&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Prog3 ( )
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 v5.3.4 for KUKA KR 240-2 on 26/01/2022 09:14:04
; Using nominal kinematics.
; ---- Setting reference (Base) ----
$BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
; BASE_DATA[1] = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
; $BASE = BASE_DATA[1]
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 311.882,Y -5.552,Z 133.052,A 102.336,B 88.126,C 73.248}
; --------------------------
PTP {A1 74.44270,A2 -16.62010,A3 30.08650,A4 42.58910,A5 -16.93310,A6 -12.24560,E1 0.00000}
LIN {X 780.587,Y -1342.880,Z 238.405,A 147.510,B -0.118,C 179.882,E1 0.00000}
LIN {X 304.890,Y -1855.320,Z 325.546,A 87.510,B -0.161,C -179.956,E1 0.00000}
LIN {X 304.262,Y -1855.030,Z 175.548,A 87.510,B -0.161,C -179.956,E1 0.00000}
END