&ACCESS RVP &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEFDAT holz_vz ;FOLD EXTERNAL DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD BAS EXT;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) DECL INT SUCCESS ;ENDFOLD ;FOLD A10 EXT;%{E}%V3.2.0,%MKUKATPARC,%CEXT,%VEXT,%P EXT A10 (A_CMD_T :IN,A_STRT_T :IN,A_WELD_T :IN,A_END_T :IN,INT :IN ) ;ENDFOLD ;FOLD A20 EXT;%{E}%V3.2.0,%MKUKATPA20,%CEXT,%VEXT,%P EXT A20 (INT :IN,WELD_ST :IN,WELD_FI :IN,INT :IN ) ;ENDFOLD ;FOLD GRIPPER EXT;%{E}%V3.2.0,%MKUKATPGRIPPER,%CEXT,%VEXT,%P EXT H50 (INT :IN,INT :IN,INT :IN,GRP_TYP :IN ) ;ENDFOLD ;FOLD SPOT EXT;%{E}%V3.2.0,%MKUKATPSPOT,%CEXT,%VEXT,%P EXT USERSPOT (S_COMMAND :IN,SPOT_TYPE :IN ) ;ENDFOLD ;FOLD TOUCHSENSE EXT;%{E}%V3.2.0,%MKUKATPTS,%CEXT,%VEXT,%P EXT H70 (INT :IN,SRCH_TYP_2 :OUT,E6POS :IN,SRCH_TYP_3 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,INT :IN ) ;ENDFOLD ;FOLD USER EXT;%{E}%V3.2.0,%MKUKATPUSER,%CEXT,%VEXT,%P ;Make here your modifications ;ENDFOLD ;ENDFOLD DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "p3 ",POINT2[] "p3 ",CP_PARAMS[] "CPDAT24 ",PTP_PARAMS[] "PDAT18 ",CONT[] " ",CP_VEL[] "1 ",PTP_VEL[] "100 "} DECL E6POS XP1={x 1084.401,y 64.962059,z 2132.32593,a -6.87878084,b 89.2122192,c -8.5756712,s 2,t 11,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP2={x 2119.4729,y 10.8638296,z 2112.76709,a 8.82562733,b 89.2069168,c 7.13122702,s 2,t 10,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT FP2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP3={x 2347.64893,y -228.579102,z 285.394501,a 179.309494,b -0.945458889,c -179.404495,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT Fp3={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT2={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT5={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT7={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT3={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT4={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL E6POS XP4={x 2347.64893,y -228.5802,z 186.192596,a 179.317703,b -0.951675773,c -179.910904,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT Fp4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL PDAT PPDAT8={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP5={x 1090,y -656.70496,z 614.86322,a -90.1042099,b -1.65497804,c 179.602997,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT Fp5={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL PDAT PPDAT9={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP6={x 1090,y -790,z 421.686096,a -90.1037064,b -1.63694096,c 179.603302,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT Fp6={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL LDAT LCPDAT5={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL E6POS XP7={x 1090,y -790,z 194.188797,a -90.1042786,b -1.63715196,c 179.603394,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0} DECL FDAT Fp7={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE} DECL LDAT LCPDAT6={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT7={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT8={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT9={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT10={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT11={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT10={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT12={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT11={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT12={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT13={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT14={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT15={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT16={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT13={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT17={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT14={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT18={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT19={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT20={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT21={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT15={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT22={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL LDAT LCPDAT23={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT16={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL LDAT LCPDAT24={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0} DECL PDAT PPDAT17={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL PDAT PPDAT18={VEL 100.0,ACC 100.0,APO_DIST 100.0} ENDDAT