&ACCESS RVO1
&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