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