DEF Buddharotarytest1031_3 ( )

;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)

;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD

;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD

PTP $AXIS_ACT ; skip BCO quickly

; KUKA.Camrob compatibility for KRC2
CR_iUSER_PARAMS_VERSION = 2

; Do not use acceleration defined in the csv
cr_bupdate_acc=false

; To set 'Tool On Robot' Mode
$IPO_MODE = #BASE

; Set smoothing value
$APO.CDIS = 2

; Set $ADVANCE value (number of points read in advance)
$ADVANCE = 3

; Tool definitions
TOOL_DATA[2] = {X 627.35, Y 6.000, Z 273.0, A 0.0000, B 270, C 0.0000}

; Part Origin definitions
BASE_DATA[17] = {X 2038.9, Y 3.23, Z 104, A 0.0000, B 0.0000, C 0.0000}


$ACC.CP = 2.00000
; Program generated by RoboDK v5.8.0 for KUKA KR 60 L45 HA on 31/10/2024 07:53:52
; Using nominal kinematics.
$APO.CPTP = 1.000
$APO.CDIS = 1.000
;FOLD_CAMRob.LoadTool_=_2_[1..100];%{PE}%MKUKATPUSER()
CR_LOAD_TOOL(2)
;ENDFOLD()
$VEL.CP = 1.00000
$ACT_BASE = 17
BaseDataNum = 17
$BASE=BASE_DATA[17]
$ACT_EX_AX= 17
$BASE=EK(MACHINE_DEF[2].ROOT,MACHINE_DEF[2].MECH_TYPE,BASE_DATA[17]:{FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000})
$TOOL = TOOL_DATA[2]
; Show Spindle 2
PTP {A1 -29.89980,A2 -35.92800,A3 53.84610,A4 0.00000,A5 72.08190,A6 74.65800,E1 -812.63300} C_PTP
CR_PROCESS_FILE("Buddharotarytest1031_3.csv", 1, -1, "OK" )
END