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« Last post by **evo85210 ** on* October 07, 2019, 03:22:07 PM* »
Hi Johannes,

I've tested the file you provided, but from what i can tell, the src file still isn't toggling any digital outputs?

`&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)

;FOLD STARTPOSITION - BASE IS 2, TOOL IS 1, SPEED IS 15%, POSITION IS A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0

$BWDSTART = FALSE

PDAT_ACT = {VEL 15,ACC 100,APO_DIST 50}

FDAT_ACT = {TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE}

BAS (#PTP_PARAMS,15)

PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0}

;ENDFOLD

;FOLD LIN SPEED IS 0.25 m/sec, INTERPOLATION SETTINGS IN FOLD

$VEL.CP=0.25

$ADVANCE=3

;ENDFOLD

;FOLD COMMANDS IN FOLD. SELECT EDIT/FOLDS/OPEN ALL FOLDS TO DISPLAY

PTP {E6POS: X 188.402, Y 137.359, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP

$VEL.CP=0

LIN {E6POS: X 188.402, Y 137.359, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

$VEL.CP=-0.00001667

LIN {E6POS: X 184.532, Y 141.626, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 179.343, Y 145.374, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 176.801, Y 146.654, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 172.17, Y 148.259, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 166.023, Y 149.136, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 159.616, Y 148.662, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 155.047, Y 147.412, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 152.482, Y 146.34, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {E6POS: X 147.078, Y 143.005, Z 0, A 0, B 90, C -180, E1 0, E2 0, E3 0, E4 0} C_DIS