&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF kukaprc_project()
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;ENDFOLD (INI)
$BWDSTART = FALSE
;FOLD MOTION SETTINGS
PDAT_ACT = {VEL 10,ACC 100,APO_DIST 40}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,10)
$ADVANCE = 3
$APO.CDIS = 10
$APO.CPTP = 40
$APO.CORI = 5
$APO.CVEL = 50
;ENDFOLD (MOTION SETTINGS)
$TOOL = $NULLFRAME
$BASE = $NULLFRAME
BAS(#VEL_PTP,10)
PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000} C_PTP
PTP {A1 45.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000} C_PTP
END