&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF test ( )


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 v5.0.0 for KUKA KR 210 R2700 extra on 24/07/2020 11:41:56
; Using nominal kinematics.
$APO.CPTP = 1.000
$APO.CDIS = 1.000
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'test'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/''"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'post version 42749'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'post modified 2020-04-30 081349'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'NEW SECTION'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Strategy: contour2d'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Comment: 2D-Kontur1'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'MATRIX DEFINITION'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Output x(i),y(i),z(i)'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Output x(j),y(j),z(j)'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Output x(k),y(k),z(k)'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'Output dx,dy,dz'"
$VEL.CP = 1.00000
; ---- Setting reference (Base) ----
; BASE_DATA[2] = {FRAME: X 1173.700,Y -773.100,Z 759.000,A -0.036,B 0.058,C -0.068}
$BASE = {FRAME: X 1173.700,Y -773.100,Z 759.000,A -0.036,B 0.058,C -0.068}
; $BASE = BASE_DATA[2]
; --------------------------
; ---- Setting tool (TCP) ----
; TOOL_DATA[1] = {FRAME: X 259.465,Y -1.333,Z 102.705,A 0.000,B 90.000,C 0.000}
$TOOL = {FRAME: X 259.465,Y -1.333,Z 102.705,A 0.000,B 90.000,C 0.000}
; $TOOL = TOOL_DATA[1]
; --------------------------
; Anzeigen Werkzeug D6.0 L40.000 Id 1
PTP {A1 43.91310,A2 -102.08300,A3 133.79700,A4 -118.58000,A5 52.16690,A6 131.73400} C_PTP
LIN {X -56.790,Y 2.439,Z 15.001,A -179.964,B 0.000,C 180.000} C_DIS
$VEL.CP = 1.00000
LIN {X -56.790,Y 2.439,Z 5.001,A -179.964,B 0.000,C -180.000} C_DIS
$VEL.CP = 0.00556
LIN {X -56.790,Y 2.439,Z 1.001,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.790,Y 2.439,Z -0.399,A -179.964,B 0.000,C 180.000} C_DIS
$VEL.CP = 0.01667
LIN {X -56.787,Y 2.439,Z -0.466,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.775,Y 2.439,Z -0.533,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.757,Y 2.439,Z -0.597,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.731,Y 2.439,Z -0.659,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.698,Y 2.439,Z -0.718,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.660,Y 2.439,Z -0.773,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.615,Y 2.439,Z -0.823,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.565,Y 2.439,Z -0.868,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.510,Y 2.439,Z -0.907,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.451,Y 2.439,Z -0.940,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.389,Y 2.439,Z -0.965,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.324,Y 2.439,Z -0.984,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.258,Y 2.439,Z -0.995,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.190,Y 2.439,Z -0.999,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -55.590,Y 2.439,Z -0.999,A -179.964,B 0.000,C 180.000} C_DIS
CIRC {X -55.166,Y 2.614,Z -0.999,A -179.964,B 0.000,C -180.000},{X -54.990,Y 3.039,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -54.990,Y 15.039,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -78.990,Y 15.039,Z -0.999,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -78.990,Y -8.961,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -54.990,Y -8.961,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -54.990,Y 3.039,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
CIRC {X -55.166,Y 3.463,Z -0.999,A -179.964,B 0.000,C -180.000},{X -55.590,Y 3.639,Z -0.999,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.190,Y 3.639,Z -0.999,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.258,Y 3.639,Z -0.995,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.324,Y 3.639,Z -0.984,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.389,Y 3.639,Z -0.965,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.451,Y 3.639,Z -0.940,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.510,Y 3.639,Z -0.907,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.565,Y 3.639,Z -0.868,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.615,Y 3.639,Z -0.823,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.660,Y 3.639,Z -0.773,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.698,Y 3.639,Z -0.718,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.731,Y 3.639,Z -0.659,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.757,Y 3.639,Z -0.597,A -179.964,B 0.000,C -180.000} C_DIS
LIN {X -56.775,Y 3.639,Z -0.533,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.787,Y 3.639,Z -0.466,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.790,Y 3.639,Z -0.399,A -179.964,B 0.000,C 180.000} C_DIS
$VEL.CP = 1.00000
LIN {X -56.790,Y 3.639,Z 15.001,A -179.964,B 0.000,C 180.000} C_DIS
LIN {X -56.790,Y 3.639,Z 115.001,A -179.964,B 0.000,C 180.000} C_DIS
END