORKSPACE_NAME 1"
+CHAR $CYLWORKSPACE_NAME2[24]
+$CYLWORKSPACE_NAME2[]="CYLWORKSPACE_NAME 2"
+CHAR $CYLWORKSPACE_NAME3[24]
+$CYLWORKSPACE_NAME3[]="CYLWORKSPACE_NAME 3"
+CHAR $CYLWORKSPACE_NAME4[24]
+$CYLWORKSPACE_NAME4[]="CYLWORKSPACE_NAME 4"
+CHAR $CYLWORKSPACE_NAME5[24]
+$CYLWORKSPACE_NAME5[]="CYLWORKSPACE_NAME 5"
+CHAR $CYLWORKSPACE_NAME6[24]
+$CYLWORKSPACE_NAME6[]="CYLWORKSPACE_NAME 6"
+CHAR $CYLWORKSPACE_NAME7[24]
+$CYLWORKSPACE_NAME7[]="CYLWORKSPACE_NAME 7"
+CHAR $CYLWORKSPACE_NAME8[24]
+$CYLWORKSPACE_NAME8[]="CYLWORKSPACE_NAME 8"
+DECL DELTA_WORKSPACE $DELTA_WORKSPACE={Z1 0.0,Z2 0.0,Z3 0.0,R1 0.0,R2 0.0,MODE #OFF} ;KARTESISCHER ARBEITSRAUM FUER DELTA-ROBOTER
+INT $BRK_MAX_TM=0 ;MAX. BREMSZEIT [MS]
+INT $EMSTOP_TIME=100 ;ZEITUEBERWACHUNG FUER NOT_STOP [MS]
+INT $ACT_VAL_DIF=0 ;GEBERISTWERTDIFFERENZ [INKR]
+CHAR $TRAFONAME[32] ;NAME DER KOORDINATENTRANSFORMATION
+$TRAFONAME[]="#KR120R3100_2 C4 FLR" ;MAXIMAL 32 ZEICHEN
+DECL SUPPLY_VOLTAGE $SUPPLY_VOLTAGE=#SV380 ; NETZSPANNUNG [#SV120, #SV200, #SV230, #SV380 ;#SV400; #SV440; #SV480]; Netzspannung in [V]
+DECL KINCLASS $KINCLASS=#STANDARD ;KINEMATIKKLASSEN (STANDARD,SPECIAL,TEST,NONE,DELTA_KIN)
+INT $SIMULATED_AXIS='B0000' ;Simulation von Roboterachsen
+INT $SIMULATED_COOP_ROBOTS='B0000' ;Simulierte Roboter im Roboteam-Verbund
+INT $ACTIVE_AXIS_MASK='B00111111' ;Aktive Verfahrtasten, achsspez.
+INT $ACTIVE_KAR_MASK='B00111111' ;Aktive Verfahrtasten, kartesisch
+INT $TRAFO_AXIS=6 ;ANZAHL DER TRANSFORMIERTEN ACHSEN
+DECL MAIN_AXIS $MAIN_AXIS=#NR ;GRUNDACHSENKENNUNG (SS = PORTAL, CC = SCARA, NR = GELENKROBOTER)
+DECL WRIST_AXIS $WRIST_AXIS=#ZEH ;HANDACHSENKENNUNG (NOH = KEINE HAND, ZEH = ZENTRALHAND, SRH = SCHRAEGHAND    DSH = DOPPELSCHRAEGHAND, WIH = WINKELHAND, WSH = WINKELSCHRAEGHAND
+INT $A4PAR=0 ;0=ACHSE 4 NICHT PARALLEL, 1=ACHSE 4 PARALLEL ZUR LETZEN ROTATORISCHEN GRUNDACHSE, 2=SONDERKINEMATIK: ACHSE 4 IMMER PARALLEL ZUR Z-IRO ACHSE
+BOOL $DEF_A4FIX=FALSE ;ACHSE 4 FIXIERT
+BOOL $DEF_A5LINK=FALSE ;4-ACHS-PALETTIERER ( A4=0 GRAD; A5 WIRD UEBER PARALLELOGRAMM GEFUEHRT )
+INT $SPINDLE=0 ;SPINDELN (0 = NEIN, 1 = JA)
+INT $AXIS_SEQ[6] ;UMORDNUNG VON ACHSE[I] (I=1:A1,I=7:E1)
+$AXIS_SEQ[1]=1
+$AXIS_SEQ[2]=2
+$AXIS_SEQ[3]=3
+$AXIS_SEQ[4]=4
+$AXIS_SEQ[5]=5
+$AXIS_SEQ[6]=6
+INT $AXIS_DIR[12] ;DREHRICHTUNG DER ACHSE[I] (I=1:A1,I=7:E1)
+$AXIS_DIR[1]=-1
+$AXIS_DIR[2]=1
+$AXIS_DIR[3]=1
+$AXIS_DIR[4]=-1
+$AXIS_DIR[5]=-1
+$AXIS_DIR[6]=-1
+$AXIS_DIR[7]=0
+$AXIS_DIR[8]=0
+$AXIS_DIR[9]=0
+$AXIS_DIR[10]=0
+$AXIS_DIR[11]=0
+$AXIS_DIR[12]=0
+REAL $INC_AXIS[6] ;SCHRITTMASS ACHSSPEZIFISCH
+$INC_AXIS[1]=0.00500000
+$INC_AXIS[2]=0.000500000
+$INC_AXIS[3]=0.000500000
+$INC_AXIS[4]=0.00200000
+$INC_AXIS[5]=0.00200000
+$INC_AXIS[6]=0.00200000
+REAL $INC_EXTAX[6] ;SCHRITTMASS ACHSSPEZIFISCH EXTERNE ACHSEN
+$INC_EXTAX[1]=10.0000
+$INC_EXTAX[2]=10.0000
+$INC_EXTAX[3]=10.0000
+$INC_EXTAX[4]=10.0000
+$INC_EXTAX[5]=10.0000
+$INC_EXTAX[6]=10.0000
+REAL $INC_CAR[6] ;SCHRITTMASS KARTESISCH WERKZEUGBEZOGEN
+$INC_CAR[1]=50.0000
+$INC_CAR[2]=50.0000
+$INC_CAR[3]=50.0000
+$INC_CAR[4]=50.0000
+$INC_CAR[5]=50.0000
+$INC_CAR[6]=50.0000
+INT $POS_SWB[3] ;S-SCHALTBAR
+$POS_SWB[1]=0 ;S-SCHALTBAR; UEBERKOPF (O = NEIN, 1 = JA)
+$POS_SWB[2]=0 ;S-SCHALTBAR; ACHSE 2-3 (0 = NEIN, 1 = JA)
+$POS_SWB[3]=0 ;S-SCHALTBAR; ACHSE 5 (0 = NEIN, 1 = JA)
+INT $SINGUL_POS[3] ;BEHANDLUNG UNDEFINIERTER GELENKSTELLUNGEN BEI VORGABE EINES SINGULAEREN      PTP-PUNKTES
+$SINGUL_POS[1]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
+$SINGUL_POS[2]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
+$SINGUL_POS[3]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
+REAL $DIS_WRP1=1635.00 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 1
+REAL $DIS_WRP2=0.0 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 2
+INT $ORI_CHECK=0 ;ORIENTIERUNGSPRUEFUNG AN CP-ENDPUNKTEN (NUR BEIM 5 ACHSER)
+FRAME $TIRORO={X 0.0,Y 0.0,Z 645.000,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN INTERNEN ROBOTERKOORDINATENSYSTEM UND ROBOTERKOORDINATENSYSTEM
+FRAME $TFLWP={X 0.0,Y 0.0,Z 215.000,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN FLANSCH- UND HANDPUNKTKOORDINATENSYSTEM
+FRAME $TX3P3={X 1420.00,Y 0.0,Z 115.000,A 0.0,B 90.0000,C 0.0} ;ANBRINGUNG DER ROBOTERHAND
+REAL $LENGTH_A=330.000 ;GRUNDACHSLAENGE A
+REAL $LENGTH_B=1350.00 ;GRUNDACHSLAENGE B
+DECL DHART $DH_4={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA 90.0000} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
+DECL DHART $DH_5={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA -90.0000} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
+DECL SPIN $SPIN_A={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0} ;AXIS = ACHSE,AUF DIE DIE SPINDEL WIRKT, RAD_G = RADIUS G, RAD_H = RADIUS H   SG = VORZEICHEN, BETA = WINKELVERSATZ
+DECL SPIN $SPIN_B={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
+DECL SPIN $SPIN_C={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
+DECL TRPSPIN $TRP_A={TRPSP_AXIS 0,TRPSP_COP_AX 0,TRPSP_A 0.0,TRPSP_B 0.0,TRPSP_C 0.0,TRPSP_D 0.0} ;AXIS = UEBER TRAPEZ ANGETRIEBENE ACHSE, COP_AXIS = KOPPELNDE ACHSE, A = TRAPEZLAENGE A, B= TRAPEZLAENGE B, C = TRAPEZLAENGE C, D = TRAPEZLAENGE D
+REAL $SPC_KIN[30] ;SONDERKINEMATIKEN
+$SPC_KIN[1]=0.0 ;A-PARAMETER FUER GRENZEBACHKINEMATIK
+$SPC_KIN[2]=0.0 ;D-PARAMETER FUER GRENZEBACHKINEMATIK
+$SPC_KIN[3]=0.0 ;W12-PARAMETER FUER ALLGEMEINE (NICHT-ORTHOGONALE) PORTALKINEMATIKEN
+$SPC_KIN[4]=0.0 ;LG-PARAMETER FUER ALLGEMEINE (NICHT-ORTHOGONALE) PORTALKINEMATIKEN
+$SPC_KIN[5]=0.0 ;BG-PARAMETER FUER ALLGEMEINE (NICHT-ORTHOGONALE) PORTALKINEMATIKEN
+$SPC_KIN[6]=0.0
+$SPC_KIN[7]=0.0
+$SPC_KIN[8]=0.0
+$SPC_KIN[9]=0.0
+$SPC_KIN[10]=0.0
+$SPC_KIN[11]=0.0
+$SPC_KIN[12]=0.0
+$SPC_KIN[13]=0.0
+$SPC_KIN[14]=0.0
+$SPC_KIN[15]=0.0
+$SPC_KIN[16]=0.0
+$SPC_KIN[17]=0.0
+$SPC_KIN[18]=0.0
+$SPC_KIN[19]=0.0
+$SPC_KIN[20]=0.0
+$SPC_KIN[21]=0.0
+$SPC_KIN[22]=0.0
+$SPC_KIN[23]=0.0
+$SPC_KIN[24]=0.0
+$SPC_KIN[25]=0.0
+$SPC_KIN[26]=0.0
+$SPC_KIN[27]=0.0
+$SPC_KIN[28]=0.0
+$SPC_KIN[29]=0.0
+$SPC_KIN[30]=0.0
+INT $EX_AX_NUM=0 ;ANZAHL EXTERNER ACHSEN (0-6)
+INT $EX_AX_ASYNC='B0000' ;EXTERNE ACHSEN ASYNCHRON
+INT $ASYNC_T1_FAST='B0000' ;GESCHW.-RED. DEAKTIVIERT ( T1 )
+DECL EX_KIN $EX_KIN={ET1 #NONE,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
+DECL ET_AX $ET1_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET1_NAME[40] ;NAME DER TRANSFORMATION ET1
+$ET1_NAME[]=" "
+FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
+FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
+FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
+FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
+FRAME $ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
+DECL ET_AX $ET2_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET2_NAME[40] ;NAME DER TRANSFORMATION ET2
+$ET2_NAME[]=" "
+FRAME $ET2_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
+FRAME $ET2_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
+FRAME $ET2_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
+FRAME $ET2_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
+FRAME $ET2_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
+DECL ET_AX $ET3_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET3_NAME[40] ;NAME DER TRANSFORMATION ET3
+$ET3_NAME[]=" "
+FRAME $ET3_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET3
+FRAME $ET3_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
+FRAME $ET3_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
+FRAME $ET3_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
+FRAME $ET3_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
+DECL ET_AX $ET4_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET4_NAME[40] ;NAME DER TRANSFORMATION ET4
+$ET4_NAME[]=" "
+FRAME $ET4_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET4
+FRAME $ET4_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
+FRAME $ET4_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
+FRAME $ET4_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
+FRAME $ET4_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
+DECL ET_AX $ET5_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET5_NAME[40] ;NAME DER TRANSFORMATION ET5
+$ET5_NAME[]=" "
+FRAME $ET5_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET5
+FRAME $ET5_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
+FRAME $ET5_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
+FRAME $ET5_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
+FRAME $ET5_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
+DECL ET_AX $ET6_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
+CHAR $ET6_NAME[40] ;NAME DER TRANSFORMATION ET6
+$ET6_NAME[]=" "
+FRAME $ET6_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET6
+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 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,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 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$AXIS_HOME[2]={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$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}
+$AXIS_HOME[4]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$AXIS_HOME[5]={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 $H_POS_TOL={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+E6AXIS $H_AXIS_TOL[5] ;TOLERANZFENSTER FUER ERREICHEN DER HOME-STELLUNG $AXIS_HOME[.]
+$H_AXIS_TOL[1]={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+$H_AXIS_TOL[2]={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+$H_AXIS_TOL[3]={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+$H_AXIS_TOL[4]={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+$H_AXIS_TOL[5]={A1 2.00000,A2 2.00000,A3 2.00000,A4 2.00000,A5 2.00000,A6 2.00000,E1 2.00000,E2 2.00000,E3 2.00000,E4 2.00000,E5 2.00000,E6 2.00000}
+REAL $AXIS_JERK[12] ; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
+$AXIS_JERK[1]=11625.6270
+$AXIS_JERK[2]=9117.67188
+$AXIS_JERK[3]=31472.6113
+$AXIS_JERK[4]=89802.2109
+$AXIS_JERK[5]=50787.6
+$AXIS_JERK[6]=48245.1914
+$AXIS_JERK[7]=1.00000E+19
+$AXIS_JERK[8]=1.00000E+19
+$AXIS_JERK[9]=1.00000E+19
+$AXIS_JERK[10]=1.00000E+19
+$AXIS_JERK[11]=1.00000E+19
+$AXIS_JERK[12]=1.00000E+19
+ENDDAT

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

@@ -0,0 +1,955 @@
+&ACCESS RV$
+&REL 2
+&PARAM VERSION = 1.0.0
+DEFDAT  $ROBCOR PUBLIC
+CHAR $V_ROBCOR[32]
+$V_ROBCOR[]="V42.601.8.1/KUKA8.7" ;VERSIONSKENNUNG
+CHAR $MODEL_NAME[32]
+$MODEL_NAME[]="#KR120R3100_2 C4 FLR"
+DECL ADAP_ACC $ADAP_ACC=#STEP2 ;BESCHLEUNIGUNGSANPASSUNG ( #NONE, #STEP1, #STEP2 )
+DECL ADAP_ACC $OPT_MOVE=#STEP2 ;HOEHERES FAHRPROFIL (#NONE, #STEP1, #STEP2)
+DECL MODEL_TYPE $MODEL_TYPE=#STANDARD ;Dynamikmodelltyp (#STANDARD, #TORQUE_COUPLED)
+DECL ADAP_ACC $EXT_DYN_DAT=#NONE ; Erweiterungsmodus Dynamikmodell (#NONE, #STEP1, #STEP2)
+DECL BOOL $OPT_TIME_PTP=FALSE
+DECL BOOL $OPT_FLT_PTP=FALSE
+DECL CONTROL_PARAMETER $CONTROL_PARAMETER=#MODEL ; Zyklische Parameter fuer die Regelung
+BOOL $SPECIAL_CONTROL_T1=FALSE ;Verwendung des konfigurierten Reglerparamters in T1
+BOOL $PROG_TORQ_MON=TRUE ;UEBERWACHUNG DER SOLL-MOMENTE MOTOR UND GETRIEBE
+BOOL $ENERGY_MON=TRUE ;UEBERWACHUNG KINETISCHE ENERGIE BEI CRASH
+BOOL $ENERGY_MODULE_ACTIVE=TRUE
+INT $ITER=2 ;ANZAHL DER ITERATIONEN
+INT $SYNC=1 ;PHASENANPASSUNG ( 1 = SYNCHRON, 0 = NICHT SYNCHRON )
+INT $OPT_APPROX=100 ;REDUZIERUNGSFAKTOR ZUR UEBERSCHLEIFPLANUNG
+DECL EKO_MODE $EKO_MODE=#ON ;EKO-MODUS (#OFF,#ON,#OPT)
+REAL $DEF_L_M=120.000 ;DEFAULTMASSE AM FLANSCH
+FRAME $DEF_L_CM={X 270.000,Y 0.0,Z 240.000,A 0.0,B 0.0,C 0.0} ;MASSENSCHWERPUNKT-FRAME
+DECL INERTIA $DEF_L_J={X 60.0000,Y 60.0000,Z 60.0000} ;EIGENTRAEGHEITSMOMENTE DER LAST
+REAL $DEF_LA3_M=50.0000 ;DEFAULTMASSE AUF DER ACHSE 3
+FRAME $DEF_LA3_CM={X -200.000,Y 0.0,Z -1560.00,A 0.0,B 0.0,C 0.0} ;MASSENSCHWERPUNKT-FRAME A3
+DECL INERTIA $DEF_LA3_J={X 10.0000,Y 10.0000,Z 10.0000} ;EIGENTRAEGHEITSMOMENTE DER LAST AUF A3
+REAL $COMPENSATED_LOAD=0.0 ;MASSENAEQUIVALENT FUER KONSTANTEN GEWICHTSAUSGLEICH EINER LINEARACHSE
+REAL $DYN_DAT[500]
+$DYN_DAT[1]=31.5035782
+$DYN_DAT[2]=6.74725866
+$DYN_DAT[3]=82.8798370
+$DYN_DAT[4]=82.4939957
+$DYN_DAT[5]=3.72506523
+$DYN_DAT[6]=32.2409897
+$DYN_DAT[7]=31.8371220
+$DYN_DAT[8]=2.93833089
+$DYN_DAT[9]=2.83191609
+$DYN_DAT[10]=0.354919046
+$DYN_DAT[11]=305.600
+$DYN_DAT[12]=645.000
+$DYN_DAT[13]=330.000
+$DYN_DAT[14]=1350.00
+$DYN_DAT[15]=115.000
+$DYN_DAT[16]=1028.00
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+$DYN_DAT[18]=215.000
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+$EMSTOP_GEARTORQ[1]=17496.0
+$EMSTOP_GEARTORQ[2]=21384.0
+$EMSTOP_GEARTORQ[3]=18367.5605
+$EMSTOP_GEARTORQ[4]=5909.74121
+$EMSTOP_GEARTORQ[5]=3580.07715
+$EMSTOP_GEARTORQ[6]=2180.23486
+REAL $EMSTOP_TORQRATE=187.578903 ;MAX. AENDERUNG DER MOMENTE BEI NOT-AUS MIT DYNAMIKMODELL [Nm/msec]
+DECL SPO_REACTION $SPO_REACTION=#MODEL_RAMP_STOP ; REAKTION AUF SAFE POWER OFF
+REAL $SPO_GEARTORQ[6] ;MAX. GETRIEBEMOMENT BEI SAFE POWER OFF [Nm]
+$SPO_GEARTORQ[1]=0.0
+$SPO_GEARTORQ[2]=0.0
+$SPO_GEARTORQ[3]=0.0
+$SPO_GEARTORQ[4]=0.0
+$SPO_GEARTORQ[5]=0.0
+$SPO_GEARTORQ[6]=0.0
+BOOL $USE_CUSTOM_MODEL=FALSE ;NACHLADBARES MODELL ZUR KINEMATISCHEN TRANSFORMATION
+CHAR $CUSTOM_MODEL_NAME[32] ;NAME DES NACHLADBAREN ROBOTER-MODELS
+$CUSTOM_MODEL_NAME[]=" "
+CHAR $CUSTOM_MODEL_VERSION[32] ;VERSION DES NACHLADBAREN ROBOTERMODEL
+$CUSTOM_MODEL_VERSION[]=" "
+ENDDAT

KUKA/KRC/R1/Program/ActionReturn.src

@@ -0,0 +1,8 @@
+&ACCESS RV
+DEF   ActionReturn (nRet:IN )  
+   DECL INT nRet  
+   Q_CmdCountRet=CmdCountLast
+   Q_CmdResult=nRet
+   Q_CmdRet=CmdSave   
+   Q_Cmd_Running=0      
+END

KUKA/KRC/R1/Program/Config.dat

@@ -0,0 +1,20 @@
+&ACCESS RV1
+DEFDAT  CONFIG PUBLIC
+
+GLOBAL INT PdtTypeLast=0
+GLOBAL INT CmdSave=11
+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=10
+GLOBAL INT CountY_Save=2
+
+GLOBAL BOOL ConfMessSave=FALSE
+
+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

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

@@ -0,0 +1,10 @@
+&ACCESS RVO
+DEF  GripClose ( )
+   Q_GripPosIndex=102
+   Q_GripPosCount=I_GripPosCountRet+1
+   IF Q_GripPosCount>1000 THEN
+      Q_GripPosCount=1
+   ENDIF
+   WAIT FOR (I_GripPosIndexRet==Q_GripPosIndex) AND (I_GripPosCountRet==Q_GripPosCount) AND I_GripClose
+
+END

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

@@ -0,0 +1,11 @@
+&ACCESS RVO
+DEF  GripOpen ( )
+   
+   Q_GripPosIndex=101
+   Q_GripPosCount=I_GripPosCountRet+1
+   IF Q_GripPosCount>1000 THEN
+      Q_GripPosCount=1
+   ENDIF
+   WAIT FOR (I_GripPosIndexRet==Q_GripPosIndex) AND (I_GripPosCountRet==Q_GripPosCount) AND I_GripOpen
+   
+END

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

@@ -0,0 +1,16 @@
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\Home
+DEFDAT  HOMEMODULE
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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

@@ -0,0 +1,34 @@
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\Home
+DEF  HomeModule ( )
+   ;FOLD INI;%{PE}
+      ;FOLD BASISTECH INI
+         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+         INTERRUPT ON 3 
+         BAS (#INITMOV,0 )
+      ;ENDFOLD (BASISTECH INI)
+      ;FOLD USER INI
+         ;Make your modifications here
+         
+      ;ENDFOLD (USER INI)
+   ;ENDFOLD (INI)
+   Q_Cmd_Running=0      
+   PTP $POS_ACT
+   IF $POS_ACT.Z<1600 THEN
+      LIN {Z 1600}
+   ENDIF
+   
+;FOLD PTP HOME Vel=100 % DEFAULT ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PDEFAULT
+FDAT_ACT = FHOME
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XHOME
+;ENDFOLD
+   
+END

KUKA/KRC/R1/Program/MainModule.dat

@@ -0,0 +1,14 @@
+&ACCESS RVO
+&REL 1
+DEFDAT MainModule
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLARATIONS)
+ENDDAT

KUKA/KRC/R1/Program/MainModule.src

@@ -0,0 +1,79 @@
+&ACCESS RVO
+&REL 1
+DEF MainModule()
+   ;FOLD INI
+      ;FOLD BASISTECH INI
+         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM()
+         INTERRUPT ON 3
+      ;ENDFOLD
+      ;FOLD USER INI
+         ;Make your modifications here
+      ;ENDFOLD
+   ;ENDFOLD
+   
+ $CYCFLAG[1]=(I_GripSafty1 == FALSE) OR (I_GripSafty2==FALSE)
+ INTERRUPT DECL 24 WHEN $CYCFLAG[1] DO StopSafty()
+ INTERRUPT ON 24
+
+   ;FOLD PTP $POS_ACT Tool[1] Base[1]
+      BAS(#INITMOV, 0)
+      BAS(#BASE, 1)
+      BAS(#TOOL, 1)
+      PTP $POS_ACT
+   ;ENDFOLD
+   $ov_pro=40
+   
+   LOOP
+      AutoRun()
+   ENDLOOP
+END
+
+DEF AutoRun()
+   IF I_ProductType <> PdtTypeLast THEN
+      MsgNotify("PdtType is Change", "SafeErr")
+      Q_Error1=TRUE
+      $FLAG[10]=TRUE
+      HALT
+   ENDIF
+   PdtTypeLast=I_ProductType   
+   WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> Q_CmdCountRet) AND (Q_Cmd_Running==0)
+   CmdSave = I_Cmd
+   CmdCountLast=I_CmdCount
+   Q_Cmd_Running=CmdSave
+   PickOffsetX_Save=GetInt16(I_PickOffsetX)
+   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
+
+   SWITCH CmdSave       
+      CASE 1
+         FeedBelt1Pick()
+      CASE 2
+         FeedBelt2Pick()            
+      CASE 3
+         ReFeedBeltPick()    
+      CASE 4
+         WaterBeltPick()    
+      CASE 5
+         NgBeltPlace()    
+      CASE 10
+         Pallet1Place()
+      CASE 11
+         Pallet2Place()
+   ENDSWITCH        
+   
+END
+
+
+DEF StopSafty()
+   INTERRUPT OFF 24
+   BRAKE F
+   BAS(#BASE, 1)
+   BAS(#TOOL, 1)
+   LIN_REL {Z 20}
+   INTERRUPT ON 24
+END

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

@@ -0,0 +1,17 @@
+&ACCESS RVO
+DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
+   DECL REAL R_offset
+   DECL BOOL b_Pok
+   DECL E6POS ACT_Point
+   DECL E6POS EndPos
+   BAS(#BASE,1)
+   BAS(#TOOL,1)   
+   
+   ACT_Point = $POS_ACT   
+   IF (ABS(ACT_Point.X - EndPos.X) > R_offset) OR (ABS(ACT_Point.Y - EndPos.Y) > R_offset) OR (ABS(ACT_Point.Z - EndPos.Z) > R_offset)  OR (ABS(ACT_Point.A - EndPos.A) > 0.5)  OR (ABS(ACT_Point.B - EndPos.B) > 0.5)  OR (ABS(ACT_Point.C - EndPos.C) > 0.5)  OR (ABS(ACT_Point.E1 - EndPos.E1) > R_offset) THEN
+      b_Pok=FALSE
+   ELSE
+      b_Pok=TRUE 
+   ENDIF         
+   RETURN b_Pok 
+ENDFCT

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/Mylib/INT_TO_STR.src

@@ -0,0 +1,12 @@
+&ACCESS RVO
+DEFFCT CHAR[32] INT_TO_STR(iVal:IN)
+   DECL INT iVal,I,offset
+   DECL CHAR Ret[32]
+   DECL STATE_T state
+   offset=0
+   FOR I=1 TO 32
+      Ret[I]=0
+   ENDFOR
+   SWRITE(Ret[],state,offset,"%d",iVal)
+   Return (Ret[])
+ENDFCT

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

@@ -0,0 +1,12 @@
+&ACCESS RV
+DEF Initmove ( )
+CONTINUE
+IF ($T1 OR $T2) AND NOT $NEAR_POSRET THEN
+    CONTINUE
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+    CONTINUE
+    PTP $POS_ACT C_DIS
+  ENDIF
+END

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

@@ -0,0 +1,64 @@
+&ACCESS RV
+&REL 1
+DEFFCT E6POS OffsetByBase(Position:IN, rRelX:IN, rRelY:IN, rRelZ:IN, rRelA:IN, rRelB:IN, rRelC:IN)
+  DECL E6POS Position, rPosition
+  DECL REAL rRelX, rRelY, rRelZ, rRelA, rRelB, rRelC
+  DECL FRAME FrameTrans, FrameRot, PosTrans, PosRot
+
+  IF VARSTATE("rRelX") <> #INITIALIZED THEN
+    rRelX = 0
+  ENDIF
+  IF VARSTATE("rRelY") <> #INITIALIZED THEN
+    rRelY = 0
+  ENDIF
+  IF VARSTATE("rRelZ") <> #INITIALIZED THEN
+    rRelZ = 0
+  ENDIF
+  IF VARSTATE("rRelA") <> #INITIALIZED THEN
+    rRelA = 0
+  ENDIF
+  IF VARSTATE("rRelB") <> #INITIALIZED THEN
+    rRelB = 0
+  ENDIF
+  IF VARSTATE("rRelC") <> #INITIALIZED THEN
+    rRelC = 0
+  ENDIF
+
+  rPosition = Position
+
+  FrameTrans = $NULLFRAME
+  FrameTrans.X = rRelX
+  FrameTrans.Y = rRelY
+  FrameTrans.Z = rRelZ
+
+  FrameRot = $NULLFRAME
+  FrameRot.A = rRelA
+  FrameRot.B = rRelB
+  FrameRot.C = rRelC
+
+  PosTrans = $NULLFRAME
+  PosTrans.X = rPosition.X
+  PosTrans.y = rPosition.Y
+  PosTrans.Z = rPosition.Z
+
+  PosRot = $NULLFRAME
+  PosRot.A = rPosition.A
+  PosRot.B = rPosition.B
+  PosRot.C = rPosition.C
+
+  ;Positionstransformation durchfuehren
+  rPosition = FrameTrans:PosTrans:FrameRot:PosRot
+
+  ;Status & Turn der Originalposition uebernehmen
+
+  ;Werte der externen Achse der Orignalposition 
+  ;uebernehmen
+  rPosition.E1 = Position.E1
+  rPosition.E2 = Position.E2
+  rPosition.E3 = Position.E3
+  rPosition.E4 = Position.E4
+  rPosition.E5 = Position.E5
+  rPosition.E6 = Position.E6
+
+  RETURN(rPosition)
+ENDFCT

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

@@ -0,0 +1,45 @@
+&ACCESS RV
+&REL 1
+DEFFCT E6POS OffsetByTool(Position:IN, rRelX:IN, rRelY:IN, rRelZ:IN, rRelA:IN, rRelB:IN, rRelC:IN)
+  DECL E6POS Position,rPosition
+  DECL REAL rRelX, rRelY, rRelZ, rRelA, rRelB, rRelC
+  DECL FRAME FrameTmp
+
+  IF VARSTATE("rRelX") <> #INITIALIZED THEN
+    rRelX = 0
+  ENDIF
+  IF VARSTATE("rRelY") <> #INITIALIZED THEN
+    rRelY = 0
+  ENDIF
+  IF VARSTATE("rRelZ") <> #INITIALIZED THEN
+    rRelZ = 0
+  ENDIF
+  IF VARSTATE("rRelA") <> #INITIALIZED THEN
+    rRelA = 0
+  ENDIF
+  IF VARSTATE("rRelB") <> #INITIALIZED THEN
+    rRelB = 0
+  ENDIF
+  IF VARSTATE("rRelC") <> #INITIALIZED THEN
+    rRelC = 0
+  ENDIF
+
+  FrameTmp = $NULLFRAME
+  FrameTmp.X = rRelX
+  FrameTmp.Y = rRelY
+  FrameTmp.Z = rRelZ
+  FrameTmp.A = rRelA
+  FrameTmp.B = rRelB
+  FrameTmp.C = rRelC
+  
+  rPosition = Position:FrameTmp
+  
+  rPosition.E1 = Position.E1
+  rPosition.E2 = Position.E2
+  rPosition.E3 = Position.E3
+  rPosition.E4 = Position.E4
+  rPosition.E5 = Position.E5
+  rPosition.E6 = Position.E6
+
+  RETURN(rPosition)
+ENDFCT

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

@@ -0,0 +1,19 @@
+&ACCESS RV
+DEFFCT INT REAL_TO_Output (rVal:IN )
+   DECL REAL rVal
+   DECL INT Offset,Ret
+   DECL INT INTS[4]
+   DECL CHAR Bytes[4]
+   Offset=0
+   Ret=0
+   CAST_TO(Bytes[],Offset,rVal)    
+   INTS[1] = Bytes[1]   
+   INTS[2] = Bytes[2]
+   INTS[2] = INTS[2]*256
+   INTS[3] = Bytes[3]
+   INTS[3] = INTS[3]*65536
+   INTS[4] = Bytes[4]
+   INTS[4] = INTS[4]*16777216   
+   Ret=INTS[1]+INTS[2]+INTS[3]+INTS[4]
+   RETURN Ret
+ENDFCT

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

@@ -0,0 +1,22 @@
+&ACCESS RVO
+DEFFCT CHAR[32] REAL_TO_STR(iVal:IN)
+   DECL REAL iVal
+   DECL INT I,offset
+   DECL CHAR Ret[32]
+   DECL STATE_T state
+   offset=0
+   FOR I=1 TO 32
+      Ret[I]=0
+   ENDFOR
+   SWRITE(Ret[],state,offset,"%.3f",iVal)
+   Return (Ret[])
+ENDFCT
+
+
+
+   
+   
+   
+   
+   
+   

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

@@ -0,0 +1,28 @@
+&ACCESS RVO
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  FEEDBELT1PICK
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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 -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 -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}
+
+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}
+ENDDAT

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

@@ -0,0 +1,69 @@
+&ACCESS RVO
+&REL 7
+&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 ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+   
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)   
+   XPick=XFeedBelt1Pick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt1Pick.X + x_offset
+   XPick.Y=XFeedBelt1Pick.Y + y_offset
+   XPick.Z=XFeedBelt1Pick.Z + z_offset
+   XPickH=XPick
+   XPickH.Z=XPick.Z+500   
+;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT2
+FDAT_ACT = FPickH
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPickH C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter1=TRUE
+;FOLD LIN Pick 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=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPick
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPick
+;ENDFOLD
+  GripClose()  
+;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPickH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPickH
+;ENDFOLD
+   Q_AreaEnter1=FALSE
+   ActionReturn(1)
+   END_POS=$POS_ACT   
+END

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

@@ -0,0 +1,26 @@
+&ACCESS RVO
+&REL 9
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  FEEDBELT2PICK
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLARATIONS)
+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 FDAT FPick_1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+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 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 -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}
+ENDDAT

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

@@ -0,0 +1,70 @@
+&ACCESS RVO
+&REL 9
+&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 ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XFeedBelt2Pick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XFeedBelt2Pick.X + x_offset
+   XPick.Y=XFeedBelt2Pick.Y + y_offset
+   XPick.Z=XFeedBelt2Pick.Z + z_offset
+   XPickH=XPick
+   XPickH.Z=XPick.Z+500   
+;FOLD PTP PickH CONT Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT2
+FDAT_ACT = FPickH
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPickH C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_GripOpen AND I_Signal2 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter1=TRUE
+;FOLD LIN Pick 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=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPick
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPick
+;ENDFOLD
+  GripClose()  
+;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPickH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPickH
+;ENDFOLD
+   Q_AreaEnter1=FALSE
+   ActionReturn(1)
+  END_POS=$POS_ACT   
+
+END

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

@@ -0,0 +1,26 @@
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  NGBELTPLACE
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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=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={TOOL_NO 1,BASE_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 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 -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 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 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}}}
+ENDDAT

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

@@ -0,0 +1,81 @@
+&ACCESS RVO
+&REL 3
+&PARAM DISKPATH = KRC:\R1\Program\PL
+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 ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPlace=XNgBeltPlace
+   x_offset=PlaceOffsetX_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
+   z_offset=PlaceOffsetZ_Save/10.0
+   XPlace.X=XNgBeltPlace.X + x_offset
+   XPlace.Y=XNgBeltPlace.Y + y_offset    
+   XPlace.Z=XNgBeltPlace.Z + z_offset 
+   XPlaceH=XPlace
+   XPlaceH.Z=XPlace.Z+500
+;FOLD PTP PlaceH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT1
+FDAT_ACT = FPlaceH
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPlaceH C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter2=TRUE
+;FOLD LIN Place Vel=2 m/s CPDAT3 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=CPDAT3; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT3
+FDAT_ACT = FPlace
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlace
+;ENDFOLD
+   GripOpen()  
+;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$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)
+;FOLD PTP HOME1 Vel=100 % PDAT2 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT2
+FDAT_ACT = FHOME1
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XHOME1
+;ENDFOLD
+  END_POS=$POS_ACT   
+END

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

@@ -0,0 +1,41 @@
+&ACCESS RV
+&REL 15
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  PALLET1PLACE
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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={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}
+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 PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL LDAT LCPDAT4={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 PPDAT5={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 666666.688,Y 66.6000,Z 666.660,A 6.60000,B 66.6600,C 666.600,S 0,T 0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+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 FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPlaceSig={X 1407.35193,Y 1196.59705,Z 1498.33838,A -164.745041,B 0.371815890,C 179.768021,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL LDAT LCPDAT8={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}}}
+ENDDAT

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

@@ -0,0 +1,100 @@
+&ACCESS RV
+&REL 15
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEF  Pallet1Place ( )
+   DECL REAL x_offset,y_offset,z_offset
+;FOLD INI;%{PE}
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+  ;ENDFOLD (INI)
+  
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)  
+   XPlace=XPallet1PlaceB
+   x_offset=PlaceOffsetX_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
+   z_offset=PlaceOffsetZ_Save/10.0
+   XPlace.X=XPallet1PlaceB.X + CountX_Save*x_offset
+   XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset    
+   XPlace.Z=XPallet1PlaceB.Z + z_offset 
+   XPlaceH=XPlace
+   XPlaceH.Z=XPlace.Z+310+z_offset
+   XPlaceSigH=XPlace
+   XPlaceSigH.Z=XPlace.Z+500
+   XPlaceSigH.X=XPlace.X-50
+   XPlaceSig=XPlace
+   XPlaceSig.Z=XPlace.Z+310+z_offset
+   XPlaceSig.X=XPlace.X-50
+   
+;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[0] ;%{PE}
+   ;FOLD Parameters ;%{h}
+      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+   ;ENDFOLD
+   $BWDSTART = FALSE
+   LDAT_ACT = LCPDAT7
+   FDAT_ACT = FPlaceSigH
+   BAS(#CP_PARAMS, 2.0)
+   SET_CD_PARAMS (0)
+   LIN XPlaceSigH C_Dis C_Dis
+;ENDFOLD
+;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[0] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT8
+FDAT_ACT = FPlaceSig
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlaceSig
+;ENDFOLD
+;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 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=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT5
+FDAT_ACT = FPlaceH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlaceH C_Dis C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter2=TRUE
+;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPlace
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlace
+;ENDFOLD
+   GripOpen()  
+;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
+   $BWDSTART = FALSE
+   LDAT_ACT = LCPDAT2
+   FDAT_ACT = FPlaceH
+   BAS(#CP_PARAMS, 2.0)
+   SET_CD_PARAMS (0)
+   LIN XPlaceH
+;ENDFOLD
+
+   Q_AreaEnter2=FALSE
+   ActionReturn(1)
+   
+   END_POS=$POS_ACT   
+END

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

@@ -0,0 +1,44 @@
+&ACCESS RVO
+&REL 26
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  PALLET2PLACE
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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 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 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[] " "}
+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}
+DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL LDAT LCPDAT4={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 PPDAT17={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981423,C 179.586945,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+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 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 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

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

@@ -0,0 +1,101 @@
+&ACCESS RVO
+&REL 26
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEF  Pallet2Place ( )
+   DECL REAL x_offset,y_offset,z_offset
+;FOLD INI;%{PE}
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPlace=XPallet2PlaceB
+   x_offset=PlaceOffsetX_Save/10.0
+   y_offset=PlaceOffsetY_Save/10.0
+   z_offset=PlaceOffsetZ_Save/10.0
+   XPlace.X=XPallet1PlaceB.X + CountX_Save*x_offset
+   XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset  
+   XPlace.Z=XPallet1PlaceB.Z + z_offset      
+   XPlaceH=XPlace
+   XPlaceH.Z=XPlace.Z+310+z_offset
+   XPlaceSigH=XPlace
+   XPlaceSigH.X=XPlace.X-50
+   XPlaceSigH.Z=XPlace.Z+500   
+   XPlaceSig=XPlace
+   XPlaceSig.X=XPlace.X-50
+   XPlaceSig.Z=XPlace.Z+310+z_offset
+
+;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
+   ;FOLD Parameters ;%{h}
+      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSigH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+   ;ENDFOLD
+   $BWDSTART = FALSE
+   LDAT_ACT = LCPDAT7
+   FDAT_ACT = FPlaceSigH
+   BAS(#CP_PARAMS, 2.0)
+   SET_CD_PARAMS (0)
+   LIN XPlaceSigH C_Dis C_Dis
+;ENDFOLD
+
+;FOLD LIN PlaceSig Vel=2 m/s CPDAT8 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceSig; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT8; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT8
+FDAT_ACT = FPlaceSig
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlaceSig
+;ENDFOLD
+   WAIT FOR NOT I_GripBelowExist   
+;FOLD LIN PlaceH CONT Vel=2 m/s CPDAT5 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=CPDAT5; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT5
+FDAT_ACT = FPlaceH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlaceH C_Dis C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_AreaReady2 AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter3=TRUE
+;FOLD LIN Place Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPlace
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlace
+;ENDFOLD
+   GripOpen()  
+;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
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPlaceH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPlaceH
+;ENDFOLD
+
+   Q_AreaEnter3=FALSE
+   ActionReturn(1)
+  
+   END_POS=$POS_ACT  
+END

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

@@ -0,0 +1,28 @@
+&ACCESS RVO
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  REFEEDBELTPICK
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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 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 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 -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}
+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 E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,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 FDAT FPass={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}
+ENDDAT

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

@@ -0,0 +1,80 @@
+&ACCESS RVO
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\PL
+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 ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XReFeedBeltPick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XReFeedBeltPick.X + x_offset
+   XPick.Y=XReFeedBeltPick.Y + y_offset
+   XPick.Z=XReFeedBeltPick.Z + z_offset
+   XPickH=XPick
+   XPickH.Z=XPick.Z+500   
+;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT1
+FDAT_ACT = FPickH
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPickH C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter1=TRUE
+;FOLD LIN Pick 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=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPick
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPick
+;ENDFOLD
+  GripClose()  
+;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPickH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPickH
+;ENDFOLD
+   Q_AreaEnter1=FALSE
+   ActionReturn(1)
+;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
+;;FOLD Parameters ;%{h}
+;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;;ENDFOLD
+;$BWDSTART = FALSE
+;PDAT_ACT = PPDAT2
+;FDAT_ACT = FPass
+;BAS(#PTP_PARAMS, 100.0)
+;SET_CD_PARAMS (0)
+;PTP XPass
+;;ENDFOLD
+   END_POS=$POS_ACT 
+END

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

@@ -0,0 +1,28 @@
+&ACCESS RVO
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  WATERBELTPICK
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;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=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 -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 -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}
+
+DECL E6POS XPass={X 222.125137,Y 367.555359,Z 612.758301,A 105.463463,B 0.376274645,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 FDAT FPass={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}
+ENDDAT

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

@@ -0,0 +1,80 @@
+&ACCESS RVO
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\PL
+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 ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+   WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
+   XPick=XWaterBeltPick
+   x_offset=PickOffsetX_Save/10.0
+   y_offset=PickOffsetY_Save/10.0
+   z_offset=PickOffsetZ_Save/10.0
+   XPick.X=XWaterBeltPick.X + x_offset
+   XPick.Y=XWaterBeltPick.Y + y_offset
+   XPick.Z=XWaterBeltPick.Z + z_offset
+   XPickH=XPick
+   XPickH.Z=XPick.Z+500   
+;FOLD PTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT1
+FDAT_ACT = FPickH
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPickH C_Dis
+;ENDFOLD
+   CONTINUE
+   WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
+   CONTINUE
+   Q_AreaEnter1=TRUE
+;FOLD LIN Pick 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=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPick
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPick
+;ENDFOLD
+  GripClose()  
+;FOLD LIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPickH
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPickH
+;ENDFOLD
+   Q_AreaEnter1=FALSE
+   ActionReturn(1)
+;;FOLD PTP Pass Vel=100 % PDAT2 Tool[1] Base[1] ;%{PE}
+;;FOLD Parameters ;%{h}
+;;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;;ENDFOLD
+;$BWDSTART = FALSE
+;PDAT_ACT = PPDAT2
+;FDAT_ACT = FPass
+;BAS(#PTP_PARAMS, 100.0)
+;SET_CD_PARAMS (0)
+;PTP XPass
+;;ENDFOLD
+   END_POS=$POS_ACT 
+END

KUKA/KRC/R1/Program/PLC.sub

@@ -0,0 +1,62 @@
+&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()")
+         ;CWRITE($CMD,STAT,MODE,"RESET/R1/MainModule()")
+         $FLAG[10]=FALSE
+      ENDIF
+      IF $FLAG[11] THEN
+         CWRITE($CMD,STAT,MODE,"STOP 1")
+         $FLAG[11]=FALSE
+      ENDIF
+      IF $FLAG[12] THEN
+         CWRITE($CMD,STAT,MODE,"CANCEL  1")
+         $FLAG[12]=FALSE
+      ENDIF
+      IF $CONF_MESS AND NOT ConfMessSave THEN
+         Q_Error1=FALSE
+         Q_Error2=FALSE
+         Q_Error3=FALSE
+         Q_Error4=FALSE
+         Q_Error5=FALSE
+         Q_Error6=FALSE
+         Q_Error7=FALSE
+         Q_Error8=FALSE
+         Q_Error9=FALSE
+         Q_Error10=FALSE
+         Q_Error11=FALSE
+         Q_Error12=FALSE
+         Q_Error13=FALSE
+         Q_Error14=FALSE
+         Q_Error15=FALSE
+         Q_Error16=FALSE
+      ENDIF
+      ConfMessSave=$CONF_MESS
+      
+   ENDLOOP
+END

KUKA/KRC/R1/Program/PosBase.dat

@@ -0,0 +1,21 @@
+&ACCESS RV
+&REL 7
+&PARAM DISKPATH = KRC:\R1\Program\TP
+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 -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}
+
+
+
+
+
+ENDDAT

KUKA/KRC/R1/Program/SignalIO.dat

@@ -0,0 +1,136 @@
+&ACCESS RV
+&REL 1
+DEFDAT SignalIO PUBLIC
+
+;FOLD PLC_TO_KUKA
+
+GLOBAL SIGNAL I_AreaReady1 $IN[17]
+GLOBAL SIGNAL I_AreaReady2 $IN[18]
+GLOBAL SIGNAL I_AreaReady3 $IN[19]
+GLOBAL SIGNAL I_AreaReady4 $IN[20]
+GLOBAL SIGNAL I_AreaReady5 $IN[21]
+GLOBAL SIGNAL I_AreaReady6 $IN[22]
+GLOBAL SIGNAL I_AreaReady7 $IN[23]
+GLOBAL SIGNAL I_AreaReady8 $IN[24]
+GLOBAL SIGNAL I_AreaReady9 $IN[25]
+GLOBAL SIGNAL I_AreaReady10 $IN[26]
+GLOBAL SIGNAL I_AreaReady11 $IN[27]
+GLOBAL SIGNAL I_AreaReady12 $IN[28]
+GLOBAL SIGNAL I_AreaReady13 $IN[29]
+GLOBAL SIGNAL I_AreaReady14 $IN[30]
+GLOBAL SIGNAL I_AreaReady15 $IN[31]
+GLOBAL SIGNAL I_AreaReady16 $IN[32]
+
+GLOBAL SIGNAL I_Signal1 $IN[33]
+GLOBAL SIGNAL I_Signal2 $IN[34]
+GLOBAL SIGNAL I_Signal3 $IN[35]
+GLOBAL SIGNAL I_Signal4 $IN[36]
+GLOBAL SIGNAL I_Signal5 $IN[37]
+GLOBAL SIGNAL I_Signal6 $IN[38]
+GLOBAL SIGNAL I_Signal7 $IN[39]
+GLOBAL SIGNAL I_Signal8 $IN[40]
+GLOBAL SIGNAL I_Signal9 $IN[41]
+GLOBAL SIGNAL I_Signal10 $IN[42]
+GLOBAL SIGNAL I_Signal11 $IN[43]
+GLOBAL SIGNAL I_Signal12 $IN[44]
+GLOBAL SIGNAL I_Signal13 $IN[45]
+GLOBAL SIGNAL I_Signal14 $IN[46]
+GLOBAL SIGNAL I_Signal15 $IN[47]
+GLOBAL SIGNAL I_Signal16 $IN[48]
+
+GLOBAL SIGNAL I_GripSafty1 $IN[49]
+GLOBAL SIGNAL I_GripSafty2 $IN[50]
+GLOBAL SIGNAL I_GripBelowExist $IN[51]
+GLOBAL SIGNAL I_GripExist $IN[52]
+GLOBAL SIGNAL I_GripOpen $IN[53]
+GLOBAL SIGNAL I_GripClose $IN[54]
+
+GLOBAL SIGNAL I_ProductType $IN[65] TO $IN[80]
+GLOBAL SIGNAL I_Cmd $IN[81] TO $IN[96]
+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_CountX $IN[161] TO $IN[176]
+GLOBAL SIGNAL I_CountY $IN[177] TO $IN[192]
+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
+
+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]
+GLOBAL SIGNAL Q_InHome3 $OUT[51]
+GLOBAL SIGNAL Q_InHome4 $OUT[52]
+GLOBAL SIGNAL Q_InHome5 $OUT[53]
+GLOBAL SIGNAL Q_InHome6 $OUT[54]
+GLOBAL SIGNAL Q_InHome7 $OUT[55]
+GLOBAL SIGNAL Q_InHome8 $OUT[56]
+GLOBAL SIGNAL Q_InHome9 $OUT[57]
+GLOBAL SIGNAL Q_InHome10 $OUT[58]
+GLOBAL SIGNAL Q_InHome11 $OUT[59]
+GLOBAL SIGNAL Q_InHome12 $OUT[60]
+GLOBAL SIGNAL Q_InHome13 $OUT[61]
+GLOBAL SIGNAL Q_InHome14 $OUT[62]
+GLOBAL SIGNAL Q_InHome15 $OUT[63]
+GLOBAL SIGNAL Q_InHome16 $OUT[64]
+
+GLOBAL SIGNAL Q_AreaEnter1 $OUT[65]
+GLOBAL SIGNAL Q_AreaEnter2 $OUT[66]
+GLOBAL SIGNAL Q_AreaEnter3 $OUT[67]
+GLOBAL SIGNAL Q_AreaEnter4 $OUT[68]
+GLOBAL SIGNAL Q_AreaEnter5 $OUT[69]
+GLOBAL SIGNAL Q_AreaEnter6 $OUT[70]
+GLOBAL SIGNAL Q_AreaEnter7 $OUT[71]
+GLOBAL SIGNAL Q_AreaEnter8 $OUT[72]
+GLOBAL SIGNAL Q_AreaEnter9 $OUT[73]
+GLOBAL SIGNAL Q_AreaEnter10 $OUT[74]
+GLOBAL SIGNAL Q_AreaEnter11 $OUT[75]
+GLOBAL SIGNAL Q_AreaEnter12 $OUT[76]
+GLOBAL SIGNAL Q_AreaEnter13 $OUT[77]
+GLOBAL SIGNAL Q_AreaEnter14 $OUT[78]
+GLOBAL SIGNAL Q_AreaEnter15 $OUT[79]
+GLOBAL SIGNAL Q_AreaEnter16 $OUT[80]
+
+GLOBAL SIGNAL Q_Error1 $OUT[81]
+GLOBAL SIGNAL Q_Error2 $OUT[82]
+GLOBAL SIGNAL Q_Error3 $OUT[83]
+GLOBAL SIGNAL Q_Error4 $OUT[84]
+GLOBAL SIGNAL Q_Error5 $OUT[85]
+GLOBAL SIGNAL Q_Error6 $OUT[86]
+GLOBAL SIGNAL Q_Error7 $OUT[87]
+GLOBAL SIGNAL Q_Error8 $OUT[88]
+GLOBAL SIGNAL Q_Error9 $OUT[89]
+GLOBAL SIGNAL Q_Error10 $OUT[90]
+GLOBAL SIGNAL Q_Error11 $OUT[91]
+GLOBAL SIGNAL Q_Error12 $OUT[92]
+GLOBAL SIGNAL Q_Error13 $OUT[93]
+GLOBAL SIGNAL Q_Error14 $OUT[94]
+GLOBAL SIGNAL Q_Error15 $OUT[95]
+GLOBAL SIGNAL Q_Error16 $OUT[96]
+
+GLOBAL SIGNAL Q_CmdRet $OUT[97] TO $OUT[112]
+GLOBAL SIGNAL Q_CmdCountRet $OUT[113] TO $OUT[128]
+GLOBAL SIGNAL Q_CmdResult $OUT[129] TO $OUT[144]
+GLOBAL SIGNAL Q_Cmd_Running $OUT[145] TO $OUT[160]
+GLOBAL SIGNAL Q_GripPosIndex $OUT[161] TO $OUT[176]
+GLOBAL SIGNAL Q_GripPosCount $OUT[177] TO $OUT[192]
+
+
+;ENDFOLD
+
+
+
+ENDDAT

KUKA/KRC/R1/Program/TP/T.dat

@@ -0,0 +1,32 @@
+&ACCESS RVO
+&REL 19
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEFDAT  T
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLARATIONS)
+DECL FDAT Fhome1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.MoveDataPtpName=PDAT6; 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.PointName=Pass; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.FrameData.point2=; Kuka.isglobalpoint=False; 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 "}
+DECL E6POS XPass={X 1496.99622,Y 1744.02686,Z 677.063965,A 165.215530,B 0.220793873,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL FDAT FPass={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}
+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 PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 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 E6POS XPass2={X 1017.04706,Y 1744.06714,Z 677.063965,A 165.215530,B 0.220793888,C 179.554840,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL FDAT FPass2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT5={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 PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+ENDDAT

KUKA/KRC/R1/Program/TP/T.src

@@ -0,0 +1,53 @@
+&ACCESS RVO
+&REL 19
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEF T( )
+;FOLD INI;%{PE}
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+
+
+;FOLD PTP home CONT Vel=100 % PDAT3 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT3
+FDAT_ACT = Fhome
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP Xhome C_Dis
+;ENDFOLD
+;FOLD PTP Pass2 Vel=100 % PDAT5 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT5
+FDAT_ACT = FPass2
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPass2
+;ENDFOLD
+;FOLD PTP Pass Vel=100 % PDAT6 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pass; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT6
+FDAT_ACT = FPass
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XPass
+;ENDFOLD
+END

KUKA/KRC/R1/Program/TP/TestModule.dat

@@ -0,0 +1,44 @@
+&ACCESS RVO
+&REL 31
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEFDAT  TESTMODULE
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make your modifications here
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLARATIONS)
+DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet1PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT16; 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.FrameData.point2=; 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"}
+DECL FDAT FPallet2PlaceB={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}
+DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+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 FFeedBelt2Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT8={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 PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT10={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT11={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FXFeedBelt1Pick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT12={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT13={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT14={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT15={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT16={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 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 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}}}
+ENDDAT

KUKA/KRC/R1/Program/TP/TestModule.src

@@ -0,0 +1,127 @@
+&ACCESS RVO
+&REL 31
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEF  TestModule ( )
+;FOLD INI;%{PE}
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+    BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+  ;ENDFOLD (INI)
+;FOLD PTP HOME Vel=100 % PDAT10 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT10
+FDAT_ACT = FHOME
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XHOME
+;ENDFOLD
+;FOLD PTP HOME2 Vel=100 % PDAT9 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT9
+FDAT_ACT = FHOME2
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XHOME2
+;ENDFOLD
+;FOLD PTP HOME1 Vel=100 % PDAT8 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT8; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT8
+FDAT_ACT = FHOME1
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XHOME1
+;ENDFOLD
+;FOLD LIN Pallet1PlaceB 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=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT2
+FDAT_ACT = FPallet1PlaceB
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPallet1PlaceB
+;ENDFOLD
+;FOLD LIN Pallet2PlaceB Vel=2 m/s CPDAT1 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
+;ENDFOLD
+$BWDSTART = FALSE
+LDAT_ACT = LCPDAT1
+FDAT_ACT = FPallet2PlaceB
+BAS(#CP_PARAMS, 2.0)
+SET_CD_PARAMS (0)
+LIN XPallet2PlaceB
+;ENDFOLD
+;FOLD PTP FeedBelt1Pick Vel=100 % PDAT12 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt1Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT12; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT12
+FDAT_ACT = FFeedBelt1Pick
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XFeedBelt1Pick
+;ENDFOLD
+;FOLD PTP FeedBelt2Pick Vel=100 % PDAT13 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT13; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT13
+FDAT_ACT = FFeedBelt2Pick
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XFeedBelt2Pick
+;ENDFOLD
+;FOLD PTP NgBeltPlace Vel=100 % PDAT14 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=NgBeltPlace; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT14; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT14
+FDAT_ACT = FNgBeltPlace
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XNgBeltPlace
+;ENDFOLD
+;FOLD PTP WaterBeltPick Vel=100 % PDAT15 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT15; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT15
+FDAT_ACT = FWaterBeltPick
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XWaterBeltPick
+;ENDFOLD
+;FOLD PTP ReFeedBeltPick Vel=100 % PDAT16 Tool[1] Base[1] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=ReFeedBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT16; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
+;ENDFOLD
+$BWDSTART = FALSE
+PDAT_ACT = PPDAT16
+FDAT_ACT = FReFeedBeltPick
+BAS(#PTP_PARAMS, 100.0)
+SET_CD_PARAMS (0)
+PTP XReFeedBeltPick
+;ENDFOLD
+
+END

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

@@ -0,0 +1,835 @@
+&ACCESS RV$2
+DEFDAT  $CONFIG
+;FOLD BASISTECH GLOBALS
+;==================================
+; Default parameters for movement
+; These values shouldn't be changed
+;==================================
+
+;----------------------------------
+; general MOVEMENT - parameters:
+;----------------------------------
+
+INT DEF_OV_PRO=100
+INT DEF_ADVANCE=3
+
+; PTP - MOVEMENTS
+;----------------------------------
+INT DEF_VEL_PTP=100 ; ptp velocity [%]
+INT DEF_ACC_PTP=50 ; ptp acceleration [%]
+
+; CP - MOVEMENTS                                                 
+;----------------------------------
+DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
+DECL JERK_STRUC DEF_JERK_STRUC={CP 500.000,ORI 50000.0,AX {A1 1000.00,A2 1000.00,A3 1000.00,A4 1000.00,A5 1000.00,A6 1000.00,E1 1000.00,E2 1000.00,E3 1000.00,E4 1000.00,E5 1000.00,E6 1000.00}} ; jerk value for the spline. CP: [m/Sec3], ORI: [[GRAD/Sec3], AX: [[GRAD/Sec3] (rotatory) resp. [m/Sec3] (linear)
+REAL DEF_GEAR_JERK=100.000 ; gear jerk of axes [%]
+REAL DEF_VEL_CP=2.00000 ; path velocity [M/SEC]
+REAL DEF_VEL_ORI1=200.000 ; swivel velocity [GRAD/Sec]
+REAL DEF_VEL_ORI2=200.000 ; rotation velocity [GRAD/Sec]
+REAL DEF_VEL_ORIS=200.000 ; spline swivel velocity [GRAD/Sec]
+REAL DEF_ACC_CP=2.30000 ; path acceleration [m/Sec2]
+REAL DEF_ACC_ORI1=100.000 ; swivel acceleration [GRAD/Sec2]
+REAL DEF_ACC_ORI2=100.000 ; rotation acceleration [GRAD/Sec2]
+REAL DEF_ACC_ORIS=200.000 ; spline swivel acceleration [GRAD/Sec2]
+REAL DEF_VEL_FACT=1.00000
+REAL DEF_ACC_SPTP=100.000 ; ptp spline acceleration [%]
+
+; APO - parameters
+;--------------------------------
+INT DEF_APO_CPTP=50 ; PTP-Approximation [%]
+INT DEF_APO_CVEL=100 ; Speed-Approximation [%]
+REAL DEF_APO_CDIS=3.00000 ; Distance-Approximation [mm]
+REAL DEF_APO_CORI=5.00000 ; Orientation-Approximation [Grad]
+REAL DEF_APO_CORIS=80.0000 ; spline Orientation-Approximation [Grad]
+
+;==================================
+; Structures:
+;==================================
+ENUM BAS_COMMAND INITMOV,ACC_CP,ACC_PTP,VEL_CP,VEL_PTP,ACC_GLUE,TOOL,BASE,EX_BASE,PTP_DAT,CP_DAT,OUT_SYNC,OUT_ASYNC,GROUP,FRAMES,PTP_PARAMS,CP_PARAMS
+ENUM OUT_MODETYPE TRIGGER_,CONT_,STOP_
+ENUM IPO_M_T NONE,TCP,BASE
+ENUM APO_MODE_T CPTP,CDIS
+ENUM LDD_MODE_T NONE,CAD,T1,T2,AUT,EX,MANUAL
+ENUM LDD_RESULT_T NONE,APP,STATOVL,DYNOVL,CTCHCK,OVL,APPSLOOR,SLOOR
+STRUC DIG_OUT_TYPE INT FIRST_BIT,LENGTH,PARITY,CODING
+STRUC CTRL_IN_T INT IN_NR,CHAR NAME_NAT[20]
+STRUC CTRL_OUT_T INT OUT_NR,BOOL INI,CHAR NAME_NAT[20]
+STRUC FCT_OUT_T INT NO,REAL PULS_TIME,BOOL STATE
+STRUC FCT_IN_T INT NO,BOOL STATE
+STRUC PDAT REAL VEL,ACC,APO_DIST,APO_MODE_T APO_MODE,REAL GEAR_JERK,INT EXAX_IGN
+STRUC LDAT REAL VEL,ACC,APO_DIST,APO_FAC,AXIS_VEL,AXIS_ACC,ORI_TYPE ORI_TYP,CIRC_TYPE CIRC_TYP,REAL JERK_FAC,GEAR_JERK,INT EXAX_IGN,CIRC_MODE CB
+STRUC FDAT INT TOOL_NO,BASE_NO,IPO_MODE IPO_FRAME,CHAR POINT2[24],BOOL TQ_STATE
+STRUC ODAT INT OUT_NO,BOOL STATE,REAL PULSE_TIME,OUT_MODETYPE OUT_MODE,REAL TIME_DELAY,OFFSET
+STRUC BASIS_SUGG_T CHAR POINT1[24],POINT2[24],CP_PARAMS[24],PTP_PARAMS[24],CONT[24],CP_VEL[24],PTP_VEL[24],SYNC_PARAMS[24],SPL_NAME[24],A_PARAMS[24],PC_SYNCSTRING[24],GL_SYNCSTRING[24]
+STRUC HDAT REAL HT_START,HT_DEST,APO_START,APO_DEST,ACC_START,ACC_DEST,VEL_START,VEL_DEST
+
+STRUC OUT_SUGG_T CHAR PARAMS[24]
+STRUC MACHINE_DEF_T CHAR NAME[40],INT COOP_KRC_INDEX,CHAR PARENT[40],FRAME ROOT,ESYS MECH_TYPE,CHAR GEOMETRY[255]
+STRUC MACHINE_TOOL_T INT MACH_DEF_INDEX,CHAR PARENT[40],CHAR GEOMETRY[255]
+STRUC MACHINE_FRAME_T INT MACH_DEF_INDEX,CHAR PARENT[40],CHAR GEOMETRY[255]
+
+STRUC TRIGGER_PARA INT TriggerPath,BOOL TriggerOnStart,INT TriggerDelay,CHAR TriggerTask[40]
+STRUC CONSTVEL_PARA INT ConstVelTyp,INT ConstVelPath,BOOL ConstVelOnStart
+STRUC CONDSTOP_PARA INT CondStopPath,BOOL CondStopOnStart,CHAR StopCondition[40]
+STRUC ADAT TRIGGER_PARA TriggerPara,CONSTVEL_PARA ConstVelPara,CONDSTOP_PARA CondStopPara
+
+STRUC MODULEPARAM_T CHAR PARAMS[2000]
+STRUC TRACECACHE_T CHAR NAME[64],INT ACT_ITER,INT MAX_ITER
+
+;FOLD OLD TORQUE MONITORING - Do not remove! Needed to prevent syntax errors in old user modules!
+STRUC TM_SUGG_T CHAR TM_ID[24]
+STRUC TQM_TQDAT_T INT T11,T12,T13,T14,T15,T16,T21,T22,T23,T24,T25,T26,K1,K2,K3,K4,K5,K6,O1,O2,ID,OVM,REAL TMF
+;ENDFOLD
+;==================================
+; External declarations:
+;==================================
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+EXT  IR_STOPM ( )
+
+;====================
+; Signal declarations
+; Do not change !!!!!
+;====================
+SIGNAL CHANNEL_1 $ANOUT[1]
+SIGNAL CHANNEL_2 $ANOUT[2]
+SIGNAL CHANNEL_3 $ANOUT[3]
+SIGNAL CHANNEL_4 $ANOUT[4]
+SIGNAL CHANNEL_5 $ANOUT[5]
+SIGNAL CHANNEL_6 $ANOUT[6]
+SIGNAL CHANNEL_7 $ANOUT[7]
+SIGNAL CHANNEL_8 $ANOUT[8]
+SIGNAL CHANNEL_9 $ANOUT[9]
+SIGNAL CHANNEL_10 $ANOUT[10]
+SIGNAL CHANNEL_11 $ANOUT[11]
+SIGNAL CHANNEL_12 $ANOUT[12]
+SIGNAL CHANNEL_13 $ANOUT[13]
+SIGNAL CHANNEL_14 $ANOUT[14]
+SIGNAL CHANNEL_15 $ANOUT[15]
+SIGNAL CHANNEL_16 $ANOUT[16]
+SIGNAL CHANNEL_17 $ANOUT[17]
+SIGNAL CHANNEL_18 $ANOUT[18]
+SIGNAL CHANNEL_19 $ANOUT[19]
+SIGNAL CHANNEL_20 $ANOUT[20]
+SIGNAL CHANNEL_21 $ANOUT[21]
+SIGNAL CHANNEL_22 $ANOUT[22]
+SIGNAL CHANNEL_23 $ANOUT[23]
+SIGNAL CHANNEL_24 $ANOUT[24]
+SIGNAL CHANNEL_25 $ANOUT[25]
+SIGNAL CHANNEL_26 $ANOUT[26]
+SIGNAL CHANNEL_27 $ANOUT[27]
+SIGNAL CHANNEL_28 $ANOUT[28]
+SIGNAL CHANNEL_29 $ANOUT[29]
+SIGNAL CHANNEL_30 $ANOUT[30]
+SIGNAL CHANNEL_31 $ANOUT[31]
+SIGNAL CHANNEL_32 $ANOUT[32]
+
+;==================================
+; ID external user log-on:
+;==================================
+SIGNAL ExtUserID $IN[1026]  TO $IN[1026]
+SIGNAL ExtUserIDWatchDog $IN[1026]
+
+;==================================
+; Variables:
+;==================================
+DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL LDAT LDEFAULT={VEL 2.00000,ACC 100.000,APO_DIST 100.000,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}
+DECL LDAT CDEFAULT={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 FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
+DECL FDAT FHOME={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}
+DECL HDAT HDEFAULT={HT_START 250.000,HT_DEST 250.000,APO_START 200.000,APO_DEST 200.000,ACC_START 100.000,ACC_DEST 100.000,VEL_START 2.00000,VEL_DEST 2.00000}
+
+DECL ADAT TDEFAULT={TriggerPara {TriggerPath 0,TriggerOnStart FALSE,TriggerDelay 0,TriggerTask[] " "}}
+DECL ADAT CVDEFAULT={ConstVelPara {ConstVelTyp 0,ConstVelPath 0,ConstVelOnStart FALSE}}
+DECL ADAT CSDEFAULT={CondStopPara {CondStopPath 0,CondStopOnStart FALSE,StopCondition[] " "}}
+
+DECL PDAT PDAT_ACT
+DECL LDAT LDAT_ACT
+DECL FDAT FDAT_ACT
+DECL ODAT ODAT_ACT
+DECL INT ACT_FILTER
+DECL INT ACT_DELAY
+DECL INT ACT_DISTANCE
+
+DECL CHAR SPL_NAME[24]
+DECL MSGBUF_T TouchUpCheckMsgBuffer[100]
+
+;GROUP-Definitions
+;----------------------------------
+INT COMPL_GROUP='B0001'
+
+INT DEF_GROUP[10]
+DEF_GROUP[1]='B1111' ; complete
+DEF_GROUP[2]='B0001' ; robot only
+DEF_GROUP[3]='B0011' ; robot and track
+DEF_GROUP[4]='B0111' ; robot, track and ext. axis2
+DEF_GROUP[5]='B1011' ; robot, track and ext. axis3
+DEF_GROUP[6]='B1111' ; robot, track and ext. axis2+3
+DEF_GROUP[7]='B1111' ; complete
+DEF_GROUP[8]='B1111' ; complete
+DEF_GROUP[9]='B1111' ; complete
+DEF_GROUP[10]='B1111' ; complete
+
+INT $ACT_GROUP='B0001'
+
+; HOME POSITION
+;----------------------------------
+E6AXIS XHOME={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME1={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME2={A1 -40.3666763,A2 -84.9813843,A3 100.802277,A4 -0.0544359796,A5 73.7439957,A6 -25.0959282,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}
+E6AXIS XHOME5={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}
+
+; REFERENCE POINTS
+;----------------------------------
+DECL FRAME REF_PT[16]
+REF_PT[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+REF_PT[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+
+FRAME REF_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+
+; TOOL and BASE data
+;----------------------------------
+BOOL AUTO_IPO_M=FALSE
+BOOL STOPM_FLAG=FALSE
+BOOL TOOL_CORR_ON=FALSE
+BOOL TOOL_CORR_W_ON=FALSE
+BOOL BASE_CORR_ON=FALSE
+BOOL M_BAS_COR_ON=FALSE
+FRAME TOOL_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+FRAME TOOL_CORR_W={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+FRAME BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+FRAME M_BASE_CORR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+INT COR_TOOL_NO=0
+
+INT MAX_TOOL=16
+DECL FRAME TOOL_DATA[16]
+TOOL_DATA[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+TOOL_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+
+DECL CHAR TOOL_NAME[16,24]
+TOOL_NAME[1,]=" "
+TOOL_NAME[2,]=" "
+TOOL_NAME[3,]=" "
+TOOL_NAME[4,]=" "
+TOOL_NAME[5,]=" "
+TOOL_NAME[6,]=" "
+TOOL_NAME[7,]=" "
+TOOL_NAME[8,]=" "
+TOOL_NAME[9,]=" "
+TOOL_NAME[10,]=" "
+TOOL_NAME[11,]=" "
+TOOL_NAME[12,]=" "
+TOOL_NAME[13,]=" "
+TOOL_NAME[14,]=" "
+TOOL_NAME[15,]=" "
+TOOL_NAME[16,]=" "
+
+INT MAX_LOAD=16
+DECL LOAD LOAD_DATA[16]
+LOAD_DATA[1]={M 20.0000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[2]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[3]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[4]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[5]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[6]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[7]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[8]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[9]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[10]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[11]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[12]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[13]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[14]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[15]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+LOAD_DATA[16]={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+
+DECL CHAR LOAD_NAME[16,24]
+LOAD_NAME[1,]=" "
+LOAD_NAME[2,]=" "
+LOAD_NAME[3,]=" "
+LOAD_NAME[4,]=" "
+LOAD_NAME[5,]=" "
+LOAD_NAME[6,]=" "
+LOAD_NAME[7,]=" "
+LOAD_NAME[8,]=" "
+LOAD_NAME[9,]=" "
+LOAD_NAME[10,]=" "
+LOAD_NAME[11,]=" "
+LOAD_NAME[12,]=" "
+LOAD_NAME[13,]=" "
+LOAD_NAME[14,]=" "
+LOAD_NAME[15,]=" "
+LOAD_NAME[16,]=" "
+
+DECL LDD_MODE_T LOAD_MODE[16]
+LOAD_MODE[1]=#MANUAL
+LOAD_MODE[2]=#NONE
+LOAD_MODE[3]=#NONE
+LOAD_MODE[4]=#NONE
+LOAD_MODE[5]=#NONE
+LOAD_MODE[6]=#NONE
+LOAD_MODE[7]=#NONE
+LOAD_MODE[8]=#NONE
+LOAD_MODE[9]=#NONE
+LOAD_MODE[10]=#NONE
+LOAD_MODE[11]=#NONE
+LOAD_MODE[12]=#NONE
+LOAD_MODE[13]=#NONE
+LOAD_MODE[14]=#NONE
+LOAD_MODE[15]=#NONE
+LOAD_MODE[16]=#NONE
+
+DECL LDD_RESULT_T LOAD_RESULT[16]
+LOAD_RESULT[1]=#NONE
+LOAD_RESULT[2]=#NONE
+LOAD_RESULT[3]=#NONE
+LOAD_RESULT[4]=#NONE
+LOAD_RESULT[5]=#NONE
+LOAD_RESULT[6]=#NONE
+LOAD_RESULT[7]=#NONE
+LOAD_RESULT[8]=#NONE
+LOAD_RESULT[9]=#NONE
+LOAD_RESULT[10]=#NONE
+LOAD_RESULT[11]=#NONE
+LOAD_RESULT[12]=#NONE
+LOAD_RESULT[13]=#NONE
+LOAD_RESULT[14]=#NONE
+LOAD_RESULT[15]=#NONE
+LOAD_RESULT[16]=#NONE
+
+DECL IPO_M_T TOOL_TYPE[16]
+TOOL_TYPE[1]=#BASE
+TOOL_TYPE[2]=#NONE
+TOOL_TYPE[3]=#NONE
+TOOL_TYPE[4]=#NONE
+TOOL_TYPE[5]=#NONE
+TOOL_TYPE[6]=#NONE
+TOOL_TYPE[7]=#NONE
+TOOL_TYPE[8]=#NONE
+TOOL_TYPE[9]=#NONE
+TOOL_TYPE[10]=#NONE
+TOOL_TYPE[11]=#NONE
+TOOL_TYPE[12]=#NONE
+TOOL_TYPE[13]=#NONE
+TOOL_TYPE[14]=#NONE
+TOOL_TYPE[15]=#NONE
+TOOL_TYPE[16]=#NONE
+
+DECL LOAD LOAD_A1_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+DECL LOAD LOAD_A2_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+DECL LOAD LOAD_A3_DATA={M -1.00000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
+
+INT MAX_BASE=32
+DECL FRAME BASE_DATA[32]
+BASE_DATA[1]={X 823.726135,Y -1331.62146,Z 626.088379,A -0.308851,B 0.00167013647,C -0.0266715586}
+BASE_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[5]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[6]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[7]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[8]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[9]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[10]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[11]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[12]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[13]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[14]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[15]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[16]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[17]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[18]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[19]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[20]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[21]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[22]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[23]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[24]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[25]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[26]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[27]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[28]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[29]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[30]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[31]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+
+DECL CHAR BASE_NAME[32,24]
+BASE_NAME[1,]=" "
+BASE_NAME[2,]=" "
+BASE_NAME[3,]=" "
+BASE_NAME[4,]=" "
+BASE_NAME[5,]=" "
+BASE_NAME[6,]=" "
+BASE_NAME[7,]=" "
+BASE_NAME[8,]=" "
+BASE_NAME[9,]=" "
+BASE_NAME[10,]=" "
+BASE_NAME[11,]=" "
+BASE_NAME[12,]=" "
+BASE_NAME[13,]=" "
+BASE_NAME[14,]=" "
+BASE_NAME[15,]=" "
+BASE_NAME[16,]=" "
+BASE_NAME[17,]=" "
+BASE_NAME[18,]=" "
+BASE_NAME[19,]=" "
+BASE_NAME[20,]=" "
+BASE_NAME[21,]=" "
+BASE_NAME[22,]=" "
+BASE_NAME[23,]=" "
+BASE_NAME[24,]=" "
+BASE_NAME[25,]=" "
+BASE_NAME[26,]=" "
+BASE_NAME[27,]=" "
+BASE_NAME[28,]=" "
+BASE_NAME[29,]=" "
+BASE_NAME[30,]=" "
+BASE_NAME[31,]=" "
+BASE_NAME[32,]=" "
+
+DECL IPO_M_T BASE_TYPE[32]
+BASE_TYPE[1]=#NONE
+BASE_TYPE[2]=#NONE
+BASE_TYPE[3]=#NONE
+BASE_TYPE[4]=#NONE
+BASE_TYPE[5]=#NONE
+BASE_TYPE[6]=#NONE
+BASE_TYPE[7]=#NONE
+BASE_TYPE[8]=#NONE
+BASE_TYPE[9]=#NONE
+BASE_TYPE[10]=#NONE
+BASE_TYPE[11]=#NONE
+BASE_TYPE[12]=#NONE
+BASE_TYPE[13]=#NONE
+BASE_TYPE[14]=#NONE
+BASE_TYPE[15]=#NONE
+BASE_TYPE[16]=#NONE
+BASE_TYPE[17]=#NONE
+BASE_TYPE[18]=#NONE
+BASE_TYPE[19]=#NONE
+BASE_TYPE[20]=#NONE
+BASE_TYPE[21]=#NONE
+BASE_TYPE[22]=#NONE
+BASE_TYPE[23]=#NONE
+BASE_TYPE[24]=#NONE
+BASE_TYPE[25]=#NONE
+BASE_TYPE[26]=#NONE
+BASE_TYPE[27]=#NONE
+BASE_TYPE[28]=#NONE
+BASE_TYPE[29]=#NONE
+BASE_TYPE[30]=#NONE
+BASE_TYPE[31]=#NONE
+BASE_TYPE[32]=#NONE
+
+;******************************************
+; Variables for CELL DEFINITION
+;******************************************
+
+INT MAX_MACHINES=16
+DECL MACHINE_DEF_T MACHINE_DEF[16]
+MACHINE_DEF[1]={NAME[] "KR 120 R3100-2",COOP_KRC_INDEX 1,PARENT[] "WORLD",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #ROBOT,GEOMETRY[] "ObjectId = 1232261811"}
+MACHINE_DEF[2]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[3]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[4]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[5]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[6]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[7]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[8]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[9]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[10]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[11]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[12]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[13]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[14]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[15]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+MACHINE_DEF[16]={NAME[] " ",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #NONE,GEOMETRY[] " "}
+
+DECL MACHINE_TOOL_T MACHINE_TOOL_DAT[16]
+MACHINE_TOOL_DAT[1]={MACH_DEF_INDEX 1,PARENT[] "KR 120 R3100-2",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+
+DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32]
+MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[5]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[6]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[7]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[8]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[9]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[10]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[11]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[12]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[13]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[14]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[17]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[18]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[19]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[20]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[21]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[22]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[23]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[24]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[25]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[26]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[27]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[28]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[29]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[30]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[31]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[32]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+
+;******************************************
+; Variables for axis CALIBRATING
+;******************************************
+DECL INT CAL_AXIS
+BOOL CONST_SPEED
+
+;******************************************
+; Variables for added TechPackages
+;******************************************
+INT POWER
+
+;******************************************
+; General purpose return value of functions
+; like INVERSE, FORWARD
+;******************************************
+INT ERR_STATUS=-1
+
+;******************************************
+; Variables for TOUCHUP user limit 
+;******************************************
+BOOL UM_TOUCHUP=FALSE
+REAL CARTESIAN_TOL=5.00000
+REAL ROTATION_ANGLE=10.0000
+REAL EXTAX_TOL[6]
+EXTAX_TOL[1]=10.0000
+EXTAX_TOL[2]=10.0000
+EXTAX_TOL[3]=10.0000
+EXTAX_TOL[4]=10.0000
+EXTAX_TOL[5]=10.0000
+EXTAX_TOL[6]=10.0000
+
+;******************************************
+; Variables for Displaying and Konfiguring
+;******************************************
+DECL INT I[20]
+
+I[1]=0
+I[2]=0
+I[3]=0
+I[4]=0
+I[5]=0
+I[6]=0
+I[7]=0
+I[8]=0
+I[9]=0
+I[10]=0
+I[11]=0
+I[12]=0
+I[13]=0
+I[14]=0
+I[15]=0
+I[16]=0
+I[17]=0
+I[18]=0
+I[19]=0
+I[20]=0
+
+;******************************************
+; Variables for Tracing
+;******************************************
+DECL TRACECACHE_T TRACE_CACHE[10]
+TRACE_CACHE[1]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[2]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[3]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[4]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[5]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[6]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[7]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[8]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[9]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+TRACE_CACHE[10]={NAME[] " ",ACT_ITER 0,MAX_ITER 1}
+
+DECL INT TraceOverflowIndex=1
+
+;******************************************
+; all for InterBus Mapping on optional segments
+;******************************************
+
+DECL INT IBUS_SEGMENT[16]
+IBUS_SEGMENT[1]=0
+IBUS_SEGMENT[2]=0
+IBUS_SEGMENT[3]=0
+IBUS_SEGMENT[4]=0
+IBUS_SEGMENT[5]=0
+IBUS_SEGMENT[6]=0
+IBUS_SEGMENT[7]=0
+IBUS_SEGMENT[8]=0
+IBUS_SEGMENT[9]=0
+IBUS_SEGMENT[10]=0
+IBUS_SEGMENT[11]=0
+IBUS_SEGMENT[12]=0
+IBUS_SEGMENT[13]=0
+IBUS_SEGMENT[14]=0
+IBUS_SEGMENT[15]=0
+IBUS_SEGMENT[16]=0
+
+;******************************************
+; Reduction factors
+;******************************************
+DECL REAL RedVelExAx[6]
+RedVelExAx[1]=100.000
+RedVelExAx[2]=100.000
+RedVelExAx[3]=100.000
+RedVelExAx[4]=100.000
+RedVelExAx[5]=100.000
+RedVelExAx[6]=100.000
+DECL REAL RedAccExAx[6]
+RedAccExAx[1]=100.000
+RedAccExAx[2]=100.000
+RedAccExAx[3]=100.000
+RedAccExAx[4]=100.000
+RedAccExAx[5]=100.000
+RedAccExAx[6]=100.000
+
+;******************************************
+; Joint offset
+;******************************************
+STRUC JOINT_DEVICE_T CHAR NAME[39],REAL OFFSET,INT AXIS_INDEX
+DECL JOINT_DEVICE_T JOINT_DEVICE[32]
+JOINT_DEVICE[1]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[2]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[3]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[4]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[5]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[6]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[7]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[8]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[9]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[10]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[11]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[12]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[13]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[14]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[15]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[16]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[17]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[18]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[19]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[20]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[21]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[22]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[23]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[24]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[25]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[26]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[27]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[28]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[29]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[30]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[31]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+JOINT_DEVICE[32]={NAME[] " ",OFFSET 0.0,AXIS_INDEX -1}
+
+DECL INT JOINT_DEVICE_INDEX[32]
+JOINT_DEVICE_INDEX[1]=-1
+JOINT_DEVICE_INDEX[2]=-1
+JOINT_DEVICE_INDEX[3]=-1
+JOINT_DEVICE_INDEX[4]=-1
+JOINT_DEVICE_INDEX[5]=-1
+JOINT_DEVICE_INDEX[6]=-1
+JOINT_DEVICE_INDEX[7]=-1
+JOINT_DEVICE_INDEX[8]=-1
+JOINT_DEVICE_INDEX[9]=-1
+JOINT_DEVICE_INDEX[10]=-1
+JOINT_DEVICE_INDEX[11]=-1
+JOINT_DEVICE_INDEX[12]=-1
+JOINT_DEVICE_INDEX[13]=-1
+JOINT_DEVICE_INDEX[14]=-1
+JOINT_DEVICE_INDEX[15]=-1
+JOINT_DEVICE_INDEX[16]=-1
+JOINT_DEVICE_INDEX[17]=-1
+JOINT_DEVICE_INDEX[18]=-1
+JOINT_DEVICE_INDEX[19]=-1
+JOINT_DEVICE_INDEX[20]=-1
+JOINT_DEVICE_INDEX[21]=-1
+JOINT_DEVICE_INDEX[22]=-1
+JOINT_DEVICE_INDEX[23]=-1
+JOINT_DEVICE_INDEX[24]=-1
+JOINT_DEVICE_INDEX[25]=-1
+JOINT_DEVICE_INDEX[26]=-1
+JOINT_DEVICE_INDEX[27]=-1
+JOINT_DEVICE_INDEX[28]=-1
+JOINT_DEVICE_INDEX[29]=-1
+JOINT_DEVICE_INDEX[30]=-1
+JOINT_DEVICE_INDEX[31]=-1
+JOINT_DEVICE_INDEX[32]=-1
+BOOL bJointOffsetHasBeenSet=FALSE
+INT iLastAxisNo=0
+
+ENUM TIMER_ACTIONTYPE TimerStart,TimerStop,TimeOut
+BOOL EasyTeachKeepOriWarning=FALSE
+INT EasyTeachKeepOriHandle=0
+;ENDFOLD (BASISTECH GLOBALS)
+;FOLD AUTOEXT GLOBALS
+;==================================
+; Structures:
+;==================================
+ENUM FUNCT_TYPE PGNO_GET,PGNO_ACKN,PGNO_FAULT
+ENUM P00_COMMAND INIT_EXT,EXT_PGNO,CHK_HOME,EXT_ERR
+
+STRUC SPS_PROG_TYPE INT PROG_NR,CHAR PROG_NAME[12]
+;==================================
+; External declarations:
+;==================================
+EXT  P00 (P00_COMMAND  :IN,FUNCT_TYPE  :IN,CHAR [] :OUT,INT  :IN )
+;External declaration  for  Submit controlled AutoExt
+EXT  P00_SUBM (P00_COMMAND  :IN,FUNCT_TYPE  :IN )
+
+;==================================
+; Variables:
+;==================================
+; Variables for internal
+; Communication:
+;----------------------------------
+BOOL ERROR_FLAG
+BOOL CHECK_HOME=TRUE
+BOOL PROG_CONTROL=FALSE
+DECL CHAR PRO_NAME1_L[8]
+PRO_NAME1_L[]="        "
+DECL CHAR PRO_NAME1_A[8]
+PRO_NAME1_A[]="        "
+
+INT PGNO=0 ;copy of ext. pgno
+INT PGNO_ERROR=0 ;transmission error
+INT PGNO_TYPE=1 ;coding type of ext. pgno
+INT REFLECT_PROG_NR=0 ; enable mirroring of program number inputs (1=enabled, 0=disabled)
+
+; Variables for External 
+; Communication: I/O-Interface
+;----------------------------------
+INT PGNO_FBIT=9 ;first bit of ext. pgno input $IN[]
+INT PGNO_FBIT_REFL=999 ;first bit of ext. pgno reflection output $OUT[]
+INT PGNO_LENGTH=8 ;length of ext. pgno (max. 16)
+INT PGNO_PARITY=1 ;parity bit of ext. pgno
+INT PGNO_REQ=6 ;request ext. pgno input
+INT PGNO_VALID=2 ;validate ext. pgno input
+INT APPL_RUN=7 ;application program is running output
+INT ERR_TO_PLC=35 ;error output to PLC
+INT P01_STEP
+INT CHK_STEP
+INT PGNO_FLAG
+
+; Table for assign SPS program number to program name
+INT MAX_SPS_PROG=12
+DECL SPS_PROG_TYPE SPS_PROG[12]
+SPS_PROG[1]={PROG_NR 1,PROG_NAME[] "HP01()    "}
+SPS_PROG[2]={PROG_NR 2,PROG_NAME[] "HP02()    "}
+SPS_PROG[3]={PROG_NR 3,PROG_NAME[] "HP03()    "}
+SPS_PROG[4]={PROG_NR 4,PROG_NAME[] "HP04()    "}
+SPS_PROG[5]={PROG_NR 5,PROG_NAME[] "HP05()    "}
+SPS_PROG[6]={PROG_NR 6,PROG_NAME[] "HP06()    "}
+SPS_PROG[7]={PROG_NR 7,PROG_NAME[] "HP07()    "}
+SPS_PROG[8]={PROG_NR 8,PROG_NAME[] "HP08()    "}
+SPS_PROG[9]={PROG_NR 9,PROG_NAME[] "HP09()    "}
+SPS_PROG[10]={PROG_NR 10,PROG_NAME[] "HP10()    "}
+SPS_PROG[11]={PROG_NR 62,PROG_NAME[] "HP62()    "}
+SPS_PROG[12]={PROG_NR 63,PROG_NAME[] "HP63()    "}
+DECL CHAR TMPNAME[128]
+TMPNAME[]="                                "
+;ENDFOLD (AUTOEXT GLOBALS)
+;FOLD BackupManagerConfig
+BOOL BM_ENABLED
+INT BM_OUTPUTVALUE
+SIGNAL BM_OutputSignal $OUT[4095]  TO $OUT[4096]
+SIGNAL BM_InputSignal $IN[1026]  TO $IN[1026]
+;ENDFOLD BackupManagerConfig
+;FOLD Conveyor
+DECL INT CONV_PART_NBR[16]
+CONV_PART_NBR[1]=0
+CONV_PART_NBR[2]=0
+CONV_PART_NBR[3]=0
+CONV_PART_NBR[4]=0
+CONV_PART_NBR[5]=0
+CONV_PART_NBR[6]=0
+CONV_PART_NBR[7]=0
+CONV_PART_NBR[8]=0
+CONV_PART_NBR[9]=0
+CONV_PART_NBR[10]=0
+CONV_PART_NBR[11]=0
+CONV_PART_NBR[12]=0
+CONV_PART_NBR[13]=0
+CONV_PART_NBR[14]=0
+CONV_PART_NBR[15]=0
+CONV_PART_NBR[16]=0
+
+ENUM CONV_MODE_TYPE Absolute,Relative
+DECL CONV_MODE_TYPE ActualConveyorMode=#Relative
+;ENDFOLD Conveyor
+;FOLD USER GLOBALS
+;*******************************************
+;Make your modifications -ONLY- here
+;*******************************************
+;==================================
+; Userdefined Types 
+;==================================
+
+;==================================
+; Userdefined Externals 
+;==================================
+
+;==================================
+; Userdefined Variables 
+;==================================
+
+;ENDFOLD (USER GLOBALS)
+ENDDAT

KUKA/KRC/R1/System/Global_Points.dat

@@ -0,0 +1,5 @@
+&ACCESS R
+&COMMENT global points
+DEFDAT  GLOBAL_POINTS PUBLIC
+
+ENDDAT

KUKA/KRC/R1/System/MqttConfig.dat

@@ -0,0 +1,12 @@
+&ACCESS RV
+DEFDAT  MqttConfig PUBLIC
+
+; Publisher IP address for KukaConnect data-set configuration.
+; Should either start with "mqtt://" or "mqtts://".
+GLOBAL CHAR KUKACONNECT_BROKERIP[100]
+KUKACONNECT_BROKERIP[]="mqtts://broker-ip:8883"
+
+; Publisher for KukaConnect data-set only starts if enabled.
+GLOBAL BOOL KUKACONNECT_ENABLED=FALSE; 
+
+ENDDAT

KUKA/KRC/R1/System/MsgLib.dat

@@ -0,0 +1,7 @@
+&ACCESS R1
+&COMMENT Message library
+DEFDAT  MsgLib PUBLIC
+
+DECL INT lnHandle=0
+
+ENDDAT 

KUKA/KRC/R1/System/MsgLib.src

@@ -0,0 +1,753 @@
+&ACCESS R1
+&COMMENT Message library
+DEF  MsgLib ( )
+;**************************************************
+;Creation Date: 7.12.2007
+;Change:  23.06.2012 additional properties possible 
+;         for logging and advance stop control
+;**************************************************
+;FOLD Interfaces and message examples within this fold
+;----------Global subroutines and functions: -------
+
+;MsgNotify(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+;MsgNotifyTextPar(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, sTextPar2[]:IN, nMsgNr:IN,MsgOpt:IN)
+;MsgQuit(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+;MsgState(nHandle:OUT, sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+;MsgLoop(sText[]:IN,sModul[]:IN)
+;MsgDialog(nAnswer:OUT,sText[]:IN,sModul[]:IN,sTextPar[]:IN,sDialogSK1[]:IN,sDialogSK2[]:IN,sDialogSK3[]:IN,sDialogSK4[]:IN,sDialogSK5[]:IN,sDialogSK6[]:IN,sDialogSK7[]:IN,NoBrakes:IN, nMsgNr:IN,MsgOpt:IN)
+
+;----------Explainations for parameters: -----------
+
+;CHAR sText[]  message text or message DB-key (80 chars)
+;CHAR sModul[] (option) modulname or key (24 char)
+;INT nNumPar   (option)numeric value inserted in sText[] at the position %1
+;CHAR sTextPar[] (option)text or message DB-key inserted in sText[] at the position %1 (26 char)
+;MsgOpt          (option) Structure KrlMsgOpt_T  BOOL VL_Stop,Clear_P_Reset,Log_To_DB
+;                (option) VL_Stop=TRUE    => Creates an advance stop | FALSE avoids this behavior
+;                (option) Clear_P_Reset=TRUE (Default) deletes Messages at program reset / cancelled
+;                (option) Log_To_DB=TRUE => entry into logbook => enfluence to system performance
+
+;----------Examples: -------------------------------
+
+;MsgNotifyTextPar("Error", "CrossMeld", 0, "Error message 1", "Error message 2", 511)
+;MsgNotify("this is a notify message")
+;MsgQuit("this is a quit message", "myMod")
+;MsgQuit("this is a quit message", "myMod",,,12345)
+;INT myInt=123
+;MsgQuit("this is the %1 quit message", "Module", myInt)
+;MsgNotify("this is a %1 notify message", "Tech", , "asd")
+;MsgLoop("this is the loop message")
+;MsgLoop(" "); cancels loop message
+;MsgDialog(DialogAnswer, "DBKEY" OR "dialog message", "Module", "TextPar for %1 in DBKey", "DialogKey1", "DialogKey2", "DialogKey3",,,,,,12345) 
+;MsgDialog(DialogAnswer, "StartPTP", "CrossMeld", "Achse 3", "YES", "NO", "Cancel") 
+;MsgNotifyTextPar("DBKEY" OR "notify message", "Module", 0 OR >0, "TextPar for %1", "TextPar for %2")
+;nNumPar = 0: TextPar will be send as %1 %2  nNumPar > 0: nNumPar will be send as %1
+;ENDFOLD
+END
+;***************************
+;Execution of notify message
+;***************************
+GLOBAL DEF MsgNotify(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+DECL CHAR sText[], sModul[], sTextPar[]   
+DECL KrlMsg_T Msg
+DECL KrlMsgParType_T MsgParType
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt ;Bool-elements: VL_Stop,Clear_P_Reset,Log_To_DB
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL State_T State
+DECL INT count, len, offset, nNumPar, nHandle, nMsgNr
+
+  ;Default Values: MsgOpt={ VL_Stop TRUE, Clear_P_Reset TRUE, Log_To_DB False }
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+  
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+    IF len>80 THEN
+      len=80
+    ENDIF
+    FOR count=1 TO len
+      Msg.Msg_txt[count]=sText[count]
+    ENDFOR
+  ELSE
+    Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+    IF len>24 THEN
+      len=24
+    ENDIF
+    FOR count=1 TO len
+      Msg.Modul[count]=sModul[count]
+    ENDFOR
+  ELSE
+    Msg.Modul[]="Appl" 
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  offset=nNumPar
+  IF  $ERR.Number==0 THEN
+    offset=0
+    MsgPar[1].Par_Txt[]=" "
+    SWRITE(MsgPar[1].Par_Txt[], State, Offset, "%d", nNumPar)
+    MsgPar[1].Par_type=#Value
+  ELSE
+    ERR_CLEAR($ERR)
+    ON_ERROR_PROCEED
+    len=STRLEN(sTextPar[])
+    IF len>0 THEN
+      IF len>26 THEN
+        len=26
+      ENDIF
+      FOR count=1 TO len
+        MsgPar[1].Par_Txt[count]=sTextPar[count]
+      ENDFOR
+      MsgPar[1].Par_type=#Value 
+    ENDIF
+  ENDIF
+
+  nHandle=Set_KrlMsg (#NOTIFY, Msg, MsgPar[], MsgOpt)
+  
+END ;(MsgNotify)
+;*****************************
+;Execution of the quit message
+;*****************************
+GLOBAL DEF MsgQuit(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+DECL CHAR sText[], sModul[], sTextPar[]  
+DECL KrlMsg_T Msg
+DECL KrlMsgParType_T MsgParType
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL State_T State
+DECL INT count, len, offset, nNumPar, nHandle, nMsgNr
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+    IF len>80 THEN
+      len=80
+    ENDIF
+    FOR count=1 TO len
+      Msg.Msg_txt[count]=sText[count]
+    ENDFOR
+  ELSE
+    Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+    IF len>24 THEN
+      len=24
+    ENDIF
+    FOR count=1 TO len
+      Msg.Modul[count]=sModul[count]
+    ENDFOR
+  ELSE
+    Msg.Modul[]="Appl" 
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  offset=nNumPar
+  IF  $ERR.Number==0 THEN
+    offset=0
+    MsgPar[1].Par_Txt[]=" "
+    SWRITE(MsgPar[1].Par_Txt[], State, offset, "%d", nNumPar)
+    MsgPar[1].Par_type=#Value
+  ELSE
+    ERR_CLEAR($ERR)
+    len=STRLEN(sTextPar[])
+    IF len>0 THEN
+      IF len>26 THEN
+        len=26
+      ENDIF
+      FOR count=1 TO len
+        MsgPar[1].Par_Txt[count]=sTextPar[count]
+      ENDFOR
+      MsgPar[1].Par_type=#Value 
+    ENDIF
+  ENDIF
+
+  nHandle=Set_KrlMsg (#QUIT, Msg, MsgPar[], MsgOpt)
+  
+  WHILE ( Exists_KrlMsg(nHandle) ) 
+    WAIT sec 0.1
+  ENDWHILE
+
+END ;(MsgQuit)
+;******************************
+;Execution of the state message
+;******************************
+GLOBAL DEF MsgState(nHandle:OUT, sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, nMsgNr:IN,MsgOpt:IN)
+DECL CHAR sText[], sModul[], sTextPar[]  
+DECL KrlMsg_T Msg
+DECL KrlMsgParType_T MsgParType
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL State_T State
+DECL INT count, len, offset, nNumPar, nHandle, nMsgNr
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+    IF len>80 THEN
+      len=80
+    ENDIF
+    FOR count=1 TO len
+      Msg.Msg_txt[count]=sText[count]
+    ENDFOR
+  ELSE
+    Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+    IF len>24 THEN
+      len=24
+    ENDIF
+    FOR count=1 TO len
+      Msg.Modul[count]=sModul[count]
+    ENDFOR
+  ELSE
+    Msg.Modul[]="Appl" 
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  offset=nNumPar
+  IF  $ERR.Number==0 THEN
+    offset=0
+    MsgPar[1].Par_Txt[]=" "
+    SWRITE(MsgPar[1].Par_Txt[], State, offset, "%d", nNumPar)
+    MsgPar[1].Par_type=#Value
+  ELSE
+    ERR_CLEAR($ERR)
+    len=STRLEN(sTextPar[])
+    IF len>0 THEN
+      IF len>26 THEN
+        len=26
+      ENDIF
+      FOR count=1 TO len
+        MsgPar[1].Par_Txt[count]=sTextPar[count]
+      ENDFOR
+      MsgPar[1].Par_type=#Value 
+    ENDIF
+  ENDIF
+
+  nHandle=Set_KrlMsg (#STATE, Msg, MsgPar[], MsgOpt)
+
+END ;(MsgState)
+;***************************
+;Execution of  loop message
+;***************************
+GLOBAL DEF MsgLoop(sText[]:IN,sModul[]:IN)
+DECL CHAR sText[], sModul[]
+DECL CHAR sMsg[80]
+DECL CHAR sMod[24]
+DECL INT count,len
+
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+    IF len>80 THEN
+      len=80
+    ENDIF
+    FOR count=1 TO len
+      sMsg[count]=sText[count]
+    ENDFOR
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+    IF len>24 THEN
+      len=24
+    ENDIF
+    FOR count=1 TO len
+      sMod[count]=sModul[count]
+    ENDFOR
+  ELSE
+    sMod[]="Appl" 
+  ENDIF
+  IF  (STRLEN(sMsg[])>0) THEN
+    IF lnHandle>0 THEN
+      WAIT FoR Clear_KrlMsg (lnHandle) OR TRUE
+      lnHandle=0
+    ENDIF
+    FOR count=1 TO STRLEN(sMsg[])
+      IF sMsg[count]<>" " THEN
+        MsgState(lnHandle, sMsg[], sMod[])
+      EXIT
+      ENDIF
+    ENDFOR  
+  ENDIF
+END ;(MsgLoop)
+;*************************************************
+;Execution of dialog message
+;parameter NoBrakes: Robot leaves brakes open
+;*************************************************
+GLOBAL DEF MsgDialog(nAnswer:OUT,sText[]:IN,sModul[]:IN,sTextPar[]:IN,sDialogSK1[]:IN,sDialogSK2[]:IN,sDialogSK3[]:IN,sDialogSK4[]:IN,sDialogSK5[]:IN,sDialogSK6[]:IN,sDialogSK7[]:IN,NoBrakes:IN, nMsgNr:IN,MsgOpt:IN)
+DECL KrlMsg_T Msg
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL KrlMsgDlgSK_T Msg_SOFTKEY[7]
+DECL INT count, len, nHandle, nAnswer, nMsgNr
+DECL BOOL NoBrakes
+DECL CHAR sText[], sModul[], sTextPar[], sDialogSK1[], sDialogSK2[], sDialogSK3[], sDialogSK4[], sDialogSK5[], sDialogSK6[], sDialogSK7[]
+DECL CHAR sMsg[80]
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+    IF len>80 THEN
+      len=80
+    ENDIF
+    FOR count=1 TO len
+      Msg.Msg_txt[count]=sText[count]
+    ENDFOR
+  ELSE
+    Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+    IF len>24 THEN
+      len=24
+    ENDIF
+    FOR count=1 TO len
+      Msg.Modul[count]=sModul[count]
+    ENDFOR
+  ELSE
+    Msg.Modul[]="Appl" 
+  ENDIF
+
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK1[])
+  IF  $ERR.Number==0 THEN
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[7].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[7].Sk_txt[count] = sDialogSK1[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[7].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK2[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK2[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[6].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[6].Sk_txt[count] = sDialogSK2[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[6].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK3[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK3[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[5].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[5].Sk_txt[count] = sDialogSK3[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[5].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK4[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK4[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[4].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[4].Sk_txt[count] = sDialogSK4[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[4].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK5[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK5[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[3].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[3].Sk_txt[count] = sDialogSK5[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[3].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK6[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK6[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[2].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[2].Sk_txt[count] = sDialogSK6[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[2].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  len=STRLEN(sDialogSK7[])
+  IF  $ERR.Number==0 THEN
+    len=STRLEN(sDialogSK7[])
+    IF len > 0 THEN
+      IF len>24 THEN
+        len=24
+      ENDIF
+      Msg_SOFTKEY[1].Sk_Type = #KEY
+      FOR count=1 TO len
+        Msg_SOFTKEY[1].Sk_txt[count] = sDialogSK7[count]
+      ENDFOR
+    ENDIF
+  ELSE
+      FOR count=1 TO 24
+        Msg_SOFTKEY[1].Sk_txt[count] = " "
+      ENDFOR
+  ENDIF
+  len=STRLEN(sTextPar[])
+  IF  len>0 THEN
+    IF len>26 THEN
+      len=26
+    ENDIF
+    FOR count=1 TO len
+      MsgPar[1].Par_Txt[count]=sTextPar[count]
+    ENDFOR
+    MsgPar[1].Par_type=#Value 
+  ENDIF
+    
+  nHandle=SET_KRLDLG(Msg, MsgPar[], Msg_SOFTKEY[], MsgOpt)
+
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  NoBrakes=NoBrakes
+  IF  NOT($ERR.Number==0) THEN
+    NoBrakes=FALSE
+  ENDIF
+  IF (nHandle > 0) THEN
+     WHILE (Exists_KrlDlg(nHandle, nAnswer))
+        WAIT SEC 0.5
+        IF NoBrakes THEN
+          PTP $AXIS_ACT
+        ENDIF
+     ENDWHILE
+  ENDIF
+END ;(MsgDialog)
+;*************************************************
+;Execution of notify message with text parameter
+;*************************************************
+GLOBAL DEF MsgNotifyTextPar(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, sTextPar2[]:IN, nMsgNr:IN,MsgOpt:IN)
+DECL CHAR sText[], sModul[], sTextPar[], sTextPar2[]
+DECL KrlMsg_T Msg
+DECL EKrlMsgType MsgType
+DECL KrlMsgParType_T MsgParType
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL State_T State
+DECL INT count, len, offset, nNumPar, nHandle, nMsgNr
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+
+  MsgType=#Notify
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+   IF len>80 THEN
+     len=80
+   ENDIF
+   FOR count=1 TO len
+     Msg.Msg_txt[count]=sText[count]
+   ENDFOR
+  ELSE
+   Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+   IF len>24 THEN
+     len=24
+   ENDIF
+   FOR count=1 TO len
+     Msg.Modul[count]=sModul[count]
+   ENDFOR
+  ELSE
+   Msg.Modul[]="Appl" 
+  ENDIF
+  offset=nNumPar
+  IF  nNumPar==0 THEN
+    ; 1st Parameter
+    len=STRLEN(sTextPar[])
+    IF len>0 THEN
+       IF len>26 THEN
+          len=26
+       ENDIF
+       FOR count=1 TO len
+          MsgPar[1].Par_Txt[count]=sTextPar[count]
+       ENDFOR
+       MsgPar[1].Par_type=#Value 
+    ENDIF  
+    ; 2nd Parameter
+    len=STRLEN(sTextPar2[])
+    IF len>0 THEN
+       IF len>26 THEN
+          len=26
+       ENDIF
+       FOR count=1 TO len
+          MsgPar[2].Par_Txt[count]=sTextPar2[count]
+       ENDFOR
+       MsgPar[2].Par_type=#Value 
+    ENDIF  
+  ELSE
+    offset=0
+    MsgPar[1].Par_Txt[]=" "
+    SWRITE(MsgPar[1].Par_Txt[], State, Offset, "%d", nNumPar)
+    MsgPar[1].Par_type=#Value
+  ENDIF
+
+  nHandle=Set_KrlMsg (MsgType, Msg, MsgPar[], MsgOpt)
+
+END ;(MsgNotifyTextPar)
+
+;*************************************************
+;Execution of quit message with text parameter
+;*************************************************
+GLOBAL DEF MsgQuitTextPar(sText[]:IN, sModul[]:IN, nNumPar:IN, sTextPar[]:IN, sTextPar2[]:IN, nMsgNr:IN,MsgOpt:IN)
+DECL CHAR sText[], sModul[], sTextPar[], sTextPar2[]
+DECL KrlMsg_T Msg
+DECL EKrlMsgType MsgType
+DECL KrlMsgParType_T MsgParType
+DECL KrlMsgPar_T MsgPar[3]
+DECL KrlMsgOpt_T MsgOpt
+DECL KrlMsgOpt_T DummyMsgOpt
+DECL State_T State
+DECL INT count, len, offset, nNumPar, nHandle, nMsgNr
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt=MsgOpt
+  
+  IF ($ERR.Number<>0) THEN
+    MsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+    MsgOpt.Clear_P_Reset=TRUE
+    MsgOpt.Log_To_DB=FALSE
+    ERR_CLEAR($ERR)
+  ELSE
+    ERR_RAISE($ERR)
+  ENDIF
+  
+  ;Creates default values in case of none availability
+  MsgOpt=CheckOfMsgOpt(MsgOpt)
+
+  MsgType=#QUIT
+  Msg.Nr=1
+  ERR_CLEAR($ERR)
+  ON_ERROR_PROCEED
+  Msg.Nr=nMsgNr
+  len=STRLEN(sText[])
+  IF  len>0 THEN
+   IF len>80 THEN
+     len=80
+   ENDIF
+   FOR count=1 TO len
+     Msg.Msg_txt[count]=sText[count]
+   ENDFOR
+  ELSE
+   Msg.Msg_txt[]="parameter sText[] is missing"
+  ENDIF
+  len=STRLEN(sModul[])
+  IF  len>0 THEN
+   IF len>24 THEN
+     len=24
+   ENDIF
+   FOR count=1 TO len
+     Msg.Modul[count]=sModul[count]
+   ENDFOR
+  ELSE
+   Msg.Modul[]="Appl" 
+  ENDIF
+  offset=nNumPar
+  IF  nNumPar==0 THEN
+    ; 1st Parameter
+    len=STRLEN(sTextPar[])
+    IF len>0 THEN
+       IF len>26 THEN
+          len=26
+       ENDIF
+       FOR count=1 TO len
+          MsgPar[1].Par_Txt[count]=sTextPar[count]
+       ENDFOR
+       MsgPar[1].Par_type=#Value 
+    ENDIF  
+    ; 2nd Parameter
+    len=STRLEN(sTextPar2[])
+    IF len>0 THEN
+       IF len>26 THEN
+          len=26
+       ENDIF
+       FOR count=1 TO len
+          MsgPar[2].Par_Txt[count]=sTextPar2[count]
+       ENDFOR
+       MsgPar[2].Par_type=#Value 
+    ENDIF  
+  ELSE
+    offset=0
+    MsgPar[1].Par_Txt[]=" "
+    SWRITE(MsgPar[1].Par_Txt[], State, Offset, "%d", nNumPar)
+    MsgPar[1].Par_type=#Value
+  ENDIF
+
+  nHandle=Set_KrlMsg (MsgType, Msg, MsgPar[], MsgOpt)
+
+END ;(MsgQuitTextPar)
+
+;*****************************
+;* Check of missing elements *
+;*****************************
+DEFFCT KrlMsgOpt_T CheckOfMsgOpt(LocalMsgOpt:IN)
+DECL KrlMsgOpt_T LocalMsgOpt      ;Bool-elements: VL_Stop,Clear_P_Reset,Log_To_DB
+DECL KrlMsgOpt_T DummyMsgOpt
+
+  ;Default Values: MsgOpt={ VL_Stop TRUE, Clear_P_Reset TRUE, Log_To_DB False } 
+  
+  ON_ERROR_PROCEED 
+  DummyMsgOpt.VL_Stop=LocalMsgOpt.VL_Stop
+  IF ($ERR.Number<>0) THEN
+   LocalMsgOpt.VL_Stop=TRUE ;DEFAULT setting TRUE
+   ERR_CLEAR($ERR)
+  ENDIF
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt.Clear_P_Reset=LocalMsgOpt.Clear_P_Reset
+  IF ($ERR.Number<>0) THEN
+   LocalMsgOpt.Clear_P_Reset=TRUE ;DEFAULT setting TRUE
+   ERR_CLEAR($ERR)
+  ENDIF
+
+  ON_ERROR_PROCEED 
+  DummyMsgOpt.Log_To_DB=LocalMsgOpt.Log_To_DB
+  IF ($ERR.Number<>0) THEN
+   LocalMsgOpt.Log_To_DB=FALSE ;DEFAULT setting FALSE
+   ERR_CLEAR($ERR)
+  ENDIF
+
+  RETURN(LocalMsgOpt)
+  
+ENDFCT ;(CheckOfMsgOpt)

KUKA/KRC/R1/System/collmonlib.dat

@@ -0,0 +1,817 @@
+&ACCESS R1
+&COMMENT Collision monitoring library
+DEFDAT  COLLMONLIB PUBLIC
+;DO NOT MODIFY THIS FILE
+INT NUM_COLLMON_SETTINGS=30
+INT COLLMON_SETTING[30,12]
+COLLMON_SETTING[1,1]=150
+COLLMON_SETTING[1,2]=150
+COLLMON_SETTING[1,3]=150
+COLLMON_SETTING[1,4]=150
+COLLMON_SETTING[1,5]=150
+COLLMON_SETTING[1,6]=150
+COLLMON_SETTING[1,7]=150
+COLLMON_SETTING[1,8]=150
+COLLMON_SETTING[1,9]=150
+COLLMON_SETTING[1,10]=150
+COLLMON_SETTING[1,11]=150
+COLLMON_SETTING[1,12]=150
+COLLMON_SETTING[2,1]=150
+COLLMON_SETTING[2,2]=150
+COLLMON_SETTING[2,3]=150
+COLLMON_SETTING[2,4]=150
+COLLMON_SETTING[2,5]=150
+COLLMON_SETTING[2,6]=150
+COLLMON_SETTING[2,7]=150
+COLLMON_SETTING[2,8]=150
+COLLMON_SETTING[2,9]=150
+COLLMON_SETTING[2,10]=150
+COLLMON_SETTING[2,11]=150
+COLLMON_SETTING[2,12]=150
+COLLMON_SETTING[3,1]=150
+COLLMON_SETTING[3,2]=150
+COLLMON_SETTING[3,3]=150
+COLLMON_SETTING[3,4]=150
+COLLMON_SETTING[3,5]=150
+COLLMON_SETTING[3,6]=150
+COLLMON_SETTING[3,7]=150
+COLLMON_SETTING[3,8]=150
+COLLMON_SETTING[3,9]=150
+COLLMON_SETTING[3,10]=150
+COLLMON_SETTING[3,11]=150
+COLLMON_SETTING[3,12]=150
+COLLMON_SETTING[4,1]=150
+COLLMON_SETTING[4,2]=150
+COLLMON_SETTING[4,3]=150
+COLLMON_SETTING[4,4]=150
+COLLMON_SETTING[4,5]=150
+COLLMON_SETTING[4,6]=150
+COLLMON_SETTING[4,7]=150
+COLLMON_SETTING[4,8]=150
+COLLMON_SETTING[4,9]=150
+COLLMON_SETTING[4,10]=150
+COLLMON_SETTING[4,11]=150
+COLLMON_SETTING[4,12]=150
+COLLMON_SETTING[5,1]=150
+COLLMON_SETTING[5,2]=150
+COLLMON_SETTING[5,3]=150
+COLLMON_SETTING[5,4]=150
+COLLMON_SETTING[5,5]=150
+COLLMON_SETTING[5,6]=150
+COLLMON_SETTING[5,7]=150
+COLLMON_SETTING[5,8]=150
+COLLMON_SETTING[5,9]=150
+COLLMON_SETTING[5,10]=150
+COLLMON_SETTING[5,11]=150
+COLLMON_SETTING[5,12]=150
+COLLMON_SETTING[6,1]=150
+COLLMON_SETTING[6,2]=150
+COLLMON_SETTING[6,3]=150
+COLLMON_SETTING[6,4]=150
+COLLMON_SETTING[6,5]=150
+COLLMON_SETTING[6,6]=150
+COLLMON_SETTING[6,7]=150
+COLLMON_SETTING[6,8]=150
+COLLMON_SETTING[6,9]=150
+COLLMON_SETTING[6,10]=150
+COLLMON_SETTING[6,11]=150
+COLLMON_SETTING[6,12]=150
+COLLMON_SETTING[7,1]=150
+COLLMON_SETTING[7,2]=150
+COLLMON_SETTING[7,3]=150
+COLLMON_SETTING[7,4]=150
+COLLMON_SETTING[7,5]=150
+COLLMON_SETTING[7,6]=150
+COLLMON_SETTING[7,7]=150
+COLLMON_SETTING[7,8]=150
+COLLMON_SETTING[7,9]=150
+COLLMON_SETTING[7,10]=150
+COLLMON_SETTING[7,11]=150
+COLLMON_SETTING[7,12]=150
+COLLMON_SETTING[8,1]=150
+COLLMON_SETTING[8,2]=150
+COLLMON_SETTING[8,3]=150
+COLLMON_SETTING[8,4]=150
+COLLMON_SETTING[8,5]=150
+COLLMON_SETTING[8,6]=150
+COLLMON_SETTING[8,7]=150
+COLLMON_SETTING[8,8]=150
+COLLMON_SETTING[8,9]=150
+COLLMON_SETTING[8,10]=150
+COLLMON_SETTING[8,11]=150
+COLLMON_SETTING[8,12]=150
+COLLMON_SETTING[9,1]=150
+COLLMON_SETTING[9,2]=150
+COLLMON_SETTING[9,3]=150
+COLLMON_SETTING[9,4]=150
+COLLMON_SETTING[9,5]=150
+COLLMON_SETTING[9,6]=150
+COLLMON_SETTING[9,7]=150
+COLLMON_SETTING[9,8]=150
+COLLMON_SETTING[9,9]=150
+COLLMON_SETTING[9,10]=150
+COLLMON_SETTING[9,11]=150
+COLLMON_SETTING[9,12]=150
+COLLMON_SETTING[10,1]=150
+COLLMON_SETTING[10,2]=150
+COLLMON_SETTING[10,3]=150
+COLLMON_SETTING[10,4]=150
+COLLMON_SETTING[10,5]=150
+COLLMON_SETTING[10,6]=150
+COLLMON_SETTING[10,7]=150
+COLLMON_SETTING[10,8]=150
+COLLMON_SETTING[10,9]=150
+COLLMON_SETTING[10,10]=150
+COLLMON_SETTING[10,11]=150
+COLLMON_SETTING[10,12]=150
+COLLMON_SETTING[11,1]=150
+COLLMON_SETTING[11,2]=150
+COLLMON_SETTING[11,3]=150
+COLLMON_SETTING[11,4]=150
+COLLMON_SETTING[11,5]=150
+COLLMON_SETTING[11,6]=150
+COLLMON_SETTING[11,7]=150
+COLLMON_SETTING[11,8]=150
+COLLMON_SETTING[11,9]=150
+COLLMON_SETTING[11,10]=150
+COLLMON_SETTING[11,11]=150
+COLLMON_SETTING[11,12]=150
+COLLMON_SETTING[12,1]=150
+COLLMON_SETTING[12,2]=150
+COLLMON_SETTING[12,3]=150
+COLLMON_SETTING[12,4]=150
+COLLMON_SETTING[12,5]=150
+COLLMON_SETTING[12,6]=150
+COLLMON_SETTING[12,7]=150
+COLLMON_SETTING[12,8]=150
+COLLMON_SETTING[12,9]=150
+COLLMON_SETTING[12,10]=150
+COLLMON_SETTING[12,11]=150
+COLLMON_SETTING[12,12]=150
+COLLMON_SETTING[13,1]=150
+COLLMON_SETTING[13,2]=150
+COLLMON_SETTING[13,3]=150
+COLLMON_SETTING[13,4]=150
+COLLMON_SETTING[13,5]=150
+COLLMON_SETTING[13,6]=150
+COLLMON_SETTING[13,7]=150
+COLLMON_SETTING[13,8]=150
+COLLMON_SETTING[13,9]=150
+COLLMON_SETTING[13,10]=150
+COLLMON_SETTING[13,11]=150
+COLLMON_SETTING[13,12]=150
+COLLMON_SETTING[14,1]=150
+COLLMON_SETTING[14,2]=150
+COLLMON_SETTING[14,3]=150
+COLLMON_SETTING[14,4]=150
+COLLMON_SETTING[14,5]=150
+COLLMON_SETTING[14,6]=150
+COLLMON_SETTING[14,7]=150
+COLLMON_SETTING[14,8]=150
+COLLMON_SETTING[14,9]=150
+COLLMON_SETTING[14,10]=150
+COLLMON_SETTING[14,11]=150
+COLLMON_SETTING[14,12]=150
+COLLMON_SETTING[15,1]=150
+COLLMON_SETTING[15,2]=150
+COLLMON_SETTING[15,3]=150
+COLLMON_SETTING[15,4]=150
+COLLMON_SETTING[15,5]=150
+COLLMON_SETTING[15,6]=150
+COLLMON_SETTING[15,7]=150
+COLLMON_SETTING[15,8]=150
+COLLMON_SETTING[15,9]=150
+COLLMON_SETTING[15,10]=150
+COLLMON_SETTING[15,11]=150
+COLLMON_SETTING[15,12]=150
+COLLMON_SETTING[16,1]=150
+COLLMON_SETTING[16,2]=150
+COLLMON_SETTING[16,3]=150
+COLLMON_SETTING[16,4]=150
+COLLMON_SETTING[16,5]=150
+COLLMON_SETTING[16,6]=150
+COLLMON_SETTING[16,7]=150
+COLLMON_SETTING[16,8]=150
+COLLMON_SETTING[16,9]=150
+COLLMON_SETTING[16,10]=150
+COLLMON_SETTING[16,11]=150
+COLLMON_SETTING[16,12]=150
+COLLMON_SETTING[17,1]=150
+COLLMON_SETTING[17,2]=150
+COLLMON_SETTING[17,3]=150
+COLLMON_SETTING[17,4]=150
+COLLMON_SETTING[17,5]=150
+COLLMON_SETTING[17,6]=150
+COLLMON_SETTING[17,7]=150
+COLLMON_SETTING[17,8]=150
+COLLMON_SETTING[17,9]=150
+COLLMON_SETTING[17,10]=150
+COLLMON_SETTING[17,11]=150
+COLLMON_SETTING[17,12]=150
+COLLMON_SETTING[18,1]=150
+COLLMON_SETTING[18,2]=150
+COLLMON_SETTING[18,3]=150
+COLLMON_SETTING[18,4]=150
+COLLMON_SETTING[18,5]=150
+COLLMON_SETTING[18,6]=150
+COLLMON_SETTING[18,7]=150
+COLLMON_SETTING[18,8]=150
+COLLMON_SETTING[18,9]=150
+COLLMON_SETTING[18,10]=150
+COLLMON_SETTING[18,11]=150
+COLLMON_SETTING[18,12]=150
+COLLMON_SETTING[19,1]=150
+COLLMON_SETTING[19,2]=150
+COLLMON_SETTING[19,3]=150
+COLLMON_SETTING[19,4]=150
+COLLMON_SETTING[19,5]=150
+COLLMON_SETTING[19,6]=150
+COLLMON_SETTING[19,7]=150
+COLLMON_SETTING[19,8]=150
+COLLMON_SETTING[19,9]=150
+COLLMON_SETTING[19,10]=150
+COLLMON_SETTING[19,11]=150
+COLLMON_SETTING[19,12]=150
+COLLMON_SETTING[20,1]=150
+COLLMON_SETTING[20,2]=150
+COLLMON_SETTING[20,3]=150
+COLLMON_SETTING[20,4]=150
+COLLMON_SETTING[20,5]=150
+COLLMON_SETTING[20,6]=150
+COLLMON_SETTING[20,7]=150
+COLLMON_SETTING[20,8]=150
+COLLMON_SETTING[20,9]=150
+COLLMON_SETTING[20,10]=150
+COLLMON_SETTING[20,11]=150
+COLLMON_SETTING[20,12]=150
+COLLMON_SETTING[21,1]=150
+COLLMON_SETTING[21,2]=150
+COLLMON_SETTING[21,3]=150
+COLLMON_SETTING[21,4]=150
+COLLMON_SETTING[21,5]=150
+COLLMON_SETTING[21,6]=150
+COLLMON_SETTING[21,7]=150
+COLLMON_SETTING[21,8]=150
+COLLMON_SETTING[21,9]=150
+COLLMON_SETTING[21,10]=150
+COLLMON_SETTING[21,11]=150
+COLLMON_SETTING[21,12]=150
+COLLMON_SETTING[22,1]=150
+COLLMON_SETTING[22,2]=150
+COLLMON_SETTING[22,3]=150
+COLLMON_SETTING[22,4]=150
+COLLMON_SETTING[22,5]=150
+COLLMON_SETTING[22,6]=150
+COLLMON_SETTING[22,7]=150
+COLLMON_SETTING[22,8]=150
+COLLMON_SETTING[22,9]=150
+COLLMON_SETTING[22,10]=150
+COLLMON_SETTING[22,11]=150
+COLLMON_SETTING[22,12]=150
+COLLMON_SETTING[23,1]=150
+COLLMON_SETTING[23,2]=150
+COLLMON_SETTING[23,3]=150
+COLLMON_SETTING[23,4]=150
+COLLMON_SETTING[23,5]=150
+COLLMON_SETTING[23,6]=150
+COLLMON_SETTING[23,7]=150
+COLLMON_SETTING[23,8]=150
+COLLMON_SETTING[23,9]=150
+COLLMON_SETTING[23,10]=150
+COLLMON_SETTING[23,11]=150
+COLLMON_SETTING[23,12]=150
+COLLMON_SETTING[24,1]=150
+COLLMON_SETTING[24,2]=150
+COLLMON_SETTING[24,3]=150
+COLLMON_SETTING[24,4]=150
+COLLMON_SETTING[24,5]=150
+COLLMON_SETTING[24,6]=150
+COLLMON_SETTING[24,7]=150
+COLLMON_SETTING[24,8]=150
+COLLMON_SETTING[24,9]=150
+COLLMON_SETTING[24,10]=150
+COLLMON_SETTING[24,11]=150
+COLLMON_SETTING[24,12]=150
+COLLMON_SETTING[25,1]=150
+COLLMON_SETTING[25,2]=150
+COLLMON_SETTING[25,3]=150
+COLLMON_SETTING[25,4]=150
+COLLMON_SETTING[25,5]=150
+COLLMON_SETTING[25,6]=150
+COLLMON_SETTING[25,7]=150
+COLLMON_SETTING[25,8]=150
+COLLMON_SETTING[25,9]=150
+COLLMON_SETTING[25,10]=150
+COLLMON_SETTING[25,11]=150
+COLLMON_SETTING[25,12]=150
+COLLMON_SETTING[26,1]=150
+COLLMON_SETTING[26,2]=150
+COLLMON_SETTING[26,3]=150
+COLLMON_SETTING[26,4]=150
+COLLMON_SETTING[26,5]=150
+COLLMON_SETTING[26,6]=150
+COLLMON_SETTING[26,7]=150
+COLLMON_SETTING[26,8]=150
+COLLMON_SETTING[26,9]=150
+COLLMON_SETTING[26,10]=150
+COLLMON_SETTING[26,11]=150
+COLLMON_SETTING[26,12]=150
+COLLMON_SETTING[27,1]=150
+COLLMON_SETTING[27,2]=150
+COLLMON_SETTING[27,3]=150
+COLLMON_SETTING[27,4]=150
+COLLMON_SETTING[27,5]=150
+COLLMON_SETTING[27,6]=150
+COLLMON_SETTING[27,7]=150
+COLLMON_SETTING[27,8]=150
+COLLMON_SETTING[27,9]=150
+COLLMON_SETTING[27,10]=150
+COLLMON_SETTING[27,11]=150
+COLLMON_SETTING[27,12]=150
+COLLMON_SETTING[28,1]=150
+COLLMON_SETTING[28,2]=150
+COLLMON_SETTING[28,3]=150
+COLLMON_SETTING[28,4]=150
+COLLMON_SETTING[28,5]=150
+COLLMON_SETTING[28,6]=150
+COLLMON_SETTING[28,7]=150
+COLLMON_SETTING[28,8]=150
+COLLMON_SETTING[28,9]=150
+COLLMON_SETTING[28,10]=150
+COLLMON_SETTING[28,11]=150
+COLLMON_SETTING[28,12]=150
+COLLMON_SETTING[29,1]=150
+COLLMON_SETTING[29,2]=150
+COLLMON_SETTING[29,3]=150
+COLLMON_SETTING[29,4]=150
+COLLMON_SETTING[29,5]=150
+COLLMON_SETTING[29,6]=150
+COLLMON_SETTING[29,7]=150
+COLLMON_SETTING[29,8]=150
+COLLMON_SETTING[29,9]=150
+COLLMON_SETTING[29,10]=150
+COLLMON_SETTING[29,11]=150
+COLLMON_SETTING[29,12]=150
+COLLMON_SETTING[30,1]=150
+COLLMON_SETTING[30,2]=150
+COLLMON_SETTING[30,3]=150
+COLLMON_SETTING[30,4]=150
+COLLMON_SETTING[30,5]=150
+COLLMON_SETTING[30,6]=150
+COLLMON_SETTING[30,7]=150
+COLLMON_SETTING[30,8]=150
+COLLMON_SETTING[30,9]=150
+COLLMON_SETTING[30,10]=150
+COLLMON_SETTING[30,11]=150
+COLLMON_SETTING[30,12]=150
+
+INT COLLMON_DISPLAYED[30,12]
+COLLMON_DISPLAYED[1,1]=150
+COLLMON_DISPLAYED[1,2]=150
+COLLMON_DISPLAYED[1,3]=150
+COLLMON_DISPLAYED[1,4]=150
+COLLMON_DISPLAYED[1,5]=150
+COLLMON_DISPLAYED[1,6]=150
+COLLMON_DISPLAYED[1,7]=150
+COLLMON_DISPLAYED[1,8]=150
+COLLMON_DISPLAYED[1,9]=150
+COLLMON_DISPLAYED[1,10]=150
+COLLMON_DISPLAYED[1,11]=150
+COLLMON_DISPLAYED[1,12]=150
+COLLMON_DISPLAYED[2,1]=150
+COLLMON_DISPLAYED[2,2]=150
+COLLMON_DISPLAYED[2,3]=150
+COLLMON_DISPLAYED[2,4]=150
+COLLMON_DISPLAYED[2,5]=150
+COLLMON_DISPLAYED[2,6]=150
+COLLMON_DISPLAYED[2,7]=150
+COLLMON_DISPLAYED[2,8]=150
+COLLMON_DISPLAYED[2,9]=150
+COLLMON_DISPLAYED[2,10]=150
+COLLMON_DISPLAYED[2,11]=150
+COLLMON_DISPLAYED[2,12]=150
+COLLMON_DISPLAYED[3,1]=150
+COLLMON_DISPLAYED[3,2]=150
+COLLMON_DISPLAYED[3,3]=150
+COLLMON_DISPLAYED[3,4]=150
+COLLMON_DISPLAYED[3,5]=150
+COLLMON_DISPLAYED[3,6]=150
+COLLMON_DISPLAYED[3,7]=150
+COLLMON_DISPLAYED[3,8]=150
+COLLMON_DISPLAYED[3,9]=150
+COLLMON_DISPLAYED[3,10]=150
+COLLMON_DISPLAYED[3,11]=150
+COLLMON_DISPLAYED[3,12]=150
+COLLMON_DISPLAYED[4,1]=150
+COLLMON_DISPLAYED[4,2]=150
+COLLMON_DISPLAYED[4,3]=150
+COLLMON_DISPLAYED[4,4]=150
+COLLMON_DISPLAYED[4,5]=150
+COLLMON_DISPLAYED[4,6]=150
+COLLMON_DISPLAYED[4,7]=150
+COLLMON_DISPLAYED[4,8]=150
+COLLMON_DISPLAYED[4,9]=150
+COLLMON_DISPLAYED[4,10]=150
+COLLMON_DISPLAYED[4,11]=150
+COLLMON_DISPLAYED[4,12]=150
+COLLMON_DISPLAYED[5,1]=150
+COLLMON_DISPLAYED[5,2]=150
+COLLMON_DISPLAYED[5,3]=150
+COLLMON_DISPLAYED[5,4]=150
+COLLMON_DISPLAYED[5,5]=150
+COLLMON_DISPLAYED[5,6]=150
+COLLMON_DISPLAYED[5,7]=150
+COLLMON_DISPLAYED[5,8]=150
+COLLMON_DISPLAYED[5,9]=150
+COLLMON_DISPLAYED[5,10]=150
+COLLMON_DISPLAYED[5,11]=150
+COLLMON_DISPLAYED[5,12]=150
+COLLMON_DISPLAYED[6,1]=150
+COLLMON_DISPLAYED[6,2]=150
+COLLMON_DISPLAYED[6,3]=150
+COLLMON_DISPLAYED[6,4]=150
+COLLMON_DISPLAYED[6,5]=150
+COLLMON_DISPLAYED[6,6]=150
+COLLMON_DISPLAYED[6,7]=150
+COLLMON_DISPLAYED[6,8]=150
+COLLMON_DISPLAYED[6,9]=150
+COLLMON_DISPLAYED[6,10]=150
+COLLMON_DISPLAYED[6,11]=150
+COLLMON_DISPLAYED[6,12]=150
+COLLMON_DISPLAYED[7,1]=150
+COLLMON_DISPLAYED[7,2]=150
+COLLMON_DISPLAYED[7,3]=150
+COLLMON_DISPLAYED[7,4]=150
+COLLMON_DISPLAYED[7,5]=150
+COLLMON_DISPLAYED[7,6]=150
+COLLMON_DISPLAYED[7,7]=150
+COLLMON_DISPLAYED[7,8]=150
+COLLMON_DISPLAYED[7,9]=150
+COLLMON_DISPLAYED[7,10]=150
+COLLMON_DISPLAYED[7,11]=150
+COLLMON_DISPLAYED[7,12]=150
+COLLMON_DISPLAYED[8,1]=150
+COLLMON_DISPLAYED[8,2]=150
+COLLMON_DISPLAYED[8,3]=150
+COLLMON_DISPLAYED[8,4]=150
+COLLMON_DISPLAYED[8,5]=150
+COLLMON_DISPLAYED[8,6]=150
+COLLMON_DISPLAYED[8,7]=150
+COLLMON_DISPLAYED[8,8]=150
+COLLMON_DISPLAYED[8,9]=150
+COLLMON_DISPLAYED[8,10]=150
+COLLMON_DISPLAYED[8,11]=150
+COLLMON_DISPLAYED[8,12]=150
+COLLMON_DISPLAYED[9,1]=150
+COLLMON_DISPLAYED[9,2]=150
+COLLMON_DISPLAYED[9,3]=150
+COLLMON_DISPLAYED[9,4]=150
+COLLMON_DISPLAYED[9,5]=150
+COLLMON_DISPLAYED[9,6]=150
+COLLMON_DISPLAYED[9,7]=150
+COLLMON_DISPLAYED[9,8]=150
+COLLMON_DISPLAYED[9,9]=150
+COLLMON_DISPLAYED[9,10]=150
+COLLMON_DISPLAYED[9,11]=150
+COLLMON_DISPLAYED[9,12]=150
+COLLMON_DISPLAYED[10,1]=150
+COLLMON_DISPLAYED[10,2]=150
+COLLMON_DISPLAYED[10,3]=150
+COLLMON_DISPLAYED[10,4]=150
+COLLMON_DISPLAYED[10,5]=150
+COLLMON_DISPLAYED[10,6]=150
+COLLMON_DISPLAYED[10,7]=150
+COLLMON_DISPLAYED[10,8]=150
+COLLMON_DISPLAYED[10,9]=150
+COLLMON_DISPLAYED[10,10]=150
+COLLMON_DISPLAYED[10,11]=150
+COLLMON_DISPLAYED[10,12]=150
+COLLMON_DISPLAYED[11,1]=150
+COLLMON_DISPLAYED[11,2]=150
+COLLMON_DISPLAYED[11,3]=150
+COLLMON_DISPLAYED[11,4]=150
+COLLMON_DISPLAYED[11,5]=150
+COLLMON_DISPLAYED[11,6]=150
+COLLMON_DISPLAYED[11,7]=150
+COLLMON_DISPLAYED[11,8]=150
+COLLMON_DISPLAYED[11,9]=150
+COLLMON_DISPLAYED[11,10]=150
+COLLMON_DISPLAYED[11,11]=150
+COLLMON_DISPLAYED[11,12]=150
+COLLMON_DISPLAYED[12,1]=150
+COLLMON_DISPLAYED[12,2]=150
+COLLMON_DISPLAYED[12,3]=150
+COLLMON_DISPLAYED[12,4]=150
+COLLMON_DISPLAYED[12,5]=150
+COLLMON_DISPLAYED[12,6]=150
+COLLMON_DISPLAYED[12,7]=150
+COLLMON_DISPLAYED[12,8]=150
+COLLMON_DISPLAYED[12,9]=150
+COLLMON_DISPLAYED[12,10]=150
+COLLMON_DISPLAYED[12,11]=150
+COLLMON_DISPLAYED[12,12]=150
+COLLMON_DISPLAYED[13,1]=150
+COLLMON_DISPLAYED[13,2]=150
+COLLMON_DISPLAYED[13,3]=150
+COLLMON_DISPLAYED[13,4]=150
+COLLMON_DISPLAYED[13,5]=150
+COLLMON_DISPLAYED[13,6]=150
+COLLMON_DISPLAYED[13,7]=150
+COLLMON_DISPLAYED[13,8]=150
+COLLMON_DISPLAYED[13,9]=150
+COLLMON_DISPLAYED[13,10]=150
+COLLMON_DISPLAYED[13,11]=150
+COLLMON_DISPLAYED[13,12]=150
+COLLMON_DISPLAYED[14,1]=150
+COLLMON_DISPLAYED[14,2]=150
+COLLMON_DISPLAYED[14,3]=150
+COLLMON_DISPLAYED[14,4]=150
+COLLMON_DISPLAYED[14,5]=150
+COLLMON_DISPLAYED[14,6]=150
+COLLMON_DISPLAYED[14,7]=150
+COLLMON_DISPLAYED[14,8]=150
+COLLMON_DISPLAYED[14,9]=150
+COLLMON_DISPLAYED[14,10]=150
+COLLMON_DISPLAYED[14,11]=150
+COLLMON_DISPLAYED[14,12]=150
+COLLMON_DISPLAYED[15,1]=150
+COLLMON_DISPLAYED[15,2]=150
+COLLMON_DISPLAYED[15,3]=150
+COLLMON_DISPLAYED[15,4]=150
+COLLMON_DISPLAYED[15,5]=150
+COLLMON_DISPLAYED[15,6]=150
+COLLMON_DISPLAYED[15,7]=150
+COLLMON_DISPLAYED[15,8]=150
+COLLMON_DISPLAYED[15,9]=150
+COLLMON_DISPLAYED[15,10]=150
+COLLMON_DISPLAYED[15,11]=150
+COLLMON_DISPLAYED[15,12]=150
+COLLMON_DISPLAYED[16,1]=150
+COLLMON_DISPLAYED[16,2]=150
+COLLMON_DISPLAYED[16,3]=150
+COLLMON_DISPLAYED[16,4]=150
+COLLMON_DISPLAYED[16,5]=150
+COLLMON_DISPLAYED[16,6]=150
+COLLMON_DISPLAYED[16,7]=150
+COLLMON_DISPLAYED[16,8]=150
+COLLMON_DISPLAYED[16,9]=150
+COLLMON_DISPLAYED[16,10]=150
+COLLMON_DISPLAYED[16,11]=150
+COLLMON_DISPLAYED[16,12]=150
+COLLMON_DISPLAYED[17,1]=150
+COLLMON_DISPLAYED[17,2]=150
+COLLMON_DISPLAYED[17,3]=150
+COLLMON_DISPLAYED[17,4]=150
+COLLMON_DISPLAYED[17,5]=150
+COLLMON_DISPLAYED[17,6]=150
+COLLMON_DISPLAYED[17,7]=150
+COLLMON_DISPLAYED[17,8]=150
+COLLMON_DISPLAYED[17,9]=150
+COLLMON_DISPLAYED[17,10]=150
+COLLMON_DISPLAYED[17,11]=150
+COLLMON_DISPLAYED[17,12]=150
+COLLMON_DISPLAYED[18,1]=150
+COLLMON_DISPLAYED[18,2]=150
+COLLMON_DISPLAYED[18,3]=150
+COLLMON_DISPLAYED[18,4]=150
+COLLMON_DISPLAYED[18,5]=150
+COLLMON_DISPLAYED[18,6]=150
+COLLMON_DISPLAYED[18,7]=150
+COLLMON_DISPLAYED[18,8]=150
+COLLMON_DISPLAYED[18,9]=150
+COLLMON_DISPLAYED[18,10]=150
+COLLMON_DISPLAYED[18,11]=150
+COLLMON_DISPLAYED[18,12]=150
+COLLMON_DISPLAYED[19,1]=150
+COLLMON_DISPLAYED[19,2]=150
+COLLMON_DISPLAYED[19,3]=150
+COLLMON_DISPLAYED[19,4]=150
+COLLMON_DISPLAYED[19,5]=150
+COLLMON_DISPLAYED[19,6]=150
+COLLMON_DISPLAYED[19,7]=150
+COLLMON_DISPLAYED[19,8]=150
+COLLMON_DISPLAYED[19,9]=150
+COLLMON_DISPLAYED[19,10]=150
+COLLMON_DISPLAYED[19,11]=150
+COLLMON_DISPLAYED[19,12]=150
+COLLMON_DISPLAYED[20,1]=150
+COLLMON_DISPLAYED[20,2]=150
+COLLMON_DISPLAYED[20,3]=150
+COLLMON_DISPLAYED[20,4]=150
+COLLMON_DISPLAYED[20,5]=150
+COLLMON_DISPLAYED[20,6]=150
+COLLMON_DISPLAYED[20,7]=150
+COLLMON_DISPLAYED[20,8]=150
+COLLMON_DISPLAYED[20,9]=150
+COLLMON_DISPLAYED[20,10]=150
+COLLMON_DISPLAYED[20,11]=150
+COLLMON_DISPLAYED[20,12]=150
+COLLMON_DISPLAYED[21,1]=150
+COLLMON_DISPLAYED[21,2]=150
+COLLMON_DISPLAYED[21,3]=150
+COLLMON_DISPLAYED[21,4]=150
+COLLMON_DISPLAYED[21,5]=150
+COLLMON_DISPLAYED[21,6]=150
+COLLMON_DISPLAYED[21,7]=150
+COLLMON_DISPLAYED[21,8]=150
+COLLMON_DISPLAYED[21,9]=150
+COLLMON_DISPLAYED[21,10]=150
+COLLMON_DISPLAYED[21,11]=150
+COLLMON_DISPLAYED[21,12]=150
+COLLMON_DISPLAYED[22,1]=150
+COLLMON_DISPLAYED[22,2]=150
+COLLMON_DISPLAYED[22,3]=150
+COLLMON_DISPLAYED[22,4]=150
+COLLMON_DISPLAYED[22,5]=150
+COLLMON_DISPLAYED[22,6]=150
+COLLMON_DISPLAYED[22,7]=150
+COLLMON_DISPLAYED[22,8]=150
+COLLMON_DISPLAYED[22,9]=150
+COLLMON_DISPLAYED[22,10]=150
+COLLMON_DISPLAYED[22,11]=150
+COLLMON_DISPLAYED[22,12]=150
+COLLMON_DISPLAYED[23,1]=150
+COLLMON_DISPLAYED[23,2]=150
+COLLMON_DISPLAYED[23,3]=150
+COLLMON_DISPLAYED[23,4]=150
+COLLMON_DISPLAYED[23,5]=150
+COLLMON_DISPLAYED[23,6]=150
+COLLMON_DISPLAYED[23,7]=150
+COLLMON_DISPLAYED[23,8]=150
+COLLMON_DISPLAYED[23,9]=150
+COLLMON_DISPLAYED[23,10]=150
+COLLMON_DISPLAYED[23,11]=150
+COLLMON_DISPLAYED[23,12]=150
+COLLMON_DISPLAYED[24,1]=150
+COLLMON_DISPLAYED[24,2]=150
+COLLMON_DISPLAYED[24,3]=150
+COLLMON_DISPLAYED[24,4]=150
+COLLMON_DISPLAYED[24,5]=150
+COLLMON_DISPLAYED[24,6]=150
+COLLMON_DISPLAYED[24,7]=150
+COLLMON_DISPLAYED[24,8]=150
+COLLMON_DISPLAYED[24,9]=150
+COLLMON_DISPLAYED[24,10]=150
+COLLMON_DISPLAYED[24,11]=150
+COLLMON_DISPLAYED[24,12]=150
+COLLMON_DISPLAYED[25,1]=150
+COLLMON_DISPLAYED[25,2]=150
+COLLMON_DISPLAYED[25,3]=150
+COLLMON_DISPLAYED[25,4]=150
+COLLMON_DISPLAYED[25,5]=150
+COLLMON_DISPLAYED[25,6]=150
+COLLMON_DISPLAYED[25,7]=150
+COLLMON_DISPLAYED[25,8]=150
+COLLMON_DISPLAYED[25,9]=150
+COLLMON_DISPLAYED[25,10]=150
+COLLMON_DISPLAYED[25,11]=150
+COLLMON_DISPLAYED[25,12]=150
+COLLMON_DISPLAYED[26,1]=150
+COLLMON_DISPLAYED[26,2]=150
+COLLMON_DISPLAYED[26,3]=150
+COLLMON_DISPLAYED[26,4]=150
+COLLMON_DISPLAYED[26,5]=150
+COLLMON_DISPLAYED[26,6]=150
+COLLMON_DISPLAYED[26,7]=150
+COLLMON_DISPLAYED[26,8]=150
+COLLMON_DISPLAYED[26,9]=150
+COLLMON_DISPLAYED[26,10]=150
+COLLMON_DISPLAYED[26,11]=150
+COLLMON_DISPLAYED[26,12]=150
+COLLMON_DISPLAYED[27,1]=150
+COLLMON_DISPLAYED[27,2]=150
+COLLMON_DISPLAYED[27,3]=150
+COLLMON_DISPLAYED[27,4]=150
+COLLMON_DISPLAYED[27,5]=150
+COLLMON_DISPLAYED[27,6]=150
+COLLMON_DISPLAYED[27,7]=150
+COLLMON_DISPLAYED[27,8]=150
+COLLMON_DISPLAYED[27,9]=150
+COLLMON_DISPLAYED[27,10]=150
+COLLMON_DISPLAYED[27,11]=150
+COLLMON_DISPLAYED[27,12]=150
+COLLMON_DISPLAYED[28,1]=150
+COLLMON_DISPLAYED[28,2]=150
+COLLMON_DISPLAYED[28,3]=150
+COLLMON_DISPLAYED[28,4]=150
+COLLMON_DISPLAYED[28,5]=150
+COLLMON_DISPLAYED[28,6]=150
+COLLMON_DISPLAYED[28,7]=150
+COLLMON_DISPLAYED[28,8]=150
+COLLMON_DISPLAYED[28,9]=150
+COLLMON_DISPLAYED[28,10]=150
+COLLMON_DISPLAYED[28,11]=150
+COLLMON_DISPLAYED[28,12]=150
+COLLMON_DISPLAYED[29,1]=150
+COLLMON_DISPLAYED[29,2]=150
+COLLMON_DISPLAYED[29,3]=150
+COLLMON_DISPLAYED[29,4]=150
+COLLMON_DISPLAYED[29,5]=150
+COLLMON_DISPLAYED[29,6]=150
+COLLMON_DISPLAYED[29,7]=150
+COLLMON_DISPLAYED[29,8]=150
+COLLMON_DISPLAYED[29,9]=150
+COLLMON_DISPLAYED[29,10]=150
+COLLMON_DISPLAYED[29,11]=150
+COLLMON_DISPLAYED[29,12]=150
+COLLMON_DISPLAYED[30,1]=150
+COLLMON_DISPLAYED[30,2]=150
+COLLMON_DISPLAYED[30,3]=150
+COLLMON_DISPLAYED[30,4]=150
+COLLMON_DISPLAYED[30,5]=150
+COLLMON_DISPLAYED[30,6]=150
+COLLMON_DISPLAYED[30,7]=150
+COLLMON_DISPLAYED[30,8]=150
+COLLMON_DISPLAYED[30,9]=150
+COLLMON_DISPLAYED[30,10]=150
+COLLMON_DISPLAYED[30,11]=150
+COLLMON_DISPLAYED[30,12]=150
+
+GLOBAL CHAR CDSet_NAME[30,24]
+CDSet_NAME[1,]=" "
+CDSet_NAME[2,]=" "
+CDSet_NAME[3,]=" "
+CDSet_NAME[4,]=" "
+CDSet_NAME[5,]=" "
+CDSet_NAME[6,]=" "
+CDSet_NAME[7,]=" "
+CDSet_NAME[8,]=" "
+CDSet_NAME[9,]=" "
+CDSet_NAME[10,]=" "
+CDSet_NAME[11,]=" "
+CDSet_NAME[12,]=" "
+CDSet_NAME[13,]=" "
+CDSet_NAME[14,]=" "
+CDSet_NAME[15,]=" "
+CDSet_NAME[16,]=" "
+CDSet_NAME[17,]=" "
+CDSet_NAME[18,]=" "
+CDSet_NAME[19,]=" "
+CDSet_NAME[20,]=" "
+CDSet_NAME[21,]=" "
+CDSet_NAME[22,]=" "
+CDSet_NAME[23,]=" "
+CDSet_NAME[24,]=" "
+CDSet_NAME[25,]=" "
+CDSet_NAME[26,]=" "
+CDSet_NAME[27,]=" "
+CDSet_NAME[28,]=" "
+CDSet_NAME[29,]=" "
+CDSet_NAME[30,]=" "
+
+INT COLLMON_TOL_PRO[12]
+COLLMON_TOL_PRO[1]=-1
+COLLMON_TOL_PRO[2]=-1
+COLLMON_TOL_PRO[3]=-1
+COLLMON_TOL_PRO[4]=-1
+COLLMON_TOL_PRO[5]=-1
+COLLMON_TOL_PRO[6]=-1
+COLLMON_TOL_PRO[7]=-1
+COLLMON_TOL_PRO[8]=-1
+COLLMON_TOL_PRO[9]=-1
+COLLMON_TOL_PRO[10]=-1
+COLLMON_TOL_PRO[11]=-1
+COLLMON_TOL_PRO[12]=-1
+
+INT COLLMON_IDX=-1
+BOOL LEARN_MODE=FALSE
+INT OFFSET_LEARN_MODE=20
+INT OFFSET_ROOT_AXES=10
+INT OFFSET_HAND_AXES=10
+INT OFFSET_EXT_AXES=10
+BOOL UPDATE_DISPLAY_DATA=FALSE
+
+CHAR COLLMON_RESET_TIMESTAMP[31,18]
+COLLMON_RESET_TIMESTAMP[1,]=" "
+COLLMON_RESET_TIMESTAMP[2,]=" "
+COLLMON_RESET_TIMESTAMP[3,]=" "
+COLLMON_RESET_TIMESTAMP[4,]=" "
+COLLMON_RESET_TIMESTAMP[5,]=" "
+COLLMON_RESET_TIMESTAMP[6,]=" "
+COLLMON_RESET_TIMESTAMP[7,]=" "
+COLLMON_RESET_TIMESTAMP[8,]=" "
+COLLMON_RESET_TIMESTAMP[9,]=" "
+COLLMON_RESET_TIMESTAMP[10,]=" "
+COLLMON_RESET_TIMESTAMP[11,]=" "
+COLLMON_RESET_TIMESTAMP[12,]=" "
+COLLMON_RESET_TIMESTAMP[13,]=" "
+COLLMON_RESET_TIMESTAMP[14,]=" "
+COLLMON_RESET_TIMESTAMP[15,]=" "
+COLLMON_RESET_TIMESTAMP[16,]=" "
+COLLMON_RESET_TIMESTAMP[17,]=" "
+COLLMON_RESET_TIMESTAMP[18,]=" "
+COLLMON_RESET_TIMESTAMP[19,]=" "
+COLLMON_RESET_TIMESTAMP[20,]=" "
+COLLMON_RESET_TIMESTAMP[21,]=" "
+COLLMON_RESET_TIMESTAMP[22,]=" "
+COLLMON_RESET_TIMESTAMP[23,]=" "
+COLLMON_RESET_TIMESTAMP[24,]=" "
+COLLMON_RESET_TIMESTAMP[25,]=" "
+COLLMON_RESET_TIMESTAMP[26,]=" "
+COLLMON_RESET_TIMESTAMP[27,]=" "
+COLLMON_RESET_TIMESTAMP[28,]=" "
+COLLMON_RESET_TIMESTAMP[29,]=" "
+COLLMON_RESET_TIMESTAMP[30,]=" "
+COLLMON_RESET_TIMESTAMP[31,]=" "
+
+ENDDAT

KUKA/KRC/R1/System/collmonlib.src

@@ -0,0 +1,385 @@
+&ACCESS R1
+&COMMENT Collision monitoring library
+DEF CollMonLib( )
+
+END
+
+; Schreibt die 6 Parameter (fuer jede Roboter-Achse einen) in den
+; entsprechenden Eintrag des $COLLMON_TOL PRO[]-Felds.
+; Falls ein Parameter nicht SAVE_CM_PRO_SETTING wird, behaelt der entsprechende
+; $COLLMON_TOL_PRO[]-Eintrag seinen Wert.
+GLOBAL DEF SET_CM_PRO_VALUES(CM_AX1:IN, CM_AX2:IN, CM_AX3:IN, CM_AX4:IN, CM_AX5:IN, CM_AX6:IN) 
+  INT TEST, CM_AX1, CM_AX2, CM_AX3, CM_AX4, CM_AX5, CM_AX6
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX1 
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[1]=CM_AX1 
+  ENDIF
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX2
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[2]=CM_AX2
+  ENDIF
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX3
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[3]=CM_AX3
+  ENDIF
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX4
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[4]=CM_AX4
+  ENDIF
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX5
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[5]=CM_AX5
+  ENDIF
+
+  ON_ERROR_PROCEED
+  TEST=CM_AX6
+  IF $ERR.NUMBER == 0 THEN
+    $COLLMON_TOL_PRO[6]=CM_AX6
+  ENDIF 
+   
+  ERR_CLEAR($ERR)
+  $COLLMON_IDX = 0
+END
+
+; Setzt $COLLMON_TOL_PRO[] auf die Defaultwerte aus.
+; der $CUSTOM.DAT
+GLOBAL DEF SET_CM_PRO_DEFAULT()
+  INT I
+
+  FOR I=1 TO 12
+    $COLLMON_TOL_PRO[I]=$COLLMON_TOL_PRO_DEF[I]
+  ENDFOR
+  $COLLMON_IDX = 0
+END  
+; Setzt die globalen Werte falls welche vorhanden oder
+; deaktiviert die verbesserte Kollisionsueberwachung indem
+; $COLLMON_TOL_PRO[] auf Null gesetzt wird.
+GLOBAL DEF SET_CM_PRO_INACTIVE()
+  INT I
+
+  IF $IMPROVED_COLLMON== TRUE THEN
+    FOR I=1 TO 12
+      IF (COLLMON_TOL_PRO[I] < 0) THEN ;no global COLLMON_TOL_PRO[I] exists
+        $COLLMON_TOL_PRO[I]=0
+        $COLLMON_IDX = 0
+      ELSE
+        $COLLMON_TOL_PRO[I]=COLLMON_TOL_PRO[I] ;sets $COLLMON_TOL_PRO[I] from global
+        $COLLMON_IDX=COLLMON_IDX
+      ENDIF
+    ENDFOR
+  ELSE
+	FOR I=1 TO 12    
+	  $COLLMON_TOL_PRO[I]=0
+	ENDFOR  
+  ENDIF
+END 
+
+; Setzt $COLLMON_MAX auf 0 zurueck. Alle folgenden 
+; Bewegungen gehen in die Maximumsbildung ein.
+GLOBAL DEF RESET_CM_MAX()
+  INT I
+
+  FOR I=1 TO 12
+    $COLLMON_MAX[I]=0
+  ENDFOR
+END
+
+; Sichert die aktuellen $COLLMON_TOL_PRO[]-Werte in ein
+; Parameter-Feld.
+; Parameter SETTING_IDX: Index des Collmon-Datensatz
+GLOBAL DEF SAVE_CM_PRO_SETTING(SETTING_IDX:IN)
+  INT SETTING_IDX,I
+
+  FOR I=1 to 12
+    COLLMON_SETTING[SETTING_IDX,I]=$COLLMON_TOL_PRO[I]
+  ENDFOR    
+END
+
+; Sichert die aktuellen $COLLMON_TOL_COM[]-Werte in ein
+; Parameter-Feld.
+; Parameter SETTING_IDX: Index des Collmon-Datensatz
+GLOBAL DEF SAVE_CM_COM_SETTING(SETTING_IDX:IN)
+  INT SETTING_IDX,I
+
+  FOR I=1 to 12
+    COLLMON_SETTING[SETTING_IDX,I]=$COLLMON_TOL_COM[I]
+  ENDFOR    
+END
+
+; Liest einen aktuell gespeicherten Collmon-Datensatz
+; Parameter SETTING_IDX: Index des Collmon-Datensatzes
+; Parameter VALUES: Array der Groesse 12 mit den Werten des Collmon-Datensatzes
+GLOBAL DEF READ_CM_SETTING(SETTING_IDX:IN, VALUES[]:OUT) 
+  INT SETTING_IDX
+  INT VALUES[]
+  INT I
+  
+  IF ((SETTING_IDX < 1) OR (SETTING_IDX > NUM_COLLMON_SETTINGS)) THEN
+    RETURN
+  ENDIF
+
+  FOR I = 1 TO 12
+    VALUES[I] = COLLMON_SETTING[SETTING_IDX,I]
+  ENDFOR
+END
+
+; Beschreibt einen Collmon-Datensatz
+; Parameter SETTING_IDX: Index des Collmon-Datensatzes
+; Parameter VALUES: Array der Groesse 12 mit den neuen Werten des Collmon-Datensatzes
+GLOBAL DEF WRITE_CM_SETTING(SETTING_IDX:IN, VALUES[]:OUT)
+  INT SETTING_IDX
+  INT VALUES[]
+  INT I
+
+  IF ((SETTING_IDX < 1) OR (SETTING_IDX > NUM_COLLMON_SETTINGS)) THEN
+    RETURN
+  ENDIF
+
+  FOR I = 1 TO 12
+    IF (VALUES[I] < 0) THEN
+      COLLMON_SETTING[SETTING_IDX,I] = 0
+    ELSE
+      IF VALUES[I] > 500 THEN
+        COLLMON_SETTING[SETTING_IDX,I] = 500
+      ELSE
+        COLLMON_SETTING[SETTING_IDX,I] = VALUES[I]
+      ENDIF
+    ENDIF
+  ENDFOR
+END
+
+; Sichert die aktuellen $COLLMON_MAX[]-Werte in ein
+; Collmon-Datensatz-Feld. Optional kann ein Skalierungs-Prozentwert 
+; angegeben werden.
+; Parameter SETTING_IDX: Index des Collmon-Datensatz
+; Parameter OFFSET: optionaler Offset auf alle Komponenten von $COLLMON_MAX[]. Default-Wert=0.
+; Expert call
+GLOBAL DEF SAVE_CM_MAX_SETTING(SETTING_IDX:IN,OFFSET:IN)
+  INT SETTING_IDX,OFFSET,TEST,OFFSET_WERT,I
+  DECL INT SET_VALUES[12]
+
+  ; Vorbelegung mit Default-Wert 0
+  OFFSET_WERT=0
+
+  ON_ERROR_PROCEED
+  TEST=OFFSET
+
+  IF $ERR.NUMBER == 0 THEN
+     OFFSET_WERT=OFFSET ; Parameter verwenden
+  ENDIF
+
+  GET_COLLMON_SET(SETTING_IDX, SET_VALUES[])
+  FOR I=1 to 12
+    ; durch Lernfahrt will man auskeschaltete Achsen nicht einschalten
+    IF COLLMON_SETTING[SETTING_IDX,I] <> 0 THEN      
+      COLLMON_SETTING[SETTING_IDX,I]=SET_VALUES[I] + OFFSET_WERT
+    ENDIF
+  ENDFOR  
+    
+  ERR_CLEAR($ERR)
+END
+
+; Schreibt einen gesicherten Collmon-Datensatz zurueck
+; in das $COLLMON_TOL_PRO[]-Feld.
+; Parameter SETTING_IDX: Index des Collmon-Datensatz
+GLOBAL DEF USE_CM_PRO_SETTING(SETTING_IDX:IN)
+  INT SETTING_IDX,I
+
+  FOR I=1 to 12
+    $COLLMON_TOL_PRO[I]=COLLMON_SETTING[SETTING_IDX,I]
+  ENDFOR    
+   $COLLMON_IDX = SETTING_IDX
+END
+; Initialisiert alle Collmon-Datensaetze auf 100.
+GLOBAL DEF INIT_CM_SETTINGS()
+  INT I,J
+
+  FOR I=1 TO NUM_COLLMON_SETTINGS
+    FOR J=1 TO 12
+      COLLMON_SETTING[I,J]=100
+    ENDFOR
+  ENDFOR
+END
+
+;used in old motion command to set all 12 values
+;Expert call
+GLOBAL DEF SET_CD_PARAMS (Index :IN)
+  DECL INT Index
+  IF (Index > 0) AND (Index < 31) THEN
+    USE_CM_PRO_SETTING (Index)
+  ELSE
+    SET_CM_PRO_INACTIVE()
+  ENDIF
+END
+
+;Expert call
+GLOBAL DEF USE_CD_PARAMS (Index :IN)
+  DECL INT Index, I
+  IF (Index > 0) AND (Index < 31) THEN
+    FOR I=1 to 12
+      COLLMON_TOL_PRO[I]=COLLMON_SETTING[Index,I] ; saves COLLMON_TOL_PRO for global using
+    ENDFOR 
+    COLLMON_IDX=Index
+    USE_CM_PRO_SETTING (Index)
+  ELSE
+    FOR I=1 to 12
+      COLLMON_TOL_PRO[I]=-1 ; saves COLLMON_TOL_PRO for global using
+    ENDFOR 
+    COLLMON_IDX=-1
+    SET_CM_PRO_INACTIVE()
+  ENDIF
+END
+
+;resets COLLMON_TOL_PRO on the begin of KRL module
+;by call BAS(#INITMOV,0)
+GLOBAL DEF RESET_CD_PARAMS ()
+  DECL INT I
+  FOR I=1 to 12
+    COLLMON_TOL_PRO[I]=-1 ; resets COLLMON_TOL_PRO for global using
+  ENDFOR 
+  COLLMON_IDX=-1
+END
+
+;used in spline command to set all 12 values by just one call
+;like  ...WITH $COLLMON_TOL_PRO[1]=USE_CM_PRO_VALUES(SETTING_IDX)
+GLOBAL DEFFCT INT USE_CM_PRO_VALUES(SETTING_IDX:IN) 
+  INT SETTING_IDX
+
+  IF (SETTING_IDX == -1) THEN ;Force deactivation
+      $COLLMON_TOL_PRO[2]=0
+      $COLLMON_TOL_PRO[3]=0
+      $COLLMON_TOL_PRO[4]=0
+      $COLLMON_TOL_PRO[5]=0
+      $COLLMON_TOL_PRO[6]=0
+      $COLLMON_TOL_PRO[7]=0
+      $COLLMON_TOL_PRO[8]=0
+      $COLLMON_TOL_PRO[9]=0
+      $COLLMON_TOL_PRO[10]=0
+      $COLLMON_TOL_PRO[11]=0
+      $COLLMON_TOL_PRO[12]=0
+      $COLLMON_IDX = 0
+      RETURN 0
+  ENDIF
+
+  IF (SETTING_IDX > 0) AND (SETTING_IDX < 31) THEN
+    $COLLMON_TOL_PRO[2]=COLLMON_SETTING[SETTING_IDX,2] 
+    $COLLMON_TOL_PRO[3]=COLLMON_SETTING[SETTING_IDX,3] 
+    $COLLMON_TOL_PRO[4]=COLLMON_SETTING[SETTING_IDX,4] 
+    $COLLMON_TOL_PRO[5]=COLLMON_SETTING[SETTING_IDX,5] 
+    $COLLMON_TOL_PRO[6]=COLLMON_SETTING[SETTING_IDX,6] 
+    $COLLMON_TOL_PRO[7]=COLLMON_SETTING[SETTING_IDX,7] 
+    $COLLMON_TOL_PRO[8]=COLLMON_SETTING[SETTING_IDX,8] 
+    $COLLMON_TOL_PRO[9]=COLLMON_SETTING[SETTING_IDX,9] 
+    $COLLMON_TOL_PRO[10]=COLLMON_SETTING[SETTING_IDX,10] 
+    $COLLMON_TOL_PRO[11]=COLLMON_SETTING[SETTING_IDX,11] 
+    $COLLMON_TOL_PRO[12]=COLLMON_SETTING[SETTING_IDX,12] 
+    $COLLMON_IDX = SETTING_IDX
+    RETURN COLLMON_SETTING[SETTING_IDX,1] 
+  ELSE
+    IF (COLLMON_TOL_PRO[1] < 0) THEN ;no global COLLMON_TOL_PRO[I] exists
+      $COLLMON_TOL_PRO[2]=0
+      $COLLMON_TOL_PRO[3]=0
+      $COLLMON_TOL_PRO[4]=0
+      $COLLMON_TOL_PRO[5]=0
+      $COLLMON_TOL_PRO[6]=0
+      $COLLMON_TOL_PRO[7]=0
+      $COLLMON_TOL_PRO[8]=0
+      $COLLMON_TOL_PRO[9]=0
+      $COLLMON_TOL_PRO[10]=0
+      $COLLMON_TOL_PRO[11]=0
+      $COLLMON_TOL_PRO[12]=0
+      $COLLMON_IDX = 0
+      RETURN 0
+    ELSE
+      $COLLMON_TOL_PRO[2]=COLLMON_TOL_PRO[2] ;sets $COLLMON_TOL_PRO[I] from global
+      $COLLMON_TOL_PRO[3]=COLLMON_TOL_PRO[3] ;sets $COLLMON_TOL_PRO[I] from global
+      $COLLMON_TOL_PRO[4]=COLLMON_TOL_PRO[4] ;sets $COLLMON_TOL_PRO[I] from global
+      $COLLMON_TOL_PRO[5]=COLLMON_TOL_PRO[5] ;sets $COLLMON_TOL_PRO[I] from global
+      $COLLMON_TOL_PRO[6]=COLLMON_TOL_PRO[6] ;sets $COLLMON_TOL_PRO[I] from global
+      IF (COLLMON_TOL_PRO[7]>-1) THEN
+        $COLLMON_TOL_PRO[7]=COLLMON_TOL_PRO[7] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[7]=0
+      ENDIF
+      IF (COLLMON_TOL_PRO[8]>-1) THEN
+        $COLLMON_TOL_PRO[8]=COLLMON_TOL_PRO[8] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[8]=0
+      ENDIF
+      IF (COLLMON_TOL_PRO[9]>-1) THEN
+        $COLLMON_TOL_PRO[9]=COLLMON_TOL_PRO[9] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[9]=0
+      ENDIF
+      IF (COLLMON_TOL_PRO[10]>-1) THEN
+        $COLLMON_TOL_PRO[10]=COLLMON_TOL_PRO[10] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[10]=0
+      ENDIF
+      IF (COLLMON_TOL_PRO[11]>-1) THEN
+        $COLLMON_TOL_PRO[11]=COLLMON_TOL_PRO[11] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[11]=0
+      ENDIF
+      IF (COLLMON_TOL_PRO[12]>-1) THEN
+        $COLLMON_TOL_PRO[12]=COLLMON_TOL_PRO[12] ;sets $COLLMON_TOL_PRO[I] from global
+      ELSE
+        $COLLMON_TOL_PRO[12]=0
+      ENDIF
+      $COLLMON_IDX=COLLMON_IDX
+      RETURN COLLMON_TOL_PRO[1] ;returns $COLLMON_TOL_PRO[I] from global      
+    ENDIF
+  ENDIF
+ENDFCT
+
+;Expert call
+GLOBAL DEF SET_TQ_VALUES ( TQ_AX1:IN, TQ_AX2:IN, TQ_AX3:IN, TQ_AX4:IN, TQ_AX5:IN, TQ_AX6:IN)
+  INT I, TQ_AX1, TQ_AX2, TQ_AX3, TQ_AX4, TQ_AX5, TQ_AX6
+
+  IF $IMPROVED_COLLMON== TRUE THEN
+	ON_ERROR_PROCEED
+	$COLLMON_TOL_PRO[1]=TQ_AX1
+	IF $ERR.NUMBER == 0 THEN
+	  $COLLMON_TOL_PRO[2]=TQ_AX2
+	  $COLLMON_TOL_PRO[3]=TQ_AX3
+	  $COLLMON_TOL_PRO[4]=TQ_AX4
+	  $COLLMON_TOL_PRO[5]=TQ_AX5
+	  $COLLMON_TOL_PRO[6]=TQ_AX6
+	ELSE
+     FOR I=1 TO 12
+		  $COLLMON_TOL_PRO[I]=$COLLMON_TOL_PRO_DEF[I]
+	  ENDFOR  
+	  ERR_CLEAR($ERR)
+	ENDIF
+   FOR I=1 TO 12   
+	  COLLMON_TOL_PRO[I]=$COLLMON_TOL_PRO[I]
+	ENDFOR 
+   COLLMON_IDX=0
+   $COLLMON_IDX = 0
+  ELSE
+	ON_ERROR_PROCEED
+	$TORQMON[1]=TQ_AX1
+	IF $ERR.NUMBER == 0 THEN
+	  $TORQMON[2]=TQ_AX2
+	  $TORQMON[3]=TQ_AX3
+	  $TORQMON[4]=TQ_AX4
+	  $TORQMON[5]=TQ_AX5
+	  $TORQMON[6]=TQ_AX6
+	ELSE
+	  FOR I=1 TO 12
+		  $TORQMON[I]=$TORQMON_DEF[I]
+	  ENDFOR  
+	  ERR_CLEAR($ERR)
+	ENDIF
+  ENDIF
+END

KUKA/KRC/R1/System/ir_stopm.src

@@ -0,0 +1,70 @@
+&ACCESS R1
+&COMMENT HandlerOnRobotFault
+DEF  IR_STOPM ( )
+;-----------------------------------
+; Error Handling Robot Controller 
+; Switch OFF and Switch ON processes
+; KRC Version >= V5.5
+;-----------------------------------
+  ;FOLD DECLARATIONS
+  ;FOLD USER DECL
+  ; Please insert user defined declarations
+
+  ;ENDFOLD (USER DECL)
+  ;FOLD BASISTECH DECL
+    BOOL ApplicationRunFlag
+    DECL CHAR ID[3]
+  ;ENDFOLD (BASISTECH DECL)
+  ;ENDFOLD (DECLARATIONS)
+  ;FOLD BASISTECH INIT
+     INTERRUPT OFF 3
+     STOPM_FLAG=TRUE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
+     ID[]="CTL"
+     If ($STOPMESS==TRUE) THEN ;APP// "IF" ~ Notepad++ Formatierung
+       BRAKE
+  ;ENDFOLD (BASISTECH INIT) 
+  
+  ;FOLD USER STOP
+;Make your modifications here
+
+  ;ENDFOLD (USER STOP)
+  ;FOLD COLLISION DETECTION
+     IF ($IMPROVED_COLLMON == TRUE) AND ($COLL_ALARM == TRUE) THEN
+       CollDetect_UserAction()
+     ENDIF
+  ;ENDFOLD COLLISION DETECTION
+  ;FOLD BASISTECH STOP
+     P00 (#EXT_ERR,#PGNO_GET,ID[],128 )
+     ApplicationRunFlag=FALSE
+     IF (Appl_Run>0) THEN
+       IF $OUT[Appl_Run] THEN
+         ApplicationRunFlag=TRUE
+         $OUT[Appl_Run]=FALSE
+       ENDIF
+     ENDIF
+     REPEAT
+       POWER=SYNC()
+       HALT
+     UNTIL (($STOPMESS==FALSE) AND ($POWER_FAIL==FALSE))
+  ;ENDFOLD (BASISTECH STOP)
+
+  ;FOLD BASISTECH RESTART
+     P00 (#EXT_ERR,#PGNO_GET,ID[],0 )
+     IF (ApplicationRunFlag==TRUE) THEN
+       IF (Appl_Run>0) THEN
+         $OUT[Appl_Run]=TRUE
+       ENDIF
+     ENDIF
+  ;ENDFOLD (BASISTECH RESTART)
+  ;FOLD USER RESTART
+;Make your modifications here
+
+  ;ENDFOLD (USER RESTART)
+  
+  ;FOLD BASISTECH REACTIVATE
+    Endif ;APP// "ENDIF" ~ Notepad++ Formatierung 
+	INTERRUPT ON 3
+    STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt   
+  ;ENDFOLD (BASISTECH REACTIVATE)
+END
+ 

KUKA/KRC/R1/System/masref_main.dat

@@ -0,0 +1,30 @@
+&ACCESS RVO
+&REL 4
+&COMMENT Mastering Reference Main Task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\System
+DEFDAT  MASREF_MAIN
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+;FOLD Messages
+DECL CONST CHAR MASREF_Modulname[6]
+MASREF_Modulname[]="MasRef"
+DECL KRLMSGOPT_T MASREF_MsgOptWithLogging={VL_STOP TRUE,CLEAR_P_RESET TRUE,LOG_TO_DB TRUE}
+DECL INT MASREF_StateMsgHandle=0 ; 0=> no handle exists
+;ENDFOLD (Messages)
+;FOLD timeout
+DECL CONST REAL MASREF_TimeoutOneCycle=0.096 ; one wait cycle is 8*12ms=96ms
+DECL CONST INT MASREF_nLapsedTimeout=30 ; means ca. 3s
+DECL INT MASREF_nLapsedTime=0 ; actual count of wait cycle 
+;ENDFOLD (timeout)
+;FOLD reference groups
+DECL CONST INT MASREF_GroupSequenceSize=3 ; length of sequence list for reference groups
+DECL INT MASREF_GroupSequenceIdx=0 ; for iteration over the array of group sequence
+DECL INT MASREF_GroupNumber=0 ; actual group under test
+;ENDFOLD (reference groups)
+ENDDAT

KUKA/KRC/R1/System/masref_main.src

@@ -0,0 +1,128 @@
+&ACCESS RVO
+&REL 4
+&COMMENT Mastering Reference Main Task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\System
+DEF MasRef_Main()
+;*******************************************
+;* main module for safety relevant feature *
+;*           'Master Reference'            *
+;*******************************************
+  ;FOLD Start conditions for mastering reference
+  MsgState(MASREF_StateMsgHandle,"MasterReferenceCheckStartConditions",MASREF_Modulname[],,, 103)
+  IF Varstate("$pro_ip.si01.name[]") <> #DECLARED THEN
+    ;APP//MasRef_Main() wurde von einem uebergeordneten Programm aufgerufen
+    IF NOT $MasteringTest_Req_Ext AND NOT $MasteringTest_Req_Int THEN
+      ;APP//weder interne noch externe Anforderung ist freigegeben
+      WAIT FOR Clear_KrlMsg(MASREF_StateMsgHandle)
+      RETURN
+    ENDIF
+  ENDIF
+  ;APPBLOCK/*
+  ;Signale Referenzgruppe in Position und 
+  ;Justagereferenzierung aktiv zuruecksetzen 
+  ;APPBLOCK*/
+  $MasteringTest_Group = 0
+  $MasteringTest_Active = FALSE
+  ;APPBLOCK/*
+  ;Schalter Hardware pruefen und
+  ;Schalter darf nicht bedaempft sein
+  ;APPBLOCK*/
+  REPEAT
+    IF NOT $MasteringTest_Switch_OK THEN
+      ;APP//wartet auf Quittierung
+      MsgQuit("MasterReferenceSwitchFailure", MASREF_Modulname[], , , 100, MASREF_MsgOptWithLogging)
+    ENDIF
+    ;APP//aktiviert Safety-Modul
+    $MasteringTest_Active = TRUE
+    WAIT SEC 0.2
+    ;APP//lesend: Safety-Modul hat Variable wieder deaktiviert 
+    IF NOT $MasteringTest_Active THEN
+      ;APP//wartet auf Quittierung
+      MsgQuit("MasterReferenceNotActivated", MASREF_Modulname[], , , 101, MASREF_MsgOptWithLogging)
+    ENDIF
+  UNTIL $MasteringTest_Active AND $MasteringTest_Switch_OK
+  WAIT FOR Clear_KrlMsg(MASREF_StateMsgHandle)
+  ;ENDFOLD (Start conditions for mastering reference)
+  ;FOLD Reference group testing
+  FOR MASREF_GroupSequenceIdx = 1 TO MASREF_GroupSequenceSize
+    MASREF_GroupNumber = MASREFg_GroupSequence[MASREF_GroupSequenceIdx]
+    IF MASREF_GroupNumber > 0 THEN
+      MsgState(MASREF_StateMsgHandle,"MasterReferenceGroup",MASREF_Modulname[], MASREF_GroupNumber, , 104, MASREF_MsgOptWithLogging)
+      RunTest_Group(MASREF_GroupNumber)
+      WAIT FOR Clear_KrlMsg(MASREF_StateMsgHandle)
+    ENDIF
+  ENDFOR
+  ;ENDFOLD (Reference group testing)
+  ;FOLD Finalize mastering reference 
+  MsgState(MASREF_StateMsgHandle,"MasterReferenceFinalize",MASREF_Modulname[],,, 106)
+  ;APP//Positionspruefung in Sicherheitssteuerung beendet
+  $MasteringTest_Active = FALSE
+
+  MASREF_nLapsedTime = 0
+  REPEAT
+    WAIT SEC MASREF_TimeoutOneCycle
+    MASREF_nLapsedTime = MASREF_nLapsedTime + 1
+    ;APPBLOCK/*
+    ;lesend: warte bis Safety-Modul Variable auf FALSE setzt
+    ;oder Timeout abgelaufen 
+    ;APPBLOCK*/
+  UNTIL (NOT $MasteringTest_Active AND NOT $MasteringTest_Req_Int) or (MASREF_nLapsedTime > MASREF_nLapsedTimeout)
+
+  IF $MasteringTest_Active THEN
+    ;APP//wartet auf Quittierung
+    MsgQuit("MasterReferenceFailed", MASREF_Modulname[], , , 102, MASREF_MsgOptWithLogging)
+  ENDIF
+  WAIT FOR Clear_KrlMsg(MASREF_StateMsgHandle)
+  ;ENDFOLD (Finalize mastering reference)
+END
+
+DEF RunTest_Group(nGrpNr:IN)
+  ;FOLD Declaration
+  INT nGrpNr
+  ;ENDFOLD (Declaration)
+  ;FOLD Implementation
+  IF (nGrpNr <= 0) OR (nGrpNr > 3) THEN
+    MsgQuit("MasterReferenceUnknownGroup", MASREF_Modulname[], nGrpNr, , 105, MASREF_MsgOptWithLogging)
+    RETURN
+  ENDIF
+
+  SWITCH nGrpNr
+    CASE 1
+      ;APP//Pruefposition Gruppe 1 anfahren
+      MasRefStartG1()
+    CASE 2
+      ;APP//Pruefposition Gruppe 2 anfahren
+      MasRefStartG2()
+    CASE 3
+      ;APP//Pruefposition Gruppe 3 anfahren
+      MasRefStartG3()
+    DEFAULT
+  ENDSWITCH
+
+  ;APP//warte bis Pruefposition sicher erreicht
+  WAIT SEC 0.5
+  ;APP//aktiviert Signal Referenzgruppe x in Position
+  $MasteringTest_Group = nGrpNr
+  ;APP//warte bis Pruefung abgeschlossen
+  WAIT SEC 0.5
+
+  SWITCH nGrpNr
+    CASE 1
+      ;APP//zurueck von Pruefposition Gruppe 1
+      MasRefBackG1()
+    CASE 2
+      ;APP//zurueck von Pruefposition Gruppe 2
+      MasRefBackG2()
+    CASE 3
+      ;APP// zurueck von Pruefposition Gruppe 3
+      MasRefBackG3()
+    DEFAULT
+  ENDSWITCH
+
+  WAIT SEC 0.2
+  ;APP//deaktiviert Signal Referenzgruppe x in Position
+  $MasteringTest_Group = 0
+  WAIT SEC 0.2
+  ;ENDFOLD (Implementation)
+END

KUKA/KRC/R1/System/sps.sub

@@ -0,0 +1,87 @@
+&ACCESS RVP
+&COMMENT PLC on control
+DEF  SPS ( )
+  ;FOLD DECLARATIONS
+  ;FOLD BASISTECH DECL
+  ;Automatik extern
+  DECL STATE_T STAT
+  DECL MODUS_T MODE
+  ;ENDFOLD (BASISTECH DECL)
+  ;FOLD USER DECL
+  ; Please insert user defined declarations
+
+  ;ENDFOLD (USER DECL)
+  ;ENDFOLD (DECLARATIONS)
+  ;FOLD INI
+  ;FOLD BASISTECH INIT
+  BasisTech_PLC_INIT()
+  ;ENDFOLD (BASISTECH INIT)
+  ;FOLD AUTOEXT INIT
+  INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()
+  INTERRUPT ON 91
+  INTERRUPT DECL 92 WHEN $PRO_MOVE==TRUE DO RESET_LINESEL()
+  INTERRUPT ON 92
+  $LOOP_MSG[]="                                                            "
+  MODE=#SYNC
+  $H_POS=$H_POS
+  ;Automatik extern
+  IF $MODE_OP==#EX THEN
+    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
+  ENDIF
+  ;ENDFOLD (AUTOEXT INIT)
+  ;FOLD BACKUPMANAGER PLC INIT
+  BM_ENABLED = FALSE
+  BM_OUTPUTVALUE = 0
+  ;ENDFOLD (BACKUPMANAGER PLC INIT)
+  ;FOLD USER INIT
+  ; Please insert user defined initialization commands
+
+  ;ENDFOLD (USER INIT)
+  ;ENDFOLD (INI)
+
+  LOOP
+    WAIT FOR NOT($POWER_FAIL)
+	;FOLD BASISTECH PLC
+	   BasisTech_PLC_LOOP()
+	;ENDFOLD (BASISTECH PLC)
+    ;FOLD BACKUPMANAGER PLC
+    IF BM_ENABLED THEN
+      BM_OUTPUTSIGNAL = BM_OUTPUTVALUE
+    ENDIF
+    ;ENDFOLD (BACKUPMANAGER PLC)
+    ;FOLD USER PLC
+    ;Make your modifications here
+
+    ;ENDFOLD (USER PLC)
+  ENDLOOP
+  ;FOLD ;%{H}
+  ;FOLD
+END
+  ;ENDFOLD
+
+
+DEF  RESET_OUT ( )
+  INT N
+  MsgLoop(" ")
+  IF REFLECT_PROG_NR == 1 THEN
+    FOR N = 0 TO PGNO_LENGTH - 1
+      $OUT[PGNO_FBIT_REFL + N] = FALSE
+    ENDFOR
+  ENDIF
+  IF (PGNO_REQ>0) THEN
+    $OUT[PGNO_REQ]=FALSE
+  ELSE
+    IF (PGNO_REQ<0) THEN
+      $OUT[-PGNO_REQ]=TRUE
+    ENDIF
+  ENDIF
+END
+
+DEF RESET_LINESEL()
+  $LINE_SEL_OK=FALSE
+END
+;FOLD USER SUBROUTINE
+; Integrate your user defined subroutines
+
+;ENDFOLD (USER SUBROUTINE)
+;ENDFOLD

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

@@ -0,0 +1,15 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task for unconfigured brake test axes
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEFDAT  BrakeTestAxes PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+
+ENDDAT

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

@@ -0,0 +1,30 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task for unconfigured brake test axes
+&PARAM EDITMASK = *
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEF BRAKETESTAXES(AxesBitMask: IN)
+;BRAKETESTAXES(AxesBitMask: IN)
+;examples for parameter AxesBitMask
+;no parameter or -1 means all configured axes
+;'b00000000000011' means axis 1 and 2
+;'b10000000000001' means axis 1 and 12
+;'b11000000000000' means axis 11 and 12
+;FOLD {H}
+INT AxesBitMask
+
+ON_ERROR_PROCEED 
+AxesBitMask=AxesBitMask*1
+
+IF ($ERR.Number<>0) THEN
+  AxesBitMask=-1
+  ERR_CLEAR($ERR)
+ELSE
+  ERR_RAISE($ERR)
+ENDIF
+
+gBraketestForce=true
+BRAKETESTREQ(AxesBitMask)
+gBraketestForce=false
+;ENDFOLD
+END

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

@@ -0,0 +1,17 @@
+&ACCESS RV
+&REL 1
+&COMMENT path after test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEFDAT BrakeTestBack
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make here your modifications
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+ENDDAT

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

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT path after test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEF BrakeTestBack( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the position after the brake test.
+
+END

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

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT parkposition
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEFDAT  BRAKETESTPARK PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make here your modifications
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+DECL E6AXIS XParkPosition={A1 999.000,A2 999.000,A3 999.000,A4 999.000,A5 999.000,A6 999.000,E1 999.000,E2 999.000,E3 999.000,E4 999.000,E5 999.000,E6 999.000}
+DECL FDAT FParkPosition={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+ENDDAT

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

@@ -0,0 +1,35 @@
+&ACCESS RV
+&REL 1
+&COMMENT parkposition
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+&PARAM DISKPATH = KRC:\R1\TP\BrakeTest
+DEF BrakeTestPark( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the parking position. The parking position is needed when the robot has failed the brake test.
+;FOLD {h}
+WHILE ParkPositionInNotValid()
+  MsgDialog(SUCCESS,"ParkPositionIsNotValid",brakeTestMdbName[],,,,,,,"Ok")
+  HALT
+ENDWHILE
+;ENDFOLD
+;FOLD SPTP ParkPosition Vel=10 % DEFAULT Tool[1] Base[0] ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=ParkPosition; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=10; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;ENDFOLD
+SPTP XParkPosition WITH $VEL_AXIS[1] = SVEL_JOINT(10.0), $TOOL = STOOL2(FParkPosition), $BASE = SBASE(FParkPosition.BASE_NO), $IPO_MODE = SIPO_MODE(FParkPosition.IPO_FRAME), $LOAD = SLOAD(FParkPosition.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
+END
+;FOLD {h}
+Global DEFFCT BOOL ParkPositionInNotValid()
+RETURN ((XParkPosition.A1 == 999) AND (XParkPosition.A2 == 999) AND (XParkPosition.A3 == 999) AND (XParkPosition.A4 == 999) AND (XParkPosition.A5 == 999) AND (XParkPosition.A6 == 999) AND (XParkPosition.E1 == 999) AND (XParkPosition.E2 == 999) AND (XParkPosition.E3 == 999) AND (XParkPosition.E4 == 999) AND (XParkPosition.E5 == 999) AND (XParkPosition.E6 == 999))
+ENDFCT
+;ENDFOLD

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

@@ -0,0 +1,24 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = TP/BrakeTest
+DEFDAT  BRAKETESTREQ PUBLIC
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+
+DECL BRAKE_STATE RobotBrkState
+GLOBAL CHAR brakeTestMdbName[30]
+brakeTestMdbName[]="BrkTst"
+
+GLOBAL INT MaxCountResultUnknown = 10
+GLOBAL BOOL gBraketestForce=false
+DECL INT CountResultUnknown = 0
+
+
+ENDDAT

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

@@ -0,0 +1,122 @@
+&ACCESS RVO
+&REL 1
+&COMMENT BrkTst-main task
+&PARAM EDITMASK = *
+&PARAM DISKPATH = TP/BrakeTest
+DEF BRAKETESTREQ(AxesBitMask: IN)
+;BRAKETESTREQ
+;fold {h}
+INT Idx, Key, AxesBitMask
+BOOL Test_Ende
+BOOL BraketestForce
+BraketestForce=false
+IF gBraketestForce THEN
+  BraketestForce=true
+ENDIF
+gBraketestForce=false
+
+ON_ERROR_PROCEED 
+AxesBitMask=AxesBitMask*1
+
+IF ($ERR.Number<>0) THEN
+  AxesBitMask=-1
+  ERR_CLEAR($ERR)
+ELSE
+  ERR_RAISE($ERR)
+ENDIF
+  
+IF Varstate("$pro_ip.si01.name[]")==#declared THEN ;program selected
+  MsgDialog(Key, "DlgPeformManuallyBrakeTest", brakeTestMdbName[], , "Cancel", "GoToPark", "BTman",,,,,FALSE)
+  SWITCH  Key ;dialogue answer
+
+  CASE 5
+    BraketestForce=TRUE
+
+  CASE 6
+    BrakeTestStart()
+    BraketestError()
+
+  CASE 7
+    Return
+
+  DEFAULT
+    Return
+  ENDSWITCH
+ELSE ;cyclic call
+  IF NOT($BRAKETEST_REQ_INT) AND NOT(BraketestForce) THEN
+    Return
+  ENDIF
+ENDIF
+
+Test_Ende=false
+
+RobotBrkState=#BT_UNTESTED
+
+BrakeTestStart()
+
+BAS (#INITMOV,0 )
+repeat
+ 
+PTP $AXIS_ACT
+
+RobotBrkState = Test_BRAKE(AxesBitMask, BraketestForce)
+ 
+ SWITCH RobotBrkState
+
+   CASE #BT_WARNING,#BT_EXCESSIVE, #BT_MAXUNKNOWN, #BT_READY
+     CountResultUnknown = 0
+     Test_Ende = TRUE
+
+   CASE #BT_ERROR
+     BraketestError()
+          
+   CASE #BT_UNKNOWN
+     Test_Ende = BraketestUnknown()
+     
+   CASE #BT_UNTESTED
+     Test_Ende = TRUE
+
+  ENDSWITCH
+
+until Test_Ende
+
+BrakeTestBack()
+
+END
+
+     
+DEF BraketestError()
+INT Key
+
+Key = 0
+MsgDialog(Key, "BT_BRAKE_ERROR", brakeTestMdbName[]," ", "GoToPark",,,,,,,FALSE)
+
+BrakeTestPark()
+WAIT FOR TRUE
+
+repeat
+  MsgNotify("ParkPositionReached", brakeTestMdbName[])
+  halt
+until false
+
+END
+
+
+DEFFCT BOOL BraketestUnknown()
+INT Key
+Key=0
+CountResultUnknown = CountResultUnknown + 1
+
+IF (CountResultUnknown >= MaxCountResultUnknown) THEN
+
+  MsgDialog(Key, "BT_BRAKE_UNKNOWN", brakeTestMdbName[]," ", "TryAgain", "Cancel",,,,,,FALSE)
+  IF Key==7 then
+    Return FALSE
+  ELSE
+    Return TRUE
+  ENDIF
+ELSE
+  Return TRUE
+ENDIF
+ENDFCT
+;endfold

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

@@ -0,0 +1,17 @@
+&ACCESS RV
+&REL 1
+&COMMENT path to test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEFDAT BrakeTestStart
+;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
+;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
+EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
+DECL INT SUCCESS
+;ENDFOLD (BASISTECH EXT)
+;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
+;Make here your modifications
+
+;ENDFOLD (USER EXT)
+;ENDFOLD (EXTERNAL DECLERATIONS)
+ENDDAT

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

@@ -0,0 +1,19 @@
+&ACCESS RV
+&REL 1
+&COMMENT path to test
+&PARAM EDITMASK = *
+&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
+DEF BrakeTestStart( )
+;FOLD INI
+  ;FOLD BASISTECH INI
+    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+    INTERRUPT ON 3 
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD USER INI
+    ;Make your modifications here
+
+  ;ENDFOLD (USER INI)
+;ENDFOLD (INI)
+;Teach here the motion to the start position of the brake test.
+
+END

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

@@ -0,0 +1,27 @@
+&ACCESS RO
+&REL 2396
+&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
+DEFDAT  EthernetKRL PUBLIC
+;************************************************************
+; CopyRight       KUKA Deutschland GmbH 2018
+; last modified   23.11.2016
+; prefix          EKI
+; functions       Interface between KRL and Ethernet (non Realtime)
+;                 This file is mainly designed to communicate
+;                 with external devices like sensors, vision
+;                 systems, other controllers and so on. 
+;************************************************************
+
+;FOLD EKI_Declaration
+   
+   ;FOLD INTERNAL
+      GLOBAL STRUC EKI_STATUS INT Buff,Read,Msg_No,BOOL Connected,INT Counter
+      DECL CONST EKI_STATUS EKI_NULL_STATUS={Buff 0,Read 0,Msg_No 0,Connected FALSE,Counter 0}
+      DECL CONST INT TYPEFRAME=6
+      DECL CONST INT TYPENULL=0
+      DECL CONST INT ERRMSG_FORBIDDEN = 32768
+      DECL CONST INT ERRMSG_ALL = 32767
+   ;ENDFOLD   
+;ENDFOLD EKI_Declaration
+
+ENDDAT

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

@@ -0,0 +1,707 @@
+&ACCESS RO
+&REL 2396
+&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
+DEF EthernetKRL( )
+   ;************************************************************
+   ; CopyRight       KUKA Deutschland GmbH 2018
+   ; last modified   11.07.2012
+   ; prefix          EKI
+   ; functions       Interface between KRL and Ethernet (non Realtime)
+   ;                 This file is mainly designed to communicate
+   ;                 with external devices like sensors, vision
+   ;                 systems, other controllers and so on. 
+   ;************************************************************
+END
+
+;FOLD EKI_InternalProgram
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_Init(strChannelName[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret       
+      
+      Ret = EKI_NULL_STATUS   
+      Mode = #SYNC     
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Init",strChannelName[])
+      
+      Ret.Msg_No = -Stat.Msg_No  
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_Close(strChannelName[]:IN)
+      DECL CHAR strChannelName[]        
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Ret = EKI_NULL_STATUS  
+      Mode = #SYNC
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Close",strChannelName[])
+      
+      Ret.Msg_No = -Stat.Msg_No   
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_LOCK(strChannelName[]:IN)
+      DECL CHAR strChannelName[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL BOOL LOCK
+      
+      Ret = EKI_NULL_STATUS  
+      Mode = #SYNC
+      LOCK = TRUE
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_LockUnLock",strChannelName[], LOCK, Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No   
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_UNLOCK(strChannelName[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL BOOL LOCK
+      
+      Ret = EKI_NULL_STATUS  
+      Mode = #SYNC
+      LOCK = FALSE
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_LockUnLock",strChannelName[], LOCK, Ret.Connected)
+      
+      ; interrupt timeout to detect new edge    
+      CONTINUE
+      wait sec 0.002
+      
+      Ret.Msg_No = -Stat.Msg_No      
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_ClearBuffer(strChannelName[]:IN,strPlace[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Ret = EKI_NULL_STATUS
+      Mode = #SYNC
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_ClearBuff",strChannelName[],strPlace[],Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No   
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_Open(strChannelName[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Open",strChannelName[])
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      showMsgDepend(Ret)
+      
+      IF (Ret.Msg_No == 0) THEN
+         Ret.Connected = true
+      ENDIF
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_Clear(strChannelName[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Clear",strChannelName[])
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetInteger(strChannelName[]:IN,strPlace[]:IN,value:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL INT value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   GLOBAL DEFFCT EKI_STATUS EKI_GetInt(strChannelName[]:IN,strPlace[]:IN,value:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL INT value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetIntegerArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL INT value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   GLOBAL DEFFCT EKI_STATUS EKI_GetIntArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL INT value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetBool(strChannelName[]:IN,strPlace[]:IN,value:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL BOOL value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   GLOBAL DEFFCT EKI_STATUS EKI_GetBoolArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL BOOL value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetReal(strChannelName[]:IN,strPlace[]:IN,value:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL REAL value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   GLOBAL DEFFCT EKI_STATUS EKI_GetRealArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL REAL value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetString(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL CHAR value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_GetFrame(strChannelName[]:IN,strPlace[]:IN,value:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL FRAME value 
+      DECL CHAR Buff[24]
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL INT Offset
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      Ret.buff=1
+      
+      Offset = 0
+      Cast_To(Buff[], Offset,value)
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],Buff[],Ret.Buff, Ret.Read, TYPEFRAME,Ret.Connected, Ret.Counter)
+      
+      Offset=0
+      Cast_From(Buff[], Offset,value)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   GLOBAL DEFFCT EKI_STATUS EKI_GetFrameArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[] 
+      DECL FRAME value[] 
+      DECL CHAR Buff[3600]
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL INT Offset
+      DECL INT i,arraysize
+      DECL BOOL ReadContinue
+      DECL INT MayArrSz
+      DECL INT ReadElements
+      
+      MayArrSz = 150
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS    
+      
+      REPEAT
+         ReadContinue = false
+         ReadElements=0
+         arraysize=0
+         ; detect array size!
+         Offset=0
+         WHILE(($ERR.NUMBER==0) AND (arraysize<MayArrSz))
+            arraysize = arraysize + 1
+            ON_ERROR_PROCEED
+            CAST_TO(Buff[],Offset,value[arraysize+Ret.read])
+         ENDWHILE
+         
+         IF ((arraysize+Ret.read == 1) AND ($ERR.NUMBER<>0)) THEN
+            Ret.Msg_No = -26
+            EXIT
+         ENDIF
+         
+         IF ((arraysize == 1) AND ($ERR.NUMBER<>0)) THEN
+            EXIT
+         ENDIF
+         
+         IF ((arraysize == MayArrSz) AND ($ERR.NUMBER==0)) THEN
+            ReadContinue = true;         
+         ELSE
+            arraysize = arraysize - 1
+         ENDIF
+         
+         Ret.Buff = arraysize
+         
+         CONTINUE
+         CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],Buff[],Ret.Buff,ReadElements, TYPEFRAME,Ret.Connected, Ret.Counter)
+         
+         Offset = 0
+         FOR i=1 to ReadElements
+            Cast_From(Buff[], Offset,value[i + Ret.Read])
+         ENDFOR
+         
+         Ret.Read = Ret.Read + ReadElements
+         Ret.Msg_No = -Stat.Msg_No
+         showMsgDepend(Ret)
+         
+      UNTIL ((Ret.Msg_No <> 0) OR (ReadContinue == false) OR (Ret.Buff == 0) OR (arraysize<MayArrSz))
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_Send(strChannelName[]:IN,strPlace[]:IN, Len:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL INT Len
+	  
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS      
+      
+	  IF (VARSTATE("Len") == #Declared) THEN
+		Len = 0
+      ENDIF
+	  
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Send",strChannelName[],strPlace[],Ret.Connected,Len)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetInt(strChannelName[]:IN,strPlace[]:IN,value:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]  
+      DECL INT value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetReal(strChannelName[]:IN,strPlace[]:IN,value:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]  
+      DECL REAL value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetBool(strChannelName[]:IN,strPlace[]:IN,value:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]  
+      DECL BOOL value 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetString(strChannelName[]:IN,strPlace[]:IN,value[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]  
+      DECL CHAR value[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value[],TYPENULL,Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetFrame(strChannelName[]:IN,strPlace[]:IN,value:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]  
+      DECL FRAME value
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      DECL CHAR BUFF[24]
+      DECL INT Offset
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      Offset = 0
+      Cast_To(BUFF[], Offset,value)
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[], BUFF[], TYPEFRAME,Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_SetParameter(strChannelName[]:IN,strParName[]:IN,strValue[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strParName[] 
+      DECL CHAR strValue[] 
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_SetParam",strChannelName[],strParName[],strValue[],Ret.Connected)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   GLOBAL DEF EKI_Check(Ret:IN,Type:IN,strChannelName[]:IN)
+      DECL CHAR strChannelName[] 
+      DECL EKI_STATUS Ret  
+      DECL EKrlMsgType Type
+      INT Handle
+      DECL KrlMsg_T name
+      DECL KrlMsgPar_T params[3]
+      DECL KrlMsgOpt_T options
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode       
+      DECL INT Offset
+      DECL INT Filter
+      DECL INT i
+      
+      IF (VARSTATE("strChannelName[]")==#INITIALIZED) THEN
+         
+         CONTINUE
+         CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_CheckErr",strChannelName[],Ret.Connected)
+         
+         Ret.Msg_No = -Stat.Msg_No
+      ENDIF
+      
+      Ret.Msg_No = (ERRMSG_ALL B_AND Ret.Msg_No)
+      
+      IF (Ret.Msg_No <>0) THEN      
+         name={modul[] "EthernetKRL", Nr 1, msg_txt[] "0"}
+         Filter = 255
+         FOR i=(0) TO (1)
+            name.nr = (Ret.Msg_No B_AND Filter)
+            IF (name.nr <> 0) THEN
+               Offset = 0            
+               CONTINUE              
+               SWRITE(name.msg_txt[],Stat,Offset,"eki%i",name.nr)
+               Handle = Set_KrlMsg(Type, name, params[], options)
+            ENDIF
+            Filter = 65280
+         ENDFOR
+         IF(Type==#Quit) THEN
+            WHILE(Exists_KrlMsg(Handle))
+               wait sec 0.2
+            ENDWHILE
+         ENDIF      
+      ENDIF  
+      
+      IF (VARSTATE("strChannelName[]")==#INITIALIZED) THEN
+         EKI_Check_User(Ret,Type,strChannelName[])   
+      ELSE
+         EKI_Check_User(Ret,Type)   
+      ENDIF   
+   END
+   
+   
+   ; ===========================================================
+   GLOBAL DEFFCT EKI_STATUS EKI_CheckBuffer(strChannelName[]:IN,strPlace[]:IN)
+      DECL CHAR strChannelName[]  
+      DECL CHAR strPlace[]    
+      DECL STATE_T Stat   
+      DECL MODUS_T Mode 
+      DECL EKI_STATUS Ret      
+      
+      Mode = #SYNC
+      Ret = EKI_NULL_STATUS
+      
+      CONTINUE
+      CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_CheckBuff",strChannelName[],strPlace[],Ret.Buff,Ret.Connected, Ret.Counter)
+      
+      Ret.Msg_No = -Stat.Msg_No 
+      
+      showMsgDepend(Ret)
+      
+      RETURN Ret
+   ENDFCT
+   
+   ; ===========================================================
+   DEF showMsgDepend(Ret:OUT)
+      DECL EKI_STATUS Ret
+      
+      IF (Ret.Msg_no B_AND ERRMSG_FORBIDDEN)==0 THEN   
+         EKI_CHECK(Ret,#QUIT)
+      ENDIF
+      
+      Ret.Msg_no = Ret.Msg_no B_AND ERRMSG_ALL     
+   END
+   
+;ENDFOLD EKI_InternalProgram
+

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

@@ -0,0 +1,39 @@
+&ACCESS RO
+&REL 2314
+&PARAM DISKPATH = TP/EthernetKRL
+DEF EthernetKRL_USER( )
+;************************************************************
+; CopyRight       KUKA Deutschland GmbH 2018
+; last modified   11.07.2012
+; prefix          EKI
+; functions       user routine for error handling
+;************************************************************
+END
+
+;FOLD EKI_UserProgram
+; ===========================================================
+GLOBAL DEF EKI_Check_User(Ret:IN,Type:IN,strChannelName[]:IN)
+   ;FOLD Initialize variables
+   DECL CHAR strChannelName[] 
+   DECL EKI_STATUS Ret  
+   DECL EKrlMsgType Type
+   INT Handle
+   DECL KrlMsg_T name
+   DECL KrlMsgPar_T params[3]
+   DECL KrlMsgOpt_T options
+   DECL STATE_T Stat   
+   DECL MODUS_T Mode 
+   DECL BOOL B
+   DECL INT Offset
+   ;ENDFOLD
+   
+   IF (VARSTATE("strChannelName[]")==#INITIALIZED) THEN
+      ; strChannelName is initialized      
+   ENDIF
+
+   ;************************************************************
+   ;write your error handling here
+   ;************************************************************
+
+END
+;ENDFOLD EKI_UserProgram

KUKA/KRC/R1/TP/Signals.dat

@@ -0,0 +1,3 @@
+&ACCESS RV
+DEFDAT SIGNALS PUBLIC
+ENDDAT

KUKA/KRC/R1/TP/p00.dat

@@ -0,0 +1,103 @@
+&ACCESS R1
+&COMMENT EXTERNAL package
+DEFDAT  P00
+
+BOOL PLC_ENABLE=FALSE ; Enable error-code transmission to plc
+INT I
+INT F_NO=1
+INT MAXERR_C=1 ; maximum messages for $STOPMESS
+INT MAXERR_A=1 ; maximum messages for APPLICATION
+DECL STOPMESS MLD
+SIGNAL ERR $OUT[25]  TO $OUT[32]
+BOOL FOUND
+
+STRUC PRESET INT OUT,CHAR PKG[3],INT ERR
+DECL PRESET P[255]
+
+; z.B. P[1] FEHLERCODE AN SPS = 1
+;WENN:
+;AUTOMATIK_EXTERN PKG[] = "P00"
+;PARITAETSFEHLER    = 10
+
+; z.B. P[128] FEHLERCODE AN SPS = 128
+;WENN:
+;$STOPMESS-MELDUNG PKG[] = "CTL"
+;NOT-AUS: = 1
+
+; APPLICATION MESSAGES: P[1]...P[127] 
+P[1]={OUT 2,PKG[] "P00",ERR 10}
+;...
+;...
+; $STOPMESS MESSAGES: P[128]...P[255]
+P[128]={OUT 128,PKG[] "CTL",ERR 1}
+;...
+;...
+P[255]={OUT 255,PKG[] "CTL",ERR 1001}
+
+STRUC ERR_MESS CHAR P[3],INT E
+DECL ERR_MESS ERR_FILE[64]
+ERR_FILE[1]={P[] "XXX",E 0}
+ERR_FILE[2]={P[] "XXX",E 0}
+ERR_FILE[3]={P[] "XXX",E 0}
+ERR_FILE[4]={P[] "XXX",E 0}
+ERR_FILE[5]={P[] "XXX",E 0}
+ERR_FILE[6]={P[] "XXX",E 0}
+ERR_FILE[7]={P[] "XXX",E 0}
+ERR_FILE[8]={P[] "XXX",E 0}
+ERR_FILE[9]={P[] "XXX",E 0}
+ERR_FILE[10]={P[] "XXX",E 0}
+ERR_FILE[11]={P[] "XXX",E 0}
+ERR_FILE[12]={P[] "XXX",E 0}
+ERR_FILE[13]={P[] "XXX",E 0}
+ERR_FILE[14]={P[] "XXX",E 0}
+ERR_FILE[15]={P[] "XXX",E 0}
+ERR_FILE[16]={P[] "XXX",E 0}
+ERR_FILE[17]={P[] "XXX",E 0}
+ERR_FILE[18]={P[] "XXX",E 0}
+ERR_FILE[19]={P[] "XXX",E 0}
+ERR_FILE[20]={P[] "XXX",E 0}
+ERR_FILE[21]={P[] "XXX",E 0}
+ERR_FILE[22]={P[] "XXX",E 0}
+ERR_FILE[23]={P[] "XXX",E 0}
+ERR_FILE[24]={P[] "XXX",E 0}
+ERR_FILE[25]={P[] "XXX",E 0}
+ERR_FILE[26]={P[] "XXX",E 0}
+ERR_FILE[27]={P[] "XXX",E 0}
+ERR_FILE[28]={P[] "XXX",E 0}
+ERR_FILE[29]={P[] "XXX",E 0}
+ERR_FILE[30]={P[] "XXX",E 0}
+ERR_FILE[31]={P[] "XXX",E 0}
+ERR_FILE[32]={P[] "XXX",E 0}
+ERR_FILE[33]={P[] "XXX",E 0}
+ERR_FILE[34]={P[] "XXX",E 0}
+ERR_FILE[35]={P[] "XXX",E 0}
+ERR_FILE[36]={P[] "XXX",E 0}
+ERR_FILE[37]={P[] "XXX",E 0}
+ERR_FILE[38]={P[] "XXX",E 0}
+ERR_FILE[39]={P[] "XXX",E 0}
+ERR_FILE[40]={P[] "XXX",E 0}
+ERR_FILE[41]={P[] "XXX",E 0}
+ERR_FILE[42]={P[] "XXX",E 0}
+ERR_FILE[43]={P[] "XXX",E 0}
+ERR_FILE[44]={P[] "XXX",E 0}
+ERR_FILE[45]={P[] "XXX",E 0}
+ERR_FILE[46]={P[] "XXX",E 0}
+ERR_FILE[47]={P[] "XXX",E 0}
+ERR_FILE[48]={P[] "XXX",E 0}
+ERR_FILE[49]={P[] "XXX",E 0}
+ERR_FILE[50]={P[] "XXX",E 0}
+ERR_FILE[51]={P[] "XXX",E 0}
+ERR_FILE[52]={P[] "XXX",E 0}
+ERR_FILE[53]={P[] "XXX",E 0}
+ERR_FILE[54]={P[] "XXX",E 0}
+ERR_FILE[55]={P[] "XXX",E 0}
+ERR_FILE[56]={P[] "XXX",E 0}
+ERR_FILE[57]={P[] "XXX",E 0}
+ERR_FILE[58]={P[] "XXX",E 0}
+ERR_FILE[59]={P[] "XXX",E 0}
+ERR_FILE[60]={P[] "XXX",E 0}
+ERR_FILE[61]={P[] "XXX",E 0}
+ERR_FILE[62]={P[] "XXX",E 0}
+ERR_FILE[63]={P[] "XXX",E 0}
+ERR_FILE[64]={P[] "XXX",E 0}
+ENDDAT

KUKA/KRC/R1/TP/p00.src

@@ -0,0 +1,452 @@
+&ACCESS R1
+&COMMENT EXTERNAL package
+DEF  P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
+  DECL P00_COMMAND COMMAND
+  DECL FUNCT_TYPE PGNO_FUNCT
+  DECL CHAR P_ID[]
+  E6AXIS AK_AXIS
+  REAL AX_DIST
+  INT E_NO
+  SWITCH  COMMAND
+  CASE #INIT_EXT
+    INIT_EXT ( )
+  CASE #EXT_PGNO
+    EXT_PGNO (PGNO_FUNCT )
+  CASE #CHK_HOME
+    CHK_HOME ( )
+  CASE #EXT_ERR
+    EXT_ERR (P_ID[],E_NO )
+  ENDSWITCH
+END
+
+
+DEF  INIT_EXT ( )
+  ;********************************
+  ; Function: initializing of the
+  ;           external interface
+  ;********************************
+  BOOL ERROR
+  INT N
+  PGNO_ERROR=0
+  ;********************************
+  ;CHECK HOME
+  ;********************************
+
+  ;********************************
+  ;INIT PGNO_REQ UND APPL_RUN
+  ;********************************
+  IF (PGNO_REQ>0) THEN
+    $OUT[PGNO_REQ]=FALSE
+  ENDIF
+  IF (PGNO_REQ<0) THEN
+    $OUT[-PGNO_REQ]=TRUE
+  ENDIF
+  IF (APPL_RUN>0) THEN
+    $OUT[APPL_RUN]=FALSE
+  ENDIF
+  IF PLC_ENABLE AND (ERR_TO_PLC>0) THEN
+    $OUT[ERR_TO_PLC]=FALSE
+  ENDIF
+  IF REFLECT_PROG_NR==1 THEN
+    FOR N=0 TO PGNO_LENGTH-1
+      $OUT[PGNO_FBIT_REFL+N]=FALSE
+    ENDFOR
+  ENDIF
+  ;*******************
+  REPEAT
+    ;***********************************************************
+    ERROR=FALSE
+    REPEAT
+      IF ($I_O_ACTCONF==FALSE) THEN
+        ERROR=TRUE
+        MsgQuit("OperatorModeWrong", "P00")
+      ENDIF
+    UNTIL ($I_O_ACTCONF==TRUE)
+    SWITCH  PGNO_TYPE
+      ;*********************************************************
+    CASE 1,2 ;bci-coding,bcd-coding
+      ;*********************************************************
+      ;***** CHECK PGNO_LENGTH *****
+      IF (PGNO_LENGTH<1) THEN
+        ERROR=TRUE ;pgno_length
+        MsgQuit("PgNo_LengthRangeWrong", "P00")
+      ENDIF
+      IF (PGNO_TYPE==1) THEN ;bci-coding
+        IF (PGNO_LENGTH>16) THEN
+          ERROR=TRUE ;pgno_length
+          MsgQuit("PgNo_LengthRangeWrong", "P00")
+        ENDIF
+      ENDIF
+      IF (PGNO_TYPE==2) THEN ;bcd-coding
+        SWITCH  PGNO_LENGTH
+        CASE 4,8,12,16
+        DEFAULT
+          ERROR=TRUE ;pgno_length
+          MsgQuit("PgNo_LengthWrong", "P00")
+        ENDSWITCH
+      ENDIF
+      ;***** CHECK PGNO_FBIT *****
+      IF (PGNO_FBIT<1) THEN
+        ERROR=TRUE ;pgno_fbit
+        MsgQuit("PgNo_FBitWrong", "P00")
+      ENDIF
+      ;***** CHECK PGNO_REQ *****
+      IF (PGNO_REQ==0) THEN
+        ERROR=TRUE ;pgno_req
+        MsgQuit("PgNo_ReqWrong", "P00")
+      ENDIF
+      IF (PGNO_REQ>0) THEN ;active high
+        $OUT[PGNO_REQ]=FALSE ;reset
+        WAIT SEC 0.2 ;delay for plc
+      ENDIF
+      IF (PGNO_REQ<0) THEN ;active low
+        $OUT[PGNO_REQ*(-1)]=TRUE ;reset
+        WAIT SEC 0.2 ;delay for plc
+      ENDIF
+      ;*********************************************************
+    CASE 3 ;one out of n
+      ;*********************************************************
+      ;***** CHECK PGNO_LENGTH *****
+      IF (PGNO_LENGTH<1) THEN
+        ERROR=TRUE ;pgno_length
+        MsgQuit("PgNo_LengthRangeWrong", "P00")
+      ENDIF
+      IF (PGNO_LENGTH>16) THEN
+        ERROR=TRUE ;pgno_length
+        MsgQuit("PgNo_LengthRangeWrong", "P00")
+      ENDIF
+      ;***** CHECK PGNO_FBIT *****
+      IF (PGNO_FBIT<1) THEN
+        ERROR=TRUE ;pgno_fbit
+        MsgQuit("PgNo_FBitWrong", "P00")
+      ENDIF
+
+      ;*********************************************************
+    DEFAULT ;PGNO_TYPE wrong type
+      ;*********************************************************
+      ERROR=TRUE ;pgno_type
+      MsgQuit ("PgNo_TypeWrong", "P00")
+    ENDSWITCH
+    ;***********************************************************
+  UNTIL (ERROR==FALSE)
+END
+
+
+DEF  EXT_PGNO (FUNCT :OUT )
+  ;********************************
+  ; Function: communication program
+  ;           for external mode
+  ;********************************
+  DECL FUNCT_TYPE FUNCT
+  INT I,J,K,L,M,N,nHandle
+  BOOL P_RECV,P_CALC,bRes
+  J=1
+  K=0
+  L=1
+  P_RECV=FALSE
+  P_CALC=FALSE
+  IF (APPL_RUN>0) THEN
+    $OUT[APPL_RUN]=FALSE
+  ENDIF
+  SWITCH  FUNCT
+    ;*******************
+  CASE #PGNO_ACKN
+    ;*******************
+    IF (PGNO_REQ>0) THEN
+      $OUT[PGNO_REQ]=FALSE
+    ENDIF
+    IF (PGNO_REQ<0) THEN
+      $OUT[PGNO_REQ*(-1)]=TRUE
+    ENDIF
+    IF (APPL_RUN>0) THEN
+      $OUT[APPL_RUN]=TRUE
+    ENDIF
+    ;*******************
+  CASE #PGNO_GET
+    ;*******************
+    IF REFLECT_PROG_NR==1 THEN
+      FOR N=0 TO PGNO_LENGTH-1
+        $OUT[PGNO_FBIT_REFL+N]=FALSE
+      ENDFOR
+    ENDIF
+    SWITCH  PGNO_TYPE
+      ;*******************
+    CASE 1,2
+      ;*******************
+      IF (PGNO_VALID>0) THEN
+        WAIT FOR  $IN[PGNO_VALID]==FALSE
+      ENDIF
+      IF (PGNO_VALID==0) THEN
+        WAIT FOR  $EXT_START==FALSE
+      ENDIF
+      IF (PGNO_VALID<0) THEN
+        WAIT FOR  $IN[PGNO_VALID*(-1)]==TRUE
+      ENDIF
+      IF (PGNO_REQ>0) THEN
+        $OUT[PGNO_REQ]=TRUE
+      ENDIF
+      IF (PGNO_REQ<0) THEN
+        $OUT[PGNO_REQ*(-1)]=FALSE
+      ENDIF
+      IF (PGNO_VALID>0) THEN
+	    MsgState(nHandle, "Wait for PGNO_VALID=True", "P00")
+        REPEAT
+          IF REFLECT_PROG_NR==1 THEN
+            FOR I=0 TO  PGNO_LENGTH-1
+              IF $IN[PGNO_FBIT+I]==TRUE THEN
+                $OUT[PGNO_FBIT_REFL+I]=TRUE
+              ELSE
+                $OUT[PGNO_FBIT_REFL+I]=FALSE
+              ENDIF
+            ENDFOR
+          ENDIF 
+        UNTIL  $IN[PGNO_VALID]==TRUE
+        bRes=Clear_KrlMsg (nHandle) 
+      ENDIF
+      IF (PGNO_VALID==0) THEN
+	    MsgState(nHandle, "Wait for $EXT_START=True", "P00")
+        REPEAT
+          IF REFLECT_PROG_NR==1 THEN
+            FOR I=0 TO  PGNO_LENGTH-1
+              IF $IN[PGNO_FBIT+I]==TRUE THEN
+                $OUT[PGNO_FBIT_REFL+I]=TRUE
+              ELSE
+                $OUT[PGNO_FBIT_REFL+I]=FALSE
+              ENDIF
+            ENDFOR
+          ENDIF  
+        UNTIL  $EXT_START==TRUE
+        bRes=Clear_KrlMsg (nHandle) 
+      ENDIF
+      IF (PGNO_VALID<0) THEN
+	    MsgState(nHandle, "Wait for PGNO_VALID=False", "P00")
+        REPEAT
+          IF REFLECT_PROG_NR==1 THEN
+            FOR I=0 TO  PGNO_LENGTH-1
+              IF $IN[PGNO_FBIT+I]==TRUE THEN
+                $OUT[PGNO_FBIT_REFL+I]=TRUE
+              ELSE
+                $OUT[PGNO_FBIT_REFL+I]=FALSE
+              ENDIF
+            ENDFOR
+          ENDIF 
+        UNTIL  $IN[PGNO_VALID*(-1)]==FALSE
+        bRes=Clear_KrlMsg (nHandle) 
+      ENDIF
+      PGNO=0
+      SWITCH  PGNO_TYPE
+        ;*******************
+      CASE 1
+        ;*******************
+        FOR I=0 TO  PGNO_LENGTH-1
+          IF $IN[PGNO_FBIT+I] THEN
+            IF REFLECT_PROG_NR==1 THEN
+              $OUT[PGNO_FBIT_REFL+I]=TRUE
+            ENDIF
+            PGNO=PGNO+J
+          ENDIF
+          J=J*2
+        ENDFOR
+        ;*******************
+      CASE 2
+        ;*******************
+        FOR I=0 TO  PGNO_LENGTH-1  STEP  4
+          N=0
+          J=1
+          FOR M=I TO  I+3
+            IF $IN[PGNO_FBIT+M] THEN
+              N=N+J
+              IF REFLECT_PROG_NR==1 THEN
+                $OUT[PGNO_FBIT_REFL+M]=TRUE
+              ENDIF
+            ENDIF
+            J=J*2
+          ENDFOR
+          IF (N>9) THEN
+            PGNO_ERROR=2
+            PGNO=0
+            EXIT
+          ELSE
+            PGNO=PGNO+N*L
+            L=L*10
+          ENDIF
+        ENDFOR
+      ENDSWITCH
+      IF (PGNO_ERROR<>2) THEN
+        IF (PGNO_PARITY>0) THEN
+          P_RECV=$IN[PGNO_PARITY]
+          FOR I=0 TO  PGNO_LENGTH-1
+            P_CALC=P_CALC EXOR $IN[PGNO_FBIT+I]
+          ENDFOR
+          IF (P_RECV<>P_CALC) THEN
+            PGNO=0
+            PGNO_ERROR=1
+          ELSE
+            PGNO_ERROR=0
+          ENDIF
+        ENDIF
+        IF (PGNO_PARITY<0) THEN
+          P_RECV=$IN[PGNO_PARITY*(-1)]
+          FOR I=0 TO  PGNO_LENGTH-1
+            P_CALC=P_CALC EXOR $IN[PGNO_FBIT+I]
+          ENDFOR
+          IF (P_RECV<> NOT (P_CALC)) THEN
+            PGNO=0
+            PGNO_ERROR=1
+          ELSE
+            PGNO_ERROR=0
+          ENDIF
+        ENDIF
+      ENDIF
+      ;*******************
+    CASE 3
+      ;*******************
+      IF PGNO>0 THEN
+        WAIT FOR  $IN[PGNO_FBIT+PGNO-1]==FALSE
+      ENDIF
+      K=0
+      REPEAT
+        FOR I=0 TO  PGNO_LENGTH-1
+          IF $IN[PGNO_FBIT+I] THEN
+            IF K==0 THEN
+              K=I+1
+            ELSE
+              PGNO_ERROR=0
+              K=0
+            ENDIF
+          ENDIF
+        ENDFOR
+      UNTIL ((K<>0) OR (PGNO_ERROR==0))
+      PGNO=K
+    ENDSWITCH
+    ;***********************************************************
+  CASE #PGNO_FAULT
+    ;***********************************************************
+    IF PGNO_ERROR==1 THEN
+      MsgQuit("ParityFault", "P00", PGNO)
+    ENDIF
+    IF PGNO_ERROR==2 THEN
+      MsgQuit("BCDCodeError", "P00", PGNO)
+    ENDIF
+    IF PGNO_ERROR==0 THEN
+      IF (PGNO_TYPE==3) THEN
+        MsgQuit("ProgNumberWrong", "P00")
+      ELSE
+        MsgQuit("ProgramNotAvailable", "P00", PGNO)
+      ENDIF
+    ENDIF
+    PGNO_ERROR=0
+    IF (PGNO_REQ>0) THEN
+      $OUT[PGNO_REQ]=FALSE
+    ENDIF
+    IF (PGNO_REQ<0) THEN
+      $OUT[PGNO_REQ*(-1)]=TRUE
+    ENDIF
+    WAIT SEC 0.5
+  ENDSWITCH
+END
+
+
+DEF  CHK_HOME ( )
+  BOOL H
+
+  IF ($I_O_ACTCONF==TRUE) THEN
+    REPEAT
+      H=TRUE
+      IF ($IN_HOME==FALSE) THEN
+        H=FALSE
+        REPEAT  
+          MsgQuit("MoveHomeInT1", "P00")
+          IF (($MODE_OP==#T1) OR ($MODE_OP==#T2)) THEN
+            RETURN 
+          ENDIF
+          HALT	  
+        UNTIL $IN_HOME==TRUE
+      ELSE
+        H=TRUE
+      ENDIF
+    UNTIL ((H==TRUE) OR ($I_O_ACTCONF==FALSE))
+  ENDIF
+END
+
+
+DEF  EXT_ERR (P_ID :OUT, E_NO :IN )
+  ;******************************
+  ;Function : ext. error messages
+  ;           for package P00
+  ;******************************
+  CHAR P_ID[]
+  INT E_NO,M
+  ;********* MODUL-/FEHLER-NUMMER AUSWERTEN ********
+  I=1
+  FOUND=FALSE
+  IF (E_NO==0) THEN
+    IF PLC_ENABLE THEN
+      ERR=0
+      WAIT SEC 0.2
+      IF (ERR_TO_PLC >0) THEN
+        $OUT[ERR_TO_PLC]=FALSE
+        WAIT SEC 0.2
+      ENDIF
+    ENDIF
+  ELSE
+    IF PLC_ENABLE THEN
+      FOUND=FALSE
+      ;******************************
+      ; APPLIKATIONS-FEHLER AUSWERTEN
+      ;******************************
+      I=1
+      REPEAT
+        IF (E_NO==P[I].ERR) THEN
+          IF (P_ID[1]==P[I].PKG[1]) THEN
+            IF (P_ID[2]==P[I].PKG[2]) THEN
+              IF (P_ID[3]==P[I].PKG[3]) THEN
+                FOUND=TRUE
+                ERR=P[I].OUT
+                F_WRITE ( )
+              ENDIF
+            ENDIF
+          ENDIF
+        ENDIF
+        I=I+1
+      UNTIL (I>MAXERR_A) OR FOUND
+      ;***************************
+      ; $STOPMESS-FEHLER AUSWERTEN
+      ;***************************
+      I=128
+      IF (P_ID[1]=="C") THEN
+        IF (P_ID[2]=="T") THEN
+          IF (P_ID[3]=="L") THEN
+            M=MBX_REC(1,MLD)
+            IF M==0 THEN
+              REPEAT
+                IF (MLD.MESSNO==P[I].ERR) THEN
+                  FOUND=TRUE
+                  ERR=P[I].OUT
+                  F_WRITE ( )
+                ENDIF
+                I=I+1
+              UNTIL (I>MAXERR_C+128-1) OR FOUND
+            ENDIF
+          ENDIF
+        ENDIF
+      ENDIF
+      IF (ERR_TO_PLC >0) THEN
+        $OUT[ERR_TO_PLC]=TRUE
+      ENDIF
+    ENDIF
+  ENDIF
+END
+
+
+DEF  F_WRITE ( )
+  IF (F_NO>64) THEN
+    F_NO=1
+  ENDIF
+  ERR_FILE[F_NO].P[1]=P[I].PKG[1]
+  ERR_FILE[F_NO].P[2]=P[I].PKG[2]
+  ERR_FILE[F_NO].P[3]=P[I].PKG[3]
+  ERR_FILE[F_NO].E=P[I].ERR
+  F_NO=F_NO+1
+END
+

KUKA/KRC/R1/cell.src

@@ -0,0 +1,31 @@
+&ACCESS RVO
+&COMMENT HANDLER on external automatic
+DEF  CELL ( )
+  ;EXT EXAMPLE1 ( )
+  ;EXT EXAMPLE2 ( )
+  ;EXT EXAMPLE3 ( )
+  
+  ;FOLD INIT
+  DECL CHAR DMY[3]
+  DMY[]="---"
+  ;ENDFOLD (INIT)
+  ;FOLD BASISTECH INI
+  GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
+  INTERRUPT ON 3 
+  BAS (#INITMOV,0 )
+  ;ENDFOLD (BASISTECH INI)
+  ;FOLD CHECK HOME
+  $H_POS=XHOME
+  IF CHECK_HOME==TRUE THEN
+    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position 
+  ENDIF
+  ;ENDFOLD (CHECK HOME)
+
+Initmove()
+  ;FOLD AUTOEXT INI
+  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
+  ;ENDFOLD (AUTOEXT INI)
+  LOOP
+    MainModule()
+  ENDLOOP
+END

KUKA/KRC/STEU/$config.dat

@@ -0,0 +1,4 @@
+&ACCESS RV$2
+DEFDAT $CONFIG
+
+ENDDAT

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

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

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

KUKA/Modifications.xml

@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Folder OriginalName="" CurrentName="" Type="None" OriginalPath="">
+  <Folder OriginalName="KRC" CurrentName="KRC:" Type="None" OriginalPath="KRC:\">
+    <Folder OriginalName="R1" CurrentName="R1" Type="None" OriginalPath="KRC:\R1">
+      <Folder OriginalName="KUKA" CurrentName="KUKA" Type="None" OriginalPath="KRC:\R1\KUKA">
+        <File OriginalName="CollDetect_UserAction.dat" CurrentName="CollDetect_UserAction.dat" Type="None" OriginalPath="KRC:\R1\KUKA\CollDetect_UserAction.dat" OriginalChecksum="525fb8ceb628df9818e433edf1e6f1bf" CurrentChecksum="525fb8ceb628df9818e433edf1e6f1bf" />
+        <File OriginalName="CollDetect_UserAction.src" CurrentName="CollDetect_UserAction.src" Type="None" OriginalPath="KRC:\R1\KUKA\CollDetect_UserAction.src" OriginalChecksum="66e63c582463d895b3c02d3a038a6672" CurrentChecksum="66e63c582463d895b3c02d3a038a6672" />
+        <File OriginalName="masref_user.dat" CurrentName="masref_user.dat" Type="None" OriginalPath="KRC:\R1\KUKA\masref_user.dat" OriginalChecksum="f67ff606ea52204705eb1141cf7808a2" CurrentChecksum="f67ff606ea52204705eb1141cf7808a2" />
+        <File OriginalName="masref_user.src" CurrentName="masref_user.src" Type="None" OriginalPath="KRC:\R1\KUKA\masref_user.src" OriginalChecksum="a78246b787ecdb0d82dc7e0181ae9159" CurrentChecksum="a78246b787ecdb0d82dc7e0181ae9159" />
+      </Folder>
+      <Folder OriginalName="Mada" CurrentName="Mada" Type="None" OriginalPath="KRC:\R1\Mada">
+        <File OriginalName="$machine.dat" CurrentName="$machine.dat" Type="None" OriginalPath="KRC:\R1\Mada\$machine.dat" OriginalChecksum="a6d2cc938e2a1ef1ef3017affa67f2de" CurrentChecksum="a6d2cc938e2a1ef1ef3017affa67f2de" />
+        <File OriginalName="$robcor.dat" CurrentName="$robcor.dat" Type="None" OriginalPath="KRC:\R1\Mada\$robcor.dat" OriginalChecksum="b016257e7ddafcec6947463b0b21adff" CurrentChecksum="b016257e7ddafcec6947463b0b21adff" />
+      </Folder>
+      <Folder OriginalName="Program" CurrentName="Program" Type="None" OriginalPath="KRC:\R1\Program">
+        <Folder OriginalName="Grip" CurrentName="Grip" Type="None" OriginalPath="KRC:\R1\Program\Grip">
+          <File OriginalName="GripClose.src" CurrentName="GripClose.src" Type="None" OriginalPath="KRC:\R1\Program\Grip\GripClose.src" OriginalChecksum="515576abd3bed6643921712f74c40398" CurrentChecksum="515576abd3bed6643921712f74c40398" />
+          <File OriginalName="GripOpen.src" CurrentName="GripOpen.src" Type="None" OriginalPath="KRC:\R1\Program\Grip\GripOpen.src" OriginalChecksum="2f43186412afa7640a5063bdbc8327c9" CurrentChecksum="2f43186412afa7640a5063bdbc8327c9" />
+        </Folder>
+        <Folder OriginalName="Home" CurrentName="Home" Type="None" OriginalPath="KRC:\R1\Program\Home">
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KUKA/actions.log

@@ -0,0 +1,53 @@
+Repository '810169497(PCRC-3HXLTUHYM6)', 'D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)'
+====================================================================================================
+
+2026-02-05 03:19:10.654 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\Mylib\CheckPosArea.src
+2026-02-05 03:19:10.692 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\Mylib
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+2026-02-05 03:20:11.940 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\Mylib
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+2026-02-05 03:21:08.433 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\PL\FeedBelt1Pick.src
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+2026-02-05 03:21:23.807 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\PL\FeedBelt1Pick.src
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+2026-02-05 03:21:51.863 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\Config.dat
+2026-02-05 03:22:27.575 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\KRC\R1\Program\ActionReturn.src
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+2026-02-05 03:25:29.120 下午 | CHANGED | D:\系统文件\文档\WorkVisual 6.0\Repositories\810169497(PCRC-3HXLTUHYM6)\Modifications.xml

README.md

@@ -1,20 +1,85 @@
 # 6040-003
 
-### 机器人命令程序号
+# 电芯尺寸范围
+
+长度：120mm-330mm
+宽度：18mm-90mm
+高度：75mm-250mm
+
+# 待办工作
+ - [ ]  轴功能块和触摸屏心跳,防止JOG过程中HMI掉线
+ - [x]  轴掉线后无法复位
+ - [x]  增广功能块验证,功能块基本OK，增广回零完成finish4没有给脉冲
+ - [ ]  kuka功能块验证
+ - [x]  其他工位HMI IO显示
+ - [x]  轴画面不能设负数
+ - [x]  界面少在原位标志
+ - [x]  机器人程序增加中断保护，防止撞击，
+ - [x]  机器人放料前检测下方是否有电池
+ - [x]  伺服手动页面可以直接跳转到伺服参数页面
+ - [x]  伺服手动页面增加皮带测试按钮
+ - [x]  调试NG下料拉带程序
+ - [x]  调试水份上线拉带程序
+ - [x]  调试复投上线程序
+ - [x]  机器人所有取放位置都要使用偏移计算，一键换型
+ - [x]  机器人基准点放在独立Data文件中
+ - [x]  机器人程序优化，判断计数不等不要用内部变量,用反馈的PLC的计数
+ - [ ]  抓取位完光电判断报警
+
+
+## 设备动作说明
+
+### 上料机器人
+
+- 机器人从来料拉带取电池，放到夹具上，如果扫码失败，放到NG拉带
+- 夹具到位后，上位机告诉PLC是空夹具还是有电池，并且告诉PLC假电池位置
+- 如果夹具已经有电池，是重新放假电池，直接等待放假电池
+- 如果夹具是空的，一个一个上电池
+- 优先放假电池，其次放来料拉带电池，都不满足条件才取复投拉带电池
+
+### 下料机器人
+
+- 夹具到位后，上位机告诉PLC是取假电池还是正常下料，并告诉假电池位置
+- 如果是取假电池，只取一个假电池放到水份检测拉带，取完假电池，通知上位机下料完成，由上位机安排堆垛机将夹具取走
+- 如果是正常下料，除了假电池位置，其他电池依次取出放到下料拉带上，下料完成后，通知上位机下料完成，由上位机安排堆垛机将夹具取走
+
+
+
+## 机器人命令程序号
+
+### 上料机器人
+|名称|主程序号|电池位置XY
+| :-------------------: | :---------------------: | :---------------------: |
+|来料1取料|1|
+|来料2取料|2|
+|复投取料|3|
+|水份取料|4|
+|NG拉带放料|5|
+|夹具1放料|10|0..9,0..99|
+|夹具2放料|11|0..9,0..99|
+
+### 下料机器人
+|名称|主程序号|电池位置XY
+| :-------------------: | :---------------------: | :---------------------: |
+|下料拉带放料|1|
+|水份拉带放料|2|
+|夹具1取料|6|0..9,0..99|
+|夹具2取料|7|0..9,0..99|
+
+
+## PLC内部程序号
+
+- 组合逻辑：百位是取料程序号，个位十位是放料程序号
 
 |名称|程序号|
 | :-------------------: | :---------------------: |
-|来料1去NG拉带|1|
-|来料2去NG拉带|2|
-|||
-|||
-|来料1去夹具1|101-148|
-|来料2去夹具1|201-248|
-|来料1去夹具2|301-348|
-|来料2去夹具2|401-448|
-|||
-|||
-|复投去夹具1|501-548|
-|复投去夹具2|601-648|
-|水份去夹具1|701-748|
-|水份去夹具2|801-848|
+|来料1去NG拉带|105|
+|来料2去NG拉带|205|
+|来料1去夹具1|110|
+|来料2去夹具1|210|
+|来料1去夹具2|111|
+|来料2去夹具2|211|
+|复投去夹具1|310|
+|复投去夹具2|311|
+|水份去夹具1|410|
+|水份去夹具2|411|

doc/KRC5EtherNetIP.eds

@@ -0,0 +1,335 @@
+$ EZ-EDS Version 3.25.1.20181218 Generated Electronic Data Sheet
+
+$ Modified by molex
+[File]
+        DescText = "EthernetIP Scanner/Adapter KRC5";
+        CreateDate = 07-11-2011;
+        CreateTime = 16:52:29;
+        ModDate = 12-07-2020;
+        ModTime = 15:12:16;
+        Revision = 2.3;
+        HomeURL = " ";
+
+[Device]
+        VendCode = 121;
+        VendName = "KUKA Deutschland GmbH";
+        ProdType = 12;
+        ProdTypeStr = "Communications Adapter";
+        ProdCode = 3;
+        MajRev = 5;
+        MinRev = 1;
+        ProdName = "KR C5 - EtherNet/IP";
+        Catalog = "KRC";
+        Icon = "Kuka.ico";
+
+[Device Classification]
+        Class1 = EtherNetIP;
+
+[Params]
+        Param1 =
+                0,                      $ reserved, shall equal 0
+                ,,                      $ Link Path Size, Link Path
+                0x0000,                 $ Descriptor
+                0xC7,                   $ Data Type
+                2,                      $ Data Size in bytes
+                "OT Size",              $ name
+                "Bytes",                $ units
+                "OT Size",              $ help string
+                1,509,256,              $ min, max, default data values
+                ,,,,                    $ mult, div, base, offset scaling
+                ,,,,                    $ mult, div, base, offset links
+                ;                       $ decimal places
+        Param2 =
+                0,                      $ reserved, shall equal 0
+                ,,                      $ Link Path Size, Link Path
+                0x0000,                 $ Descriptor
+                0xC7,                   $ Data Type
+                2,                      $ Data Size in bytes
+                "TO Size",              $ name
+                "Bytes",                $ units
+                "TO Size",              $ help string
+                1,505,256,              $ min, max, default data values
+                ,,,,                    $ mult, div, base, offset scaling
+                ,,,,                    $ mult, div, base, offset links
+                ;                       $ decimal places
+        Param6 =
+                0,                      $ reserved, shall equal 0
+                ,,                      $ Link Path Size, Link Path
+                0x0010,                 $ Descriptor
+                0xC8,                   $ Data Type
+                4,                      $ Data Size in bytes
+                "RPI Adapter",          $ name
+                "",                     $ units
+                "RPI constrains for Adapter",    $ help string
+                4000,5000000,4000,      $ min, max, default data values
+                ,,,,                    $ mult, div, base, offset scaling
+                ,,,,                    $ mult, div, base, offset links
+                ;                       $ decimal places
+
+[Assembly]
+        Object_Name = "Assembly Object";
+        Object_Class_Code = 0x04;
+        Assem1 =
+                "OT Data",
+                ,
+                ,
+                0x0001,
+                ,,
+                4040,;
+        Assem2 =
+                "TO Data",
+                ,
+                ,
+                0x0001,
+                ,,
+                4072,;
+
+[Connection Manager]
+        Revision = 1;
+        Object_Name = "Connection Manager Object";
+        Object_Class_Code = 0x06;
+        MaxInst = 1;
+        Number_Of_Static_Instances = 1;
+        Max_Number_Of_Dynamic_Instances = 0;
+        Connection1 =
+                0x04030002,             $ 0-15    = supported transport classes
+                                        $ 16      = trigger: cyclic
+                                        $ 17      = trigger: change of state
+                                        $ 18      = trigger: application
+                                        $ 19-23   = trigger: reserved
+                                        $ 24      = application type: listen-only
+                                        $ 25      = application type: input-only
+                                        $ 26      = application type: exclusive-owner
+                                        $ 27      = application type: redundant-owner
+                                        $ 28-30   = reserved
+                                        $ 31      = Direction: Client = 0 / Server = 1
+                0x66740405,             $ 0       = O->T fixed size supported
+                                        $ 1       = O->T variable size supported
+                                        $ 2       = T->O fixed size supported
+                                        $ 3       = T->O variable size supported
+                                        $ 4-5     = O->T number of bytes per slot (obsolete)
+                                        $ 6-7     = T->O number of bytes per slot (obsolete)
+                                        $ 8-10    = O->T Real time transfer format
+                                        $ 11      = reserved
+                                        $ 12-14   = T->O Real time transfer format
+                                        $ 15      = reserved
+                                        $ 16      = O->T connection type: NULL
+                                        $ 17      = O->T connection type: MULTICAST
+                                        $ 18      = O->T connection type: POINT2POINT
+                                        $ 19      = O->T connection type: reserved
+                                        $ 20      = T->O connection type: NULL
+                                        $ 21      = T->O connection type: MULTICAST
+                                        $ 22      = T->O connection type: POINT2POINT
+                                        $ 23      = T->O connection type: reserved
+                                        $ 24      = O->T priority: LOW
+                                        $ 25      = O->T priority: HIGH
+                                        $ 26      = O->T priority: SCHEDULED
+                                        $ 27      = O->T priority: reserved
+                                        $ 28      = T->O priority: LOW
+                                        $ 29      = T->O priority: HIGH
+                                        $ 30      = T->O priority: SCHEDULED
+                                        $ 31      = T->O priority: reserved
+                Param6,Param1,Assem1,   $ O->T RPI, size, format
+                Param6,Param2,Assem2,   $ T->O RPI, size, format
+                ,,                      $ proxy config size, format
+                ,,                      $ target config size, format
+                "Local Slave 1 - Exclusive Owner",    $ Connection Name
+                "Exclusive owner connection",    $ help string
+                "20 04 24 67 2C 66 2C 65";    $ Path
+        Connection2 =
+                0x04030002,             $ 0-15    = supported transport classes
+                                        $ 16      = trigger: cyclic
+                                        $ 17      = trigger: change of state
+                                        $ 18      = trigger: application
+                                        $ 19-23   = trigger: reserved
+                                        $ 24      = application type: listen-only
+                                        $ 25      = application type: input-only
+                                        $ 26      = application type: exclusive-owner
+                                        $ 27      = application type: redundant-owner
+                                        $ 28-30   = reserved
+                                        $ 31      = Direction: Client = 0 / Server = 1
+                0x66740405,             $ 0       = O->T fixed size supported
+                                        $ 1       = O->T variable size supported
+                                        $ 2       = T->O fixed size supported
+                                        $ 3       = T->O variable size supported
+                                        $ 4-5     = O->T number of bytes per slot (obsolete)
+                                        $ 6-7     = T->O number of bytes per slot (obsolete)
+                                        $ 8-10    = O->T Real time transfer format
+                                        $ 11      = reserved
+                                        $ 12-14   = T->O Real time transfer format
+                                        $ 15      = reserved
+                                        $ 16      = O->T connection type: NULL
+                                        $ 17      = O->T connection type: MULTICAST
+                                        $ 18      = O->T connection type: POINT2POINT
+                                        $ 19      = O->T connection type: reserved
+                                        $ 20      = T->O connection type: NULL
+                                        $ 21      = T->O connection type: MULTICAST
+                                        $ 22      = T->O connection type: POINT2POINT
+                                        $ 23      = T->O connection type: reserved
+                                        $ 24      = O->T priority: LOW
+                                        $ 25      = O->T priority: HIGH
+                                        $ 26      = O->T priority: SCHEDULED
+                                        $ 27      = O->T priority: reserved
+                                        $ 28      = T->O priority: LOW
+                                        $ 29      = T->O priority: HIGH
+                                        $ 30      = T->O priority: SCHEDULED
+                                        $ 31      = T->O priority: reserved
+                Param6,Param1,Assem1,   $ O->T RPI, size, format
+                Param6,Param2,Assem2,   $ T->O RPI, size, format
+                ,,                      $ proxy config size, format
+                ,,                      $ target config size, format
+                "Local Slave 2 - Exclusive Owner",    $ Connection Name
+                "Exclusive owner connection",    $ help string
+                "20 04 24 71 2C 70 2C 6F";    $ Path
+        Connection3 =
+                0x04030002,             $ 0-15    = supported transport classes
+                                        $ 16      = trigger: cyclic
+                                        $ 17      = trigger: change of state
+                                        $ 18      = trigger: application
+                                        $ 19-23   = trigger: reserved
+                                        $ 24      = application type: listen-only
+                                        $ 25      = application type: input-only
+                                        $ 26      = application type: exclusive-owner
+                                        $ 27      = application type: redundant-owner
+                                        $ 28-30   = reserved
+                                        $ 31      = Direction: Client = 0 / Server = 1
+                0x66740405,             $ 0       = O->T fixed size supported
+                                        $ 1       = O->T variable size supported
+                                        $ 2       = T->O fixed size supported
+                                        $ 3       = T->O variable size supported
+                                        $ 4-5     = O->T number of bytes per slot (obsolete)
+                                        $ 6-7     = T->O number of bytes per slot (obsolete)
+                                        $ 8-10    = O->T Real time transfer format
+                                        $ 11      = reserved
+                                        $ 12-14   = T->O Real time transfer format
+                                        $ 15      = reserved
+                                        $ 16      = O->T connection type: NULL
+                                        $ 17      = O->T connection type: MULTICAST
+                                        $ 18      = O->T connection type: POINT2POINT
+                                        $ 19      = O->T connection type: reserved
+                                        $ 20      = T->O connection type: NULL
+                                        $ 21      = T->O connection type: MULTICAST
+                                        $ 22      = T->O connection type: POINT2POINT
+                                        $ 23      = T->O connection type: reserved
+                                        $ 24      = O->T priority: LOW
+                                        $ 25      = O->T priority: HIGH
+                                        $ 26      = O->T priority: SCHEDULED
+                                        $ 27      = O->T priority: reserved
+                                        $ 28      = T->O priority: LOW
+                                        $ 29      = T->O priority: HIGH
+                                        $ 30      = T->O priority: SCHEDULED
+                                        $ 31      = T->O priority: reserved
+                Param6,Param1,Assem1,   $ O->T RPI, size, format
+                Param6,Param2,Assem2,   $ T->O RPI, size, format
+                ,,                      $ proxy config size, format
+                ,,                      $ target config size, format
+                "Local Slave 3 - Exclusive Owner",    $ Connection Name
+                "Exclusive owner connection",    $ help string
+                "20 04 24 7B 2C 7A 2C 79";    $ Path
+        Connection4 =
+                0x04030002,             $ 0-15    = supported transport classes
+                                        $ 16      = trigger: cyclic
+                                        $ 17      = trigger: change of state
+                                        $ 18      = trigger: application
+                                        $ 19-23   = trigger: reserved
+                                        $ 24      = application type: listen-only
+                                        $ 25      = application type: input-only
+                                        $ 26      = application type: exclusive-owner
+                                        $ 27      = application type: redundant-owner
+                                        $ 28-30   = reserved
+                                        $ 31      = Direction: Client = 0 / Server = 1
+                0x66740405,             $ 0       = O->T fixed size supported
+                                        $ 1       = O->T variable size supported
+                                        $ 2       = T->O fixed size supported
+                                        $ 3       = T->O variable size supported
+                                        $ 4-5     = O->T number of bytes per slot (obsolete)
+                                        $ 6-7     = T->O number of bytes per slot (obsolete)
+                                        $ 8-10    = O->T Real time transfer format
+                                        $ 11      = reserved
+                                        $ 12-14   = T->O Real time transfer format
+                                        $ 15      = reserved
+                                        $ 16      = O->T connection type: NULL
+                                        $ 17      = O->T connection type: MULTICAST
+                                        $ 18      = O->T connection type: POINT2POINT
+                                        $ 19      = O->T connection type: reserved
+                                        $ 20      = T->O connection type: NULL
+                                        $ 21      = T->O connection type: MULTICAST
+                                        $ 22      = T->O connection type: POINT2POINT
+                                        $ 23      = T->O connection type: reserved
+                                        $ 24      = O->T priority: LOW
+                                        $ 25      = O->T priority: HIGH
+                                        $ 26      = O->T priority: SCHEDULED
+                                        $ 27      = O->T priority: reserved
+                                        $ 28      = T->O priority: LOW
+                                        $ 29      = T->O priority: HIGH
+                                        $ 30      = T->O priority: SCHEDULED
+                                        $ 31      = T->O priority: reserved
+                Param6,Param1,Assem1,   $ O->T RPI, size, format
+                Param6,Param2,Assem2,   $ T->O RPI, size, format
+                ,,                      $ proxy config size, format
+                ,,                      $ target config size, format
+                "Local Slave 4 - Exclusive Owner",    $ Connection Name
+                "Exclusive owner connection",    $ help string
+                "20 04 24 85 2C 84 2C 83";    $ Path
+        Connection5 =
+                0x04030002,             $ 0-15    = supported transport classes
+                                        $ 16      = trigger: cyclic
+                                        $ 17      = trigger: change of state
+                                        $ 18      = trigger: application
+                                        $ 19-23   = trigger: reserved
+                                        $ 24      = application type: listen-only
+                                        $ 25      = application type: input-only
+                                        $ 26      = application type: exclusive-owner
+                                        $ 27      = application type: redundant-owner
+                                        $ 28-30   = reserved
+                                        $ 31      = Direction: Client = 0 / Server = 1
+                0x66740405,             $ 0       = O->T fixed size supported
+                                        $ 1       = O->T variable size supported
+                                        $ 2       = T->O fixed size supported
+                                        $ 3       = T->O variable size supported
+                                        $ 4-5     = O->T number of bytes per slot (obsolete)
+                                        $ 6-7     = T->O number of bytes per slot (obsolete)
+                                        $ 8-10    = O->T Real time transfer format
+                                        $ 11      = reserved
+                                        $ 12-14   = T->O Real time transfer format
+                                        $ 15      = reserved
+                                        $ 16      = O->T connection type: NULL
+                                        $ 17      = O->T connection type: MULTICAST
+                                        $ 18      = O->T connection type: POINT2POINT
+                                        $ 19      = O->T connection type: reserved
+                                        $ 20      = T->O connection type: NULL
+                                        $ 21      = T->O connection type: MULTICAST
+                                        $ 22      = T->O connection type: POINT2POINT
+                                        $ 23      = T->O connection type: reserved
+                                        $ 24      = O->T priority: LOW
+                                        $ 25      = O->T priority: HIGH
+                                        $ 26      = O->T priority: SCHEDULED
+                                        $ 27      = O->T priority: reserved
+                                        $ 28      = T->O priority: LOW
+                                        $ 29      = T->O priority: HIGH
+                                        $ 30      = T->O priority: SCHEDULED
+                                        $ 31      = T->O priority: reserved
+                Param6,Param1,Assem1,   $ O->T RPI, size, format
+                Param6,Param2,Assem2,   $ T->O RPI, size, format
+                ,,                      $ proxy config size, format
+                ,,                      $ target config size, format
+                "Local Slave 5 - Exclusive Owner",    $ Connection Name
+                "Exclusive owner connection",    $ help string
+                "20 04 24 8F 2C 8E 2C 8D";    $ Path
+
+[Capacity]
+        TSpec1 = Tx, 505, 1250;
+        TSpec2 = Rx, 509, 1250;
+
+[Ethernet Link Class]
+        Revision = 4;
+        Object_Name = "Ethernet Link Object";
+        Object_Class_Code = 0xF6;
+        MaxInst = 4;
+        Number_Of_Static_Instances = 4;
+        Max_Number_Of_Dynamic_Instances = 0;
+        InterfaceLabel1 = "XF3";
+        InterfaceLabel2 = "XF4";
+        InterfaceLabel3 = "XF5";
+        InterfaceLabel4 = "XF6";
+