&ACCESS RVO1
&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