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