&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Spline_Path1to3 ( )


; 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 v5.8.0 for KUKA KR 210 R3100 ultra on 23/09/2024 11:28:27
; ---- Setting reference (Base) ----
$BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 0.000,Y 0.000,Z 953.700,A 180.000,B 0.000,C 0.000}
; --------------------------
PTP {A1 0.00000,A2 -101.66500,A3 153.42800,A4 0.00000,A5 -51.76380,A6 0.00000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2415.380,Y -742.992,Z 279.119,A -180.000,B -90.000,C 0.000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2704.580,Y -743.808,Z 358.897,A -180.000,B -74.578,C -0.156,E1 0.00000}
SPLINE WITH $VEL.CP = 0.02
 SPL {X 2701.820,Y -743.808,Z 368.897,A -179.998,B -74.795,C -0.157,E1 0.00000}
 SPL {X 2699.140,Y -743.808,Z 378.897,A 180.000,B -75.015,C -0.153,E1 0.00000}
 SPL {X 2696.460,Y -743.808,Z 388.897,A -179.998,B -75.234,C -0.153,E1 0.00000}
 SPL {X 2693.870,Y -743.808,Z 398.897,A 180.000,B -75.454,C -0.149,E1 0.00000}
 SPL {X 2691.280,Y -743.808,Z 408.897,A -179.998,B -75.675,C -0.149,E1 0.00000}
 SPL {X 2688.760,Y -743.808,Z 418.897,A 180.000,B -75.897,C -0.144,E1 0.00000}
 SPL {X 2686.250,Y -743.808,Z 428.897,A -179.998,B -76.118,C -0.143,E1 0.00000}
 SPL {X 2683.820,Y -743.808,Z 438.897,A 180.000,B -76.341,C -0.138,E1 0.00000}
 SPL {X 2681.390,Y -743.808,Z 448.897,A -179.998,B -76.564,C -0.137,E1 0.00000}
 SPL {X 2679.040,Y -743.808,Z 458.897,A 180.000,B -76.788,C -0.131,E1 0.00000}
 SPL {X 2676.690,Y -743.808,Z 468.897,A -179.998,B -77.012,C -0.130,E1 0.00000}
 SPL {X 2674.430,Y -743.808,Z 478.897,A 180.000,B -77.237,C -0.124,E1 0.00000}
 SPL {X 2672.160,Y -743.808,Z 488.897,A -179.998,B -77.463,C -0.122,E1 0.00000}
 SPL {X 2669.980,Y -743.808,Z 498.897,A 180.000,B -77.689,C -0.116,E1 0.00000}
 SPL {X 2667.800,Y -743.808,Z 508.897,A -179.998,B -77.915,C -0.113,E1 0.00000}
 SPL {X 2665.700,Y -743.808,Z 518.897,A 180.000,B -78.143,C -0.106,E1 0.00000}
 SPL {X 2663.600,Y -743.808,Z 528.897,A -179.998,B -78.371,C -0.104,E1 0.00000}
 SPL {X 2661.580,Y -743.808,Z 538.897,A 180.000,B -78.600,C -0.097,E1 0.00000}
 SPL {X 2659.570,Y -743.808,Z 548.897,A -179.998,B -78.828,C -0.093,E1 0.00000}
 SPL {X 2657.630,Y -743.808,Z 558.897,A 180.000,B -79.058,C -0.086,E1 0.00000}
 SPL {X 2655.700,Y -743.808,Z 568.897,A -179.998,B -79.288,C -0.082,E1 0.00000}
 SPL {X 2653.850,Y -743.808,Z 578.897,A 180.000,B -79.519,C -0.074,E1 0.00000}
 SPL {X 2652.000,Y -743.808,Z 588.897,A -179.998,B -79.750,C -0.070,E1 0.00000}
 SPL {X 2650.230,Y -743.808,Z 598.897,A 180.000,B -79.982,C -0.062,E1 0.00000}
 SPL {X 2648.470,Y -743.808,Z 608.897,A -179.999,B -80.214,C -0.057,E1 0.00000}
 SPL {X 2646.780,Y -743.808,Z 618.897,A 180.000,B -80.447,C -0.049,E1 0.00000}
 SPL {X 2645.100,Y -743.808,Z 628.897,A -179.999,B -80.680,C -0.044,E1 0.00000}
 SPL {X 2643.500,Y -743.808,Z 638.897,A 180.000,B -80.914,C -0.036,E1 0.00000}
 SPL {X 2641.900,Y -743.808,Z 648.897,A -179.999,B -81.148,C -0.029,E1 0.00000}
 SPL {X 2640.390,Y -743.808,Z 658.897,A 180.000,B -81.383,C -0.021,E1 0.00000}
 SPL {X 2638.870,Y -743.808,Z 668.897,A -180.000,B -81.618,C -0.014,E1 0.00000}
 SPL {X 2637.440,Y -743.808,Z 678.897,A 180.000,B -81.854,C -0.006,E1 0.00000}
 SPL {X 2636.010,Y -743.808,Z 688.897,A 180.000,B -82.090,C 0.001,E1 0.00000}
 SPL {X 2634.660,Y -743.808,Z 698.897,A -180.000,B -82.327,C 0.009,E1 0.00000}
 SPL {X 2633.310,Y -743.808,Z 708.897,A 179.999,B -82.564,C 0.018,E1 0.00000}
 SPL {X 2632.050,Y -743.808,Z 718.897,A -180.000,B -82.802,C 0.025,E1 0.00000}
 SPL {X 2630.790,Y -743.808,Z 728.897,A 179.999,B -83.040,C 0.035,E1 0.00000}
 SPL {X 2629.610,Y -743.808,Z 738.897,A -180.000,B -83.278,C 0.042,E1 0.00000}
 SPL {X 2628.430,Y -743.808,Z 748.897,A 179.998,B -83.517,C 0.053,E1 0.00000}
 SPL {X 2627.340,Y -743.808,Z 758.897,A -180.000,B -83.757,C 0.060,E1 0.00000}
 SPL {X 2626.240,Y -743.808,Z 768.897,A 179.997,B -83.996,C 0.071,E1 0.00000}
 SPL {X 2625.230,Y -743.808,Z 778.897,A -180.000,B -84.237,C 0.078,E1 0.00000}
 SPL {X 2624.220,Y -743.808,Z 788.897,A 179.996,B -84.477,C 0.091,E1 0.00000}
 SPL {X 2623.300,Y -743.808,Z 798.897,A -180.000,B -84.718,C 0.096,E1 0.00000}
 SPL {X 2622.370,Y -743.808,Z 808.897,A 179.995,B -84.959,C 0.111,E1 0.00000}
 SPL {X 2621.530,Y -743.808,Z 818.897,A -180.000,B -85.201,C 0.115,E1 0.00000}
 SPL {X 2620.690,Y -743.808,Z 828.897,A 179.993,B -85.443,C 0.132,E1 0.00000}
 SPL {X 2619.940,Y -743.808,Z 838.897,A -180.000,B -85.686,C 0.134,E1 0.00000}
 SPL {X 2619.180,Y -743.808,Z 848.897,A 179.991,B -85.928,C 0.153,E1 0.00000}
 SPL {X 2618.520,Y -743.808,Z 858.897,A -180.000,B -86.172,C 0.154,E1 0.00000}
 SPL {X 2617.850,Y -743.808,Z 868.897,A 179.988,B -86.415,C 0.176,E1 0.00000}
 SPL {X 2617.260,Y -743.808,Z 878.897,A -179.999,B -86.659,C 0.174,E1 0.00000}
 SPL {X 2616.680,Y -743.808,Z 888.897,A 179.985,B -86.903,C 0.200,E1 0.00000}
 SPL {X 2616.180,Y -743.808,Z 898.897,A -179.999,B -87.148,C 0.195,E1 0.00000}
 SPL {X 2615.680,Y -743.808,Z 908.897,A 179.980,B -87.392,C 0.226,E1 0.00000}
 SPL {X 2615.270,Y -743.808,Z 918.897,A -179.999,B -87.637,C 0.216,E1 0.00000}
 SPL {X 2614.860,Y -743.808,Z 928.897,A 179.973,B -87.882,C 0.255,E1 0.00000}
 SPL {X 2614.530,Y -743.808,Z 938.897,A -179.999,B -88.128,C 0.237,E1 0.00000}
 SPL {X 2614.200,Y -743.808,Z 948.897,A 179.961,B -88.374,C 0.288,E1 0.00000}
 SPL {X 2613.960,Y -743.808,Z 958.897,A -179.998,B -88.620,C 0.258,E1 0.00000}
 SPL {X 2613.720,Y -743.808,Z 968.897,A 179.938,B -88.866,C 0.332,E1 0.00000}
 SPL {X 2613.570,Y -743.808,Z 978.897,A -179.997,B -89.113,C 0.278,E1 0.00000}
 SPL {X 2613.410,Y -743.808,Z 988.897,A 179.882,B -89.360,C 0.411,E1 0.00000}
 SPL {X 2613.340,Y -743.808,Z 998.897,A -179.992,B -89.607,C 0.296,E1 0.00000}
 SPL {X 2613.270,Y -743.808,Z 1008.900,A 179.440,B -89.854,C 0.876,E1 0.00000}
 SPL {X 2613.290,Y -743.808,Z 1018.900,A -0.035,B -89.898,C -179.638,E1 0.00000}
 SPL {X 2613.310,Y -743.808,Z 1028.900,A 0.251,B -89.650,C -179.913,E1 0.00000}
 SPL {X 2613.420,Y -743.808,Z 1038.900,A -0.007,B -89.402,C -179.644,E1 0.00000}
 SPL {X 2613.520,Y -743.808,Z 1048.900,A 0.111,B -89.154,C -179.750,E1 0.00000}
 SPL {X 2613.710,Y -743.808,Z 1058.900,A -0.004,B -88.906,C -179.623,E1 0.00000}
 SPL {X 2613.900,Y -743.808,Z 1068.900,A 0.074,B -88.657,C -179.690,E1 0.00000}
 SPL {X 2614.180,Y -743.808,Z 1078.900,A -0.003,B -88.409,C -179.601,E1 0.00000}
 SPL {X 2614.460,Y -743.808,Z 1088.900,A 0.058,B -88.160,C -179.650,E1 0.00000}
 SPL {X 2614.820,Y -743.808,Z 1098.900,A -0.002,B -87.911,C -179.578,E1 0.00000}
 SPL {X 2615.180,Y -743.808,Z 1108.900,A 0.048,B -87.662,C -179.617,E1 0.00000}
 SPL {X 2615.640,Y -743.808,Z 1118.900,A -0.002,B -87.413,C -179.555,E1 0.00000}
 SPL {X 2616.090,Y -743.808,Z 1128.900,A 0.042,B -87.164,C -179.587,E1 0.00000}
 SPL {X 2616.630,Y -743.808,Z 1138.900,A -0.002,B -86.914,C -179.532,E1 0.00000}
 SPL {X 2617.170,Y -743.808,Z 1148.900,A 0.037,B -86.665,C -179.559,E1 0.00000}
 SPL {X 2617.800,Y -743.808,Z 1158.900,A -0.002,B -86.415,C -179.508,E1 0.00000}
 SPL {X 2618.420,Y -743.808,Z 1168.900,A 0.034,B -86.166,C -179.532,E1 0.00000}
 SPL {X 2619.140,Y -743.808,Z 1178.900,A -0.001,B -85.916,C -179.485,E1 0.00000}
 SPL {X 2619.850,Y -743.808,Z 1188.900,A 0.032,B -85.666,C -179.506,E1 0.00000}
 SPL {X 2620.650,Y -743.808,Z 1198.900,A -0.001,B -85.417,C -179.461,E1 0.00000}
 SPL {X 2621.450,Y -743.808,Z 1208.900,A 0.030,B -85.167,C -179.480,E1 0.00000}
 SPL {X 2622.340,Y -743.808,Z 1218.900,A -0.001,B -84.917,C -179.438,E1 0.00000}
 SPL {X 2623.230,Y -743.808,Z 1228.900,A 0.028,B -84.667,C -179.455,E1 0.00000}
 SPL {X 2624.210,Y -743.808,Z 1238.900,A -0.001,B -84.417,C -179.414,E1 0.00000}
 SPL {X 2625.180,Y -743.808,Z 1248.900,A 0.027,B -84.168,C -179.430,E1 0.00000}
 SPL {X 2626.250,Y -743.808,Z 1258.900,A -0.001,B -83.918,C -179.391,E1 0.00000}
 SPL {X 2627.320,Y -743.808,Z 1268.900,A 0.026,B -83.668,C -179.406,E1 0.00000}
 SPL {X 2628.470,Y -743.808,Z 1278.900,A -0.001,B -83.418,C -179.367,E1 0.00000}
 SPL {X 2629.620,Y -743.808,Z 1288.900,A 0.025,B -83.169,C -179.381,E1 0.00000}
 SPL {X 2630.870,Y -743.808,Z 1298.900,A -0.001,B -82.919,C -179.344,E1 0.00000}
 SPL {X 2632.110,Y -743.808,Z 1308.900,A 0.024,B -82.669,C -179.357,E1 0.00000}
 SPL {X 2633.440,Y -743.808,Z 1318.900,A -0.001,B -82.420,C -179.321,E1 0.00000}
 SPL {X 2634.770,Y -743.808,Z 1328.900,A 0.023,B -82.171,C -179.333,E1 0.00000}
 SPL {X 2636.190,Y -743.808,Z 1338.900,A -0.001,B -81.921,C -179.298,E1 0.00000}
 SPL {X 2637.610,Y -743.808,Z 1348.900,A 0.022,B -81.672,C -179.309,E1 0.00000}
 SPL {X 2639.120,Y -743.808,Z 1358.900,A -0.001,B -81.423,C -179.275,E1 0.00000}
 SPL {X 2640.620,Y -743.808,Z 1368.900,A 0.022,B -81.174,C -179.286,E1 0.00000}
 SPL {X 2642.220,Y -743.808,Z 1378.900,A -0.001,B -80.925,C -179.252,E1 0.00000}
 SPL {X 2643.820,Y -743.808,Z 1388.900,A 0.021,B -80.676,C -179.263,E1 0.00000}
 SPL {X 2645.510,Y -743.808,Z 1398.900,A -0.001,B -80.428,C -179.230,E1 0.00000}
 SPL {X 2647.190,Y -743.808,Z 1408.900,A 0.021,B -80.179,C -179.240,E1 0.00000}
 SPL {X 2648.970,Y -743.808,Z 1418.900,A -0.001,B -79.931,C -179.208,E1 0.00000}
 SPL {X 2650.740,Y -743.808,Z 1428.900,A 0.020,B -79.683,C -179.218,E1 0.00000}
 SPL {X 2652.610,Y -743.808,Z 1438.900,A -0.001,B -79.435,C -179.186,E1 0.00000}
 SPL {X 2654.470,Y -743.808,Z 1448.900,A 0.020,B -79.188,C -179.196,E1 0.00000}
 SPL {X 2656.430,Y -743.808,Z 1458.900,A -0.001,B -78.940,C -179.165,E1 0.00000}
 SPL {X 2658.380,Y -743.808,Z 1468.900,A 0.019,B -78.693,C -179.174,E1 0.00000}
 SPL {X 2660.430,Y -743.808,Z 1478.900,A -0.001,B -78.446,C -179.143,E1 0.00000}
 SPL {X 2662.470,Y -743.808,Z 1488.900,A 0.019,B -78.199,C -179.152,E1 0.00000}
 SPL {X 2664.610,Y -743.808,Z 1498.900,A -0.001,B -77.953,C -179.123,E1 0.00000}
 SPL {X 2666.740,Y -743.808,Z 1508.900,A 0.019,B -77.707,C -179.131,E1 0.00000}
 SPL {X 2668.970,Y -743.808,Z 1518.900,A -0.001,B -77.461,C -179.102,E1 0.00000}
 SPL {X 2671.190,Y -743.808,Z 1528.900,A 0.018,B -77.215,C -179.111,E1 0.00000}
 SPL {X 2673.510,Y -743.808,Z 1538.900,A -0.001,B -76.969,C -179.082,E1 0.00000}
 SPL {X 2675.820,Y -743.808,Z 1548.900,A 0.018,B -76.724,C -179.091,E1 0.00000}
 SPL {X 2678.220,Y -743.808,Z 1558.900,A -0.001,B -76.480,C -179.063,E1 0.00000}
 SPL {X 2680.630,Y -743.808,Z 1568.900,A 0.018,B -76.235,C -179.071,E1 0.00000}
 SPL {X 2683.120,Y -743.808,Z 1578.900,A -0.001,B -75.991,C -179.044,E1 0.00000}
 SPL {X 2685.620,Y -743.808,Z 1588.900,A 0.017,B -75.747,C -179.052,E1 0.00000}
 SPL {X 2688.200,Y -743.808,Z 1598.900,A -0.001,B -75.503,C -179.025,E1 0.00000}
 SPL {X 2690.790,Y -743.808,Z 1608.900,A 0.017,B -75.260,C -179.033,E1 0.00000}
 SPL {X 2693.470,Y -743.808,Z 1618.900,A -0.001,B -75.017,C -179.007,E1 0.00000}
 SPL {X 2696.140,Y -743.808,Z 1628.900,A 0.017,B -74.774,C -179.015,E1 0.00000}
 SPL {X 2698.910,Y -743.808,Z 1638.900,A -0.001,B -74.532,C -178.989,E1 0.00000}
 SPL {X 2701.680,Y -743.808,Z 1648.900,A 0.016,B -74.291,C -178.997,E1 0.00000}
 SPL {X 2704.540,Y -743.808,Z 1658.900,A -0.001,B -74.049,C -178.972,E1 0.00000}
 SPL {X 2707.390,Y -743.808,Z 1668.900,A 0.016,B -73.808,C -178.980,E1 0.00000}
 SPL {X 2710.340,Y -743.808,Z 1678.900,A -0.001,B -73.568,C -178.956,E1 0.00000}
 SPL {X 2713.290,Y -743.808,Z 1688.900,A 0.016,B -73.327,C -178.964,E1 0.00000}
 SPL {X 2716.330,Y -743.808,Z 1698.900,A -0.001,B -73.088,C -178.940,E1 0.00000}
 SPL {X 2719.370,Y -743.808,Z 1708.900,A 0.016,B -72.848,C -178.948,E1 0.00000}
 SPL {X 2722.510,Y -743.808,Z 1718.900,A -0.001,B -72.609,C -178.925,E1 0.00000}
 SPL {X 2725.640,Y -743.808,Z 1728.900,A 0.015,B -72.370,C -178.932,E1 0.00000}
 SPL {X 2728.860,Y -743.808,Z 1738.900,A -0.001,B -72.133,C -178.910,E1 0.00000}
 SPL {X 2732.080,Y -743.808,Z 1748.900,A 0.015,B -71.895,C -178.918,E1 0.00000}
 SPL {X 2735.400,Y -743.808,Z 1758.900,A -0.001,B -71.658,C -178.896,E1 0.00000}
 SPL {X 2738.720,Y -743.808,Z 1768.900,A 0.015,B -71.421,C -178.904,E1 0.00000}
 SPL {X 2742.120,Y -743.808,Z 1778.900,A -0.001,B -71.185,C -178.883,E1 0.00000}
ENDSPLINE
$VEL.CP = 0.02000
LIN {X 2458.210,Y -749.655,Z 1875.630,A -180.000,B -90.000,C 0.000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2416.760,Y -462.112,Z 278.584,A -180.000,B -90.000,C 0.000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2705.800,Y -463.808,Z 358.897,A 180.000,B -74.472,C -0.324,E1 0.00000}
SPLINE WITH $VEL.CP = 0.02
 SPL {X 2703.020,Y -463.808,Z 368.897,A -179.996,B -74.685,C -0.322,E1 0.00000}
 SPL {X 2700.320,Y -463.808,Z 378.897,A -180.000,B -74.899,C -0.312,E1 0.00000}
 SPL {X 2697.630,Y -463.808,Z 388.897,A -179.996,B -75.113,C -0.310,E1 0.00000}
 SPL {X 2695.010,Y -463.808,Z 398.897,A -180.000,B -75.329,C -0.299,E1 0.00000}
 SPL {X 2692.390,Y -463.808,Z 408.897,A -179.996,B -75.545,C -0.297,E1 0.00000}
 SPL {X 2689.850,Y -463.808,Z 418.897,A -180.000,B -75.762,C -0.286,E1 0.00000}
 SPL {X 2687.320,Y -463.808,Z 428.897,A -179.996,B -75.979,C -0.284,E1 0.00000}
 SPL {X 2684.860,Y -463.808,Z 438.897,A -180.000,B -76.197,C -0.272,E1 0.00000}
 SPL {X 2682.400,Y -463.808,Z 448.897,A -179.996,B -76.415,C -0.270,E1 0.00000}
 SPL {X 2680.020,Y -463.808,Z 458.897,A -180.000,B -76.635,C -0.258,E1 0.00000}
 SPL {X 2677.650,Y -463.808,Z 468.897,A -179.996,B -76.855,C -0.255,E1 0.00000}
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ENDSPLINE
$VEL.CP = 0.02000
LIN {X 2451.880,Y -469.941,Z 1874.370,A -180.000,B -90.000,C 0.000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2419.110,Y -181.327,Z 277.452,A -180.000,B -90.000,C 0.000,E1 0.00000}
$VEL.CP = 0.02000
LIN {X 2707.830,Y -183.808,Z 358.897,A 180.000,B -74.247,C -0.474,E1 0.00000}
SPLINE WITH $VEL.CP = 0.02
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ENDSPLINE
$VEL.CP = 0.02000
LIN {X 2445.210,Y -190.103,Z 1872.740,A -180.000,B -90.000,C 0.000,E1 0.00000}
PTP {A1 0.00000,A2 -101.66500,A3 153.42800,A4 0.00000,A5 -51.76380,A6 0.00000,E1 0.00000}
END
