&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT  TEST1MOVE
;FOLD EXTERNAL DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BAS EXT;%{PE}%V3.2.0,%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD
;FOLD A10 EXT;%{E}%V3.2.0,%MKUKATPARC,%CEXT,%VEXT,%P
EXT  A10 (A_CMD_T  :IN,A_STRT_T  :IN,A_WELD_T  :IN,A_END_T  :IN,INT  :IN )
;ENDFOLD
;FOLD A20 EXT;%{E}%V3.2.0,%MKUKATPA20,%CEXT,%VEXT,%P
EXT  A20 (INT  :IN,WELD_ST  :IN,WELD_FI  :IN,INT  :IN )
;ENDFOLD
;FOLD GRIPPER EXT;%{E}%V3.2.0,%MKUKATPGRIPPER,%CEXT,%VEXT,%P
EXT  H50 (INT  :IN,INT  :IN,INT  :IN,GRP_TYP  :IN )
;ENDFOLD
;FOLD SPOT EXT;%{E}%V3.2.0,%MKUKATPSPOT,%CEXT,%VEXT,%P
EXT  USERSPOT (S_COMMAND  :IN,SPOT_TYPE  :IN )
;ENDFOLD
;FOLD TOUCHSENSE EXT;%{E}%V3.2.0,%MKUKATPTS,%CEXT,%VEXT,%P
EXT  H70 (INT  :IN,SRCH_TYP_2  :OUT,E6POS  :IN,SRCH_TYP_3  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,INT  :IN )
;ENDFOLD
;FOLD USER EXT;%{E}%V3.2.0,%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD
;ENDFOLD

DECL E6POS XP1={x 1619.99805,y -0.00337642105,z 1910.0,a -90.0001068,b 65.2638474,c -90.0,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P2                      ",POINT2[] "P2                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT2                   ",CONT[] "                        ",CP_VEL[] "2.0                     ",PTP_VEL[] "100                     "}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={x 1619.99805,y -0.00337642105,z 1910.0,a -90.0001068,b 65.2638474,c -90.0,s 2,t 2,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
ENDDAT