&ACCESS RVP
&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