&ACCESS RVP
&REL 1
&COMMENT Generated by RoboDK
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF testrechteck ( )
;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 v4.0.1 for KUKA KR 210 R2700 extra on 15/11/2019 17:23:29
; Using nominal kinematics.
$APO.CPTP = 1.000
$APO.CDIS = 1.000
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'testrechteck'"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/''"
Wait for StrClear($LOOP_MSG[])
$LOOP_CONT = TRUE
$LOOP_MSG[] = "/'2D-Kontur1'"
SetTool(1)
SetRPM(5000.0)
$VEL.CP = 1.00000
$BASE = {X 1200.000,Y 100.000,Z 1200.000,A 0.000,B 0.000,C 0.000}
$TOOL = {X 278.600,Y 0.000,Z 88.000,A 0.000,B 90.000,C 0.000}
; Anzeigen Spindle
PTP {A1 -6.13197,A2 -122.79825,A3 123.13588,A4 -86.86043,A5 -6.14122,A6 86.84234} C_PTP
LIN {X 24.500,Y -1.000,Z 15.000,A -180.000,B -0.000,C -180.000} C_DIS
$VEL.CP = 1.00000
LIN {X 24.500,Y -1.000,Z 5.000,A -180.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 0.00556
LIN {X 24.500,Y -1.000,Z 1.000,A -180.000,B 0.000,C -180.000} C_DIS
LIN {X 24.500,Y -1.000,Z -0.000,A -180.000,B -0.000,C -180.000} C_DIS
CIRC {X 24.793,Y -1.000,Z -0.707,A -180.000,B 0.000,C -180.000},{X 25.500,Y -1.000,Z -1.000,A -180.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 0.01667
LIN {X 26.500,Y -1.000,Z -1.000,A -180.000,B -0.000,C 180.000} C_DIS
CIRC {X 27.207,Y -0.707,Z -1.000,A -180.000,B -0.000,C 180.000},{X 27.500,Y 0.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS
LIN {X 27.500,Y 25.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS
LIN {X -27.500,Y 25.000,Z -1.000,A -180.000,B -0.000,C -180.000} C_DIS
LIN {X -27.500,Y -25.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS
LIN {X 27.500,Y -25.000,Z -1.000,A 180.000,B 0.000,C 180.000} C_DIS
LIN {X 27.500,Y 0.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS
CIRC {X 27.207,Y 0.707,Z -1.000,A -180.000,B -0.000,C 180.000},{X 26.500,Y 1.000,Z -1.000,A 180.000,B -0.000,C 180.000} C_DIS
LIN {X 25.500,Y 1.000,Z -1.000,A 180.000,B 0.000,C -180.000} C_DIS
CIRC {X 24.793,Y 1.000,Z -0.707,A 180.000,B -0.000,C -180.000},{X 24.500,Y 1.000,Z -0.000,A 180.000,B 0.000,C -180.000} C_DIS
$VEL.CP = 1.00000
LIN {X 24.500,Y 1.000,Z 15.000,A 180.000,B 0.000,C -180.000} C_DIS
LIN {X 24.500,Y 1.000,Z 115.000,A 180.000,B 0.000,C -180.000} C_DIS
END