&ACCESS RVP
&COMMENT Generated by RoboDK
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF KUKAManualtestprog1 krc4( )
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)

;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,50)
;ENDFOLD


;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,50)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD

;FOLD PTP FIRST POSITION
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
$ADVANCE = 5
;ENDFOLD

PTP $AXIS_ACT ; skip BCO quickly
; Program generated by RoboDK v3.5.1 for KUKA KR 6 R700 sixx on 21/03/2019 11:30:53
; Using nominal kinematics.
EXT BAS (BAS_COMMAND :IN,REAL :IN )
BAS (#INITMOV,0 )
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
$VEL.CP = 0.20000
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
$ADVANCE = 5
$BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
$TOOL = {FRAME: X 222.667,Y -20.341,Z 121.966,A 0.000,B 90.000,C 0.000}
$ACC.CP = 0.05000
$VEL.CP = 0.25000
$APO.CPTP = 2.000
$APO.CDIS = 2.000
PTP {AXIS: A1 3.64723,A2 -126.32444,A3 142.54265,A4 12.85610,A5 -16.61251,A6 -12.33626}
WAIT SEC 5.000
PTP {AXIS: A1 1.66669,A2 -78.26762,A3 103.33931,A4 3.92811,A5 -25.12345,A6 -3.55749}
PTP {AXIS: A1 -16.68631,A2 -75.00301,A3 99.38812,A4 -35.98073,A5 -29.25673,A6 32.35081}
END
END