&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 v5.0.1 for KUKA KR 10 R1100 sixx on 31/08/2020 09:42:53
; Using nominal kinematics.
; ---- Setting reference (Base) ----
$BASE = {FRAME: X 532.767,Y 477.121,Z 250.000,A -90.000,B 0.000,C 0.000}
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 50.000,Y 0.000,Z 450.000,A 0.000,B 30.000,C 0.000}
; --------------------------
; Show Paint gun
$VEL.CP = 1.00000
PTP {A1 -35.08440,A2 -58.80180,A3 79.00630,A4 -26.41630,A5 85.28420,A6 123.38100}
LIN {X -44.706,Y 22.391,Z 0.000,A 62.615,B 0.000,C -180.000}
$VEL.CP = 0.05000
LIN {X -41.356,Y 28.858,Z 0.000,A 59.355,B 0.000,C -180.000}
LIN {X -29.576,Y 48.741,Z 0.000,A 54.397,B 0.000,C -180.000}
LIN {X -16.123,Y 67.531,Z 0.000,A 49.439,B 0.000,C 180.000}
LIN {X -1.095,Y 85.088,Z 0.000,A 44.481,B 0.000,C 180.000}
LIN {X 15.393,Y 101.280,Z 0.000,A 39.524,B 0.000,C 180.000}
LIN {X 33.219,Y 115.987,Z 0.000,A 34.566,B 0.000,C -180.000}
LIN {X 52.249,Y 129.099,Z 0.000,A 29.608,B 0.000,C -180.000}
LIN {X 72.342,Y 140.516,Z 0.000,A 24.650,B 0.000,C -180.000}
LIN {X 93.346,Y 150.155,Z 0.000,A 20.362,B 0.000,C 180.000}
LIN {X 109.188,Y 156.035,Z -0.380,A 16.755,B 1.302,C 179.918}
LIN {X 125.198,Y 160.853,Z -1.541,A 13.193,B 5.340,C 179.505}
LIN {X 141.366,Y 164.640,Z -3.512,A 9.649,B 8.177,C 179.001}
LIN {X 157.685,Y 167.407,Z -6.333,A 6.089,B 11.096,C 178.315}
LIN {X 174.427,Y 169.179,Z -10.116,A 2.537,B 14.118,C 177.447}
LIN {X 190.946,Y 169.889,Z -14.763,A -0.942,B 17.111,C 176.422}
LIN {X 207.133,Y 169.594,Z -20.238,A -4.347,B 20.032,C 175.254}
LIN {X 222.991,Y 168.350,Z -26.532,A -7.698,B 22.872,C 173.950}
LIN {X 238.521,Y 166.201,Z -33.648,A -11.846,B 25.518,C 172.157}
LIN {X 259.537,Y 161.787,Z -43.944,A -16.486,B 25.062,C 170.167}
LIN {X 280.459,Y 155.588,Z -54.193,A -21.192,B 24.445,C 168.187}
LIN {X 301.062,Y 147.591,Z -64.286,A -25.952,B 23.667,C 166.238}
LIN {X 321.116,Y 137.818,Z -74.110,A -30.748,B 22.724,C 164.341}
LIN {X 340.397,Y 126.335,Z -83.555,A -35.348,B 21.679,C 162.593}
LIN {X 357.072,Y 114.493,Z -91.724,A -39.731,B 20.541,C 161.007}
LIN {X 372.781,Y 101.421,Z -99.419,A -44.104,B 19.275,C 159.509}
LIN {X 387.393,Y 87.240,Z -106.577,A -48.455,B 17.891,C 158.114}
LIN {X 400.798,Y 72.091,Z -113.144,A -52.773,B 16.399,C 156.833}
LIN {X 412.911,Y 56.125,Z -119.078,A -57.044,B 14.812,C 155.676}
LIN {X 423.669,Y 39.504,Z -124.348,A -61.258,B 13.144,C 154.650}
LIN {X 433.036,Y 22.391,Z -128.937,A -61.277,B 13.363,C 154.645}
LIN {X 439.548,Y 10.532,Z -132.127,A -56.936,B 15.076,C 155.704}
LIN {X 446.965,Y -0.842,Z -135.760,A -52.004,B 16.923,C 157.055}
LIN {X 457.622,Y -14.458,Z -140.981,A -46.473,B 18.779,C 158.739}
LIN {X 469.497,Y -26.938,Z -146.798,A -41.132,B 20.375,C 160.518}
LIN {X 482.606,Y -38.289,Z -153.018,A -35.607,B 20.631,C 162.395}
LIN {X 496.676,Y -48.271,Z -159.254,A -30.073,B 20.492,C 164.272}
LIN {X 511.728,Y -56.896,Z -165.440,A -24.502,B 19.977,C 166.122}
LIN {X 527.601,Y -64.046,Z -171.438,A -18.913,B 19.117,C 167.908}
LIN {X 544.085,Y -69.618,Z -177.114,A -13.294,B 17.960,C 169.602}
LIN {X 561.200,Y -73.594,Z -182.429,A -7.608,B 16.532,C 171.186}
LIN {X 578.844,Y -75.890,Z -187.311,A -1.936,B 14.861,C 172.613}
LIN {X 596.270,Y -76.431,Z -191.550,A 3.695,B 13.081,C 173.864}
LIN {X 613.803,Y -75.258,Z -195.246,A 9.385,B 11.196,C 174.949}
LIN {X 631.376,Y -72.320,Z -198.388,A 15.107,B 9.253,C 175.851}
LIN {X 648.530,Y -67.662,Z -200.921,A 20.874,B 7.352,C 176.573}
LIN {X 665.470,Y -61.180,Z -202.910,A 26.730,B 5.511,C 177.120}
LIN {X 681.846,Y -52.915,Z -204.356,A 32.607,B 3.809,C 177.497}
LIN {X 697.252,Y -43.045,Z -205.290,A 38.465,B 2.321,C 177.721}
LIN {X 711.523,Y -31.695,Z -205.789,A 44.367,B 0.118,C 177.874}
LIN {X 724.653,Y -18.858,Z -205.938,A 50.901,B -0.045,C 177.830}
LIN {X 738.855,Y -1.384,Z -205.938,A 51.106,B -0.129,C 177.818}
LIN {X 752.015,Y 14.927,Z -205.938,A 44.661,B -0.368,C 177.861}
LIN {X 765.377,Y 28.125,Z -205.938,A 38.568,B -0.572,C 177.944}
LIN {X 780.066,Y 39.829,Z -205.938,A 32.473,B -0.745,C 178.059}
LIN {X 795.915,Y 49.906,Z -205.938,A 26.352,B -0.116,C 177.817}
LIN {X 812.745,Y 58.242,Z -205.938,A 20.252,B -0.116,C 177.817}
LIN {X 830.366,Y 64.741,Z -205.938,A 14.152,B -0.116,C 177.818}
LIN {X 848.578,Y 69.332,Z -205.938,A 8.052,B -0.116,C 177.817}
LIN {X 867.174,Y 71.961,Z -205.938,A 1.953,B -0.116,C 177.818}
LIN {X 885.945,Y 72.600,Z -205.938,A -4.147,B -0.116,C 177.817}
LIN {X 904.677,Y 71.240,Z -205.938,A -10.247,B -0.116,C 177.817}
LIN {X 923.158,Y 67.898,Z -205.938,A -16.347,B -0.116,C 177.817}
LIN {X 941.180,Y 62.610,Z -205.938,A -22.447,B -0.116,C 177.818}
LIN {X 958.538,Y 55.437,Z -205.938,A -28.547,B -0.116,C 177.818}
LIN {X 975.035,Y 46.461,Z -205.938,A -34.647,B -0.116,C 177.817}
LIN {X 990.485,Y 35.782,Z -205.938,A -40.747,B -0.116,C 177.817}
LIN {X 1004.710,Y 23.522,Z -205.938,A -46.847,B -0.116,C 177.817}
LIN {X 1017.560,Y 9.820,Z -205.938,A -52.947,B -0.117,C 177.817}
LIN {X 1028.870,Y -5.170,Z -205.938,A -59.046,B -0.116,C 177.817}
LIN {X 1038.530,Y -21.277,Z -205.938,A -65.146,B -0.116,C 177.817}
LIN {X 1046.420,Y -38.320,Z -205.938,A -65.155,B 0.116,C 177.818}
$VEL.CP = 1.00000
LIN {X 1088.440,Y -129.065,Z -206.141,A -65.155,B 0.116,C 177.818}
END