&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Path1 ( )
EXT BAS (BAS_COMMAND :IN,REAL :IN )


GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3

;FOLD Initialise and set default speed
BAS (#INITMOV,0)
BAS (#VEL_PTP,100)
BAS (#ACC_PTP,20)
$VEL.CP=0.2
BAS (#TOOL,0)
BAS (#BASE,0)
;ENDFOLD

;;FOLD STARTPOS
;$BWDSTART = FALSE
;PDAT_ACT = PDEFAULT
;BAS(#PTP_DAT)
;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
;BAS(#FRAMES)
;;ENDFOLD

$ADVANCE = 5

;FOLD ---- Quickly skip BCO ----
; PTP $AXIS_ACT 
;ENDFOLD

;FOLD ---- GO HOME ----
; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
;ENDFOLD


; Program generated by RoboDK v4.2.4 for KUKA KR 10 R1420 on 30/06/2020 10:35:35
; Using nominal kinematics.
$APO.CPTP = 1.000
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; ---- Setting reference (Base) ----
; Using external axes
; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 2
$BASE = {FRAME: X 60.000,Y -25.993,Z 364.250,A 0.000,B 0.000,C 0.000}
; BASE_DATA[1] = {FRAME: X 60.000,Y -25.993,Z 364.250,A 0.000,B 0.000,C 0.000}
; $BASE = BASE_DATA[1]
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 179.000,Y -0.737,Z 191.018,A -0.446,B 1.151,C 0.000}
; --------------------------
; Show Laser_Flange
PTP {A1 15.47040,A2 -59.76040,A3 68.53890,A4 -88.11680,A5 104.47100,A6 -311.71000,E1 0.00000,E2 -27.17650} C_PTP
LIN {X -239.268,Y 72.088,Z 18.988,A 27.470,B 39.767,C 90.459,E1 0.00000,E2 -27.17650} C_DIS
$VEL.CP = 0.05000
LIN {X -238.838,Y 72.313,Z 19.573,A 27.485,B 41.208,C 90.469,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -238.396,Y 72.544,Z 20.147,A 27.502,B 42.647,C 90.480,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -237.941,Y 72.782,Z 20.708,A 27.518,B 44.087,C 90.491,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -237.474,Y 73.026,Z 21.255,A 27.536,B 45.527,C 90.504,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -236.994,Y 73.277,Z 21.789,A 27.554,B 46.968,C 90.517,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -236.503,Y 73.534,Z 22.310,A 27.574,B 48.407,C 90.532,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -236.001,Y 73.797,Z 22.816,A 27.595,B 49.848,C 90.547,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -235.487,Y 74.065,Z 23.308,A 27.617,B 51.287,C 90.564,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -234.963,Y 74.340,Z 23.785,A 27.640,B 52.727,C 90.583,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -234.428,Y 74.619,Z 24.247,A 27.665,B 54.168,C 90.603,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -233.883,Y 74.904,Z 24.694,A 27.692,B 55.607,C 90.625,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -233.328,Y 75.194,Z 25.125,A 27.721,B 57.048,C 90.649,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -232.764,Y 75.489,Z 25.541,A 27.752,B 58.487,C 90.675,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -232.190,Y 75.789,Z 25.940,A 27.786,B 59.927,C 90.704,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -231.608,Y 76.094,Z 26.323,A 27.823,B 61.367,C 90.737,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -231.018,Y 76.402,Z 26.689,A 27.863,B 62.807,C 90.772,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -230.420,Y 76.715,Z 27.039,A 27.908,B 64.247,C 90.812,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -229.814,Y 77.032,Z 27.371,A 27.958,B 65.687,C 90.857,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -229.201,Y 77.353,Z 27.686,A 28.013,B 67.127,C 90.908,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -228.581,Y 77.677,Z 27.984,A 28.076,B 68.567,C 90.966,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -227.954,Y 78.004,Z 28.264,A 28.147,B 70.007,C 91.032,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -227.322,Y 78.335,Z 28.526,A 28.228,B 71.446,C 91.109,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -226.684,Y 78.668,Z 28.770,A 28.323,B 72.886,C 91.199,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -226.040,Y 79.005,Z 28.995,A 28.434,B 74.326,C 91.306,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -225.392,Y 79.344,Z 29.203,A 28.568,B 75.766,C 91.436,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -224.740,Y 79.685,Z 29.392,A 28.731,B 77.205,C 91.594,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -224.083,Y 80.028,Z 29.562,A 28.934,B 78.644,C 91.793,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -223.423,Y 80.374,Z 29.714,A 29.196,B 80.084,C 92.050,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -222.760,Y 80.720,Z 29.847,A 29.545,B 81.523,C 92.395,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -222.094,Y 81.069,Z 29.962,A 30.036,B 82.961,C 92.881,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -221.425,Y 81.418,Z 30.057,A 30.778,B 84.399,C 93.618,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -220.755,Y 81.769,Z 30.133,A 32.029,B 85.835,C 94.865,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -220.083,Y 82.120,Z 30.190,A 34.591,B 87.267,C 97.423,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -219.410,Y 82.472,Z 30.229,A 42.704,B 88.682,C 105.532,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -218.737,Y 82.824,Z 30.248,A 142.901,B 89.608,C -154.276,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -218.063,Y 83.176,Z 30.248,A -165.184,B 88.352,C -102.365,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -217.390,Y 83.528,Z 30.229,A -159.418,B 86.930,C -96.604,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -216.717,Y 83.880,Z 30.190,A -157.309,B 85.496,C -94.499,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -216.045,Y 84.231,Z 30.133,A -156.217,B 84.059,C -93.412,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -215.375,Y 84.582,Z 30.057,A -155.550,B 82.622,C -92.749,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -214.706,Y 84.931,Z 29.962,A -155.100,B 81.183,C -92.303,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -214.040,Y 85.280,Z 29.847,A -154.775,B 79.744,C -91.983,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -213.377,Y 85.626,Z 29.714,A -154.529,B 78.305,C -91.741,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -212.717,Y 85.972,Z 29.562,A -154.336,B 76.865,C -91.553,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -212.060,Y 86.315,Z 29.392,A -154.181,B 75.426,C -91.403,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -211.408,Y 86.656,Z 29.203,A -154.053,B 73.986,C -91.279,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -210.760,Y 86.995,Z 28.995,A -153.946,B 72.546,C -91.177,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -210.116,Y 87.332,Z 28.770,A -153.855,B 71.107,C -91.090,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -209.478,Y 87.665,Z 28.526,A -153.776,B 69.667,C -91.016,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -208.846,Y 87.996,Z 28.264,A -153.707,B 68.227,C -90.952,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -208.219,Y 88.323,Z 27.984,A -153.647,B 66.788,C -90.895,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -207.599,Y 88.647,Z 27.686,A -153.593,B 65.348,C -90.846,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -206.986,Y 88.968,Z 27.371,A -153.544,B 63.908,C -90.802,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -206.380,Y 89.285,Z 27.039,A -153.501,B 62.468,C -90.764,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -205.782,Y 89.598,Z 26.689,A -153.461,B 61.029,C -90.729,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -205.192,Y 89.906,Z 26.323,A -153.425,B 59.589,C -90.697,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -204.610,Y 90.211,Z 25.940,A -153.392,B 58.149,C -90.669,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -204.036,Y 90.511,Z 25.541,A -153.361,B 56.709,C -90.643,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -203.472,Y 90.806,Z 25.125,A -153.333,B 55.269,C -90.620,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -202.917,Y 91.096,Z 24.694,A -153.306,B 53.830,C -90.598,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -202.372,Y 91.381,Z 24.247,A -153.282,B 52.389,C -90.578,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -201.837,Y 91.660,Z 23.785,A -153.259,B 50.950,C -90.560,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -201.313,Y 91.935,Z 23.308,A -153.237,B 49.509,C -90.544,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -200.799,Y 92.203,Z 22.816,A -153.216,B 48.070,C -90.528,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -200.297,Y 92.466,Z 22.310,A -153.197,B 46.630,C -90.514,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -199.806,Y 92.723,Z 21.789,A -153.179,B 45.189,C -90.501,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -199.326,Y 92.974,Z 21.255,A -153.161,B 43.751,C -90.489,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -198.859,Y 93.218,Z 20.708,A -153.145,B 42.310,C -90.477,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -198.404,Y 93.456,Z 20.147,A -153.129,B 40.870,C -90.467,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.962,Y 93.687,Z 19.573,A -153.114,B 39.431,C -90.457,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.532,Y 93.912,Z 18.988,A -153.099,B 37.990,C -90.448,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.116,Y 94.129,Z 18.390,A -153.085,B 36.551,C -90.439,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -196.713,Y 94.340,Z 17.780,A -153.072,B 35.111,C -90.431,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -196.324,Y 94.543,Z 17.160,A -153.059,B 33.671,C -90.424,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.949,Y 94.740,Z 16.528,A -153.046,B 32.230,C -90.417,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.588,Y 94.928,Z 15.886,A -153.034,B 30.791,C -90.411,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.241,Y 95.109,Z 15.235,A -153.022,B 29.351,C -90.405,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.909,Y 95.283,Z 14.573,A -153.010,B 27.911,C -90.399,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.592,Y 95.449,Z 13.902,A -152.999,B 26.471,C -90.394,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.290,Y 95.607,Z 13.223,A -152.988,B 25.032,C -90.390,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.003,Y 95.757,Z 12.535,A -152.978,B 23.591,C -90.385,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.732,Y 95.899,Z 11.839,A -152.967,B 22.152,C -90.381,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.476,Y 96.033,Z 11.136,A -152.957,B 20.711,C -90.377,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.236,Y 96.158,Z 10.425,A -152.947,B 19.272,C -90.374,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.012,Y 96.275,Z 9.709,A -152.937,B 17.832,C -90.371,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.803,Y 96.384,Z 8.986,A -152.927,B 16.392,C -90.368,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.611,Y 96.485,Z 8.257,A -152.918,B 14.951,C -90.365,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.436,Y 96.576,Z 7.523,A -152.908,B 13.512,C -90.363,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.276,Y 96.660,Z 6.784,A -152.899,B 12.073,C -90.361,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.133,Y 96.734,Z 6.041,A -152.890,B 10.632,C -90.359,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.007,Y 96.800,Z 5.294,A -152.881,B 9.193,C -90.358,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.898,Y 96.858,Z 4.544,A -152.872,B 7.752,C -90.356,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.805,Y 96.906,Z 3.791,A -152.863,B 6.313,C -90.355,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.729,Y 96.946,Z 3.036,A -152.854,B 4.873,C -90.354,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.670,Y 96.977,Z 2.279,A -152.845,B 3.432,C -90.354,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.627,Y 96.999,Z 1.520,A -152.836,B 1.993,C -90.353,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.602,Y 97.013,Z 0.760,A -152.827,B 0.553,C -90.353,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.593,Y 97.017,Z 0.000,A -152.818,B -0.888,C -90.353,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.602,Y 97.013,Z -0.760,A -152.809,B -2.327,C -90.353,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.627,Y 96.999,Z -1.520,A -152.800,B -3.767,C -90.354,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.670,Y 96.977,Z -2.279,A -152.791,B -5.207,C -90.354,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.729,Y 96.946,Z -3.036,A -152.782,B -6.647,C -90.355,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.805,Y 96.906,Z -3.791,A -152.773,B -8.086,C -90.356,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -191.898,Y 96.858,Z -4.544,A -152.764,B -9.528,C -90.358,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.007,Y 96.800,Z -5.294,A -152.755,B -10.967,C -90.359,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.133,Y 96.734,Z -6.041,A -152.746,B -12.408,C -90.361,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.276,Y 96.660,Z -6.784,A -152.737,B -13.847,C -90.364,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.436,Y 96.576,Z -7.523,A -152.727,B -15.287,C -90.366,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.611,Y 96.485,Z -8.257,A -152.717,B -16.727,C -90.368,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -192.803,Y 96.384,Z -8.986,A -152.708,B -18.167,C -90.372,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.012,Y 96.275,Z -9.709,A -152.698,B -19.608,C -90.375,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.236,Y 96.158,Z -10.425,A -152.688,B -21.047,C -90.378,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.476,Y 96.033,Z -11.136,A -152.677,B -22.487,C -90.382,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -193.732,Y 95.899,Z -11.839,A -152.667,B -23.927,C -90.386,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.003,Y 95.757,Z -12.535,A -152.656,B -25.367,C -90.391,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.290,Y 95.607,Z -13.223,A -152.645,B -26.807,C -90.395,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.592,Y 95.449,Z -13.902,A -152.634,B -28.247,C -90.401,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -194.909,Y 95.283,Z -14.573,A -152.622,B -29.687,C -90.406,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.241,Y 95.109,Z -15.235,A -152.610,B -31.128,C -90.412,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.588,Y 94.928,Z -15.886,A -152.598,B -32.567,C -90.419,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -195.949,Y 94.740,Z -16.528,A -152.585,B -34.007,C -90.426,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -196.324,Y 94.543,Z -17.160,A -152.572,B -35.447,C -90.433,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -196.713,Y 94.340,Z -17.780,A -152.559,B -36.888,C -90.441,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.116,Y 94.129,Z -18.390,A -152.545,B -38.327,C -90.450,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.532,Y 93.912,Z -18.988,A -152.530,B -39.768,C -90.459,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -197.962,Y 93.687,Z -19.573,A -152.514,B -41.207,C -90.469,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -198.404,Y 93.456,Z -20.147,A -152.498,B -42.647,C -90.480,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -198.859,Y 93.218,Z -20.708,A -152.482,B -44.088,C -90.491,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -199.326,Y 92.974,Z -21.255,A -152.464,B -45.527,C -90.504,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -199.806,Y 92.723,Z -21.789,A -152.445,B -46.967,C -90.517,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -200.297,Y 92.466,Z -22.310,A -152.426,B -48.408,C -90.532,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -200.799,Y 92.203,Z -22.816,A -152.405,B -49.847,C -90.547,E1 0.00000,E2 -27.17650} C_DIS
LIN {X -201.313,Y 91.935,Z -23.308,A -152.383,B -51.288,C -90.564,E1 0.00000,E2 -27.17650} C_DIS
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LIN {X -202.372,Y 91.381,Z -24.247,A -152.335,B -54.168,C -90.603,E1 0.00000,E2 -27.17650} C_DIS
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END