&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Scan_300x200x100 ( )


; 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 v5.9.0 for KUKA KR 60 HA on 19/06/2026 09:46:39
; Using nominal kinematics.
$OUT[5]=TRUE
Y()
X()
Y()
X()
Z()
$OUT[5]=TRUE
DEF Y ( )


; 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


$APO.CPTP = 1
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; ---- Setting reference (Base) ----
; BASE_DATA[12] = {FRAME: X 987.700,Y -266.100,Z 456.800,A 0.000,B 0.000,C 0.000}
$BASE = {FRAME: X 987.700,Y -266.100,Z 456.800,A 0.000,B 0.000,C 0.000}
; $BASE = BASE_DATA[12]
; --------------------------
; ---- Setting tool (TCP) ----
; TOOL_DATA[5] = {FRAME: X 0.000,Y 550.000,Z 365.000,A 0.000,B 0.000,C -90.000}
; $TOOL = {FRAME: X 0.000,Y 550.000,Z 365.000,A 0.000,B 0.000,C -90.000}
$TOOL = TOOL_DATA[5]
; --------------------------
; Afficher TOOL 5
PTP {A1 13.29010,A2 -79.71550,A3 110.37900,A4 41.21220,A5 57.91450,A6 -8.86341} C_PTP
LIN {X 259.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 197.196,Z 190.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 197.196,Z 190.000,A 180.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 197.196,Z 190.000,A 180.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 197.196,Z 190.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 197.196,Z 90.000,A 180.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 197.196,Z 190.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 197.196,Z 190.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 197.196,Z 140.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 197.196,Z 90.000,A -180.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 197.196,Z 140.000,A 180.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 197.196,Z 190.000,A -180.000,B 0.000,C 125.000} C_DIS
$VEL.CP = 1.00000
LIN {X 559.041,Y 115.281,Z 247.358,A -180.000,B 0.000,C 125.000} C_DIS
DEF X ( )


; 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


$APO.CPTP = 1
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; Afficher TOOL 5
PTP {A1 2.22640,A2 -45.89500,A3 53.68520,A4 -1.73905,A5 47.24340,A6 93.00490} C_PTP
LIN {X 559.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 197.196,Z 140.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 197.196,Z 90.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 247.196,Z 90.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 247.196,Z 140.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 297.196,Z 140.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 297.196,Z 90.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 347.196,Z 90.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 347.196,Z 140.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 397.196,Z 140.000,A -90.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 397.196,Z 90.000,A -90.000,B 0.000,C 125.000} C_DIS
$VEL.CP = 1.00000
LIN {X 640.956,Y 397.196,Z 147.358,A -90.000,B 0.000,C 125.000} C_DIS
DEF Y ( )


; 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


$APO.CPTP = 1
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; Afficher TOOL 5
PTP {A1 -12.98550,A2 -59.83930,A3 83.20180,A4 -38.57000,A5 63.69490,A6 -176.26000} C_PTP
LIN {X 559.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 559.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 509.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 459.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 409.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 359.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 309.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 397.196,Z 90.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 397.196,Z 140.000,A 0.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 397.196,Z 190.000,A 0.000,B 0.000,C 125.000} C_DIS
$VEL.CP = 1.00000
LIN {X 259.041,Y 479.111,Z 247.358,A 0.000,B 0.000,C 125.000} C_DIS
DEF X ( )


; 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


$APO.CPTP = 1
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; Afficher TOOL 5
PTP {A1 -7.31563,A2 -98.76310,A3 122.49000,A4 -4.26729,A5 101.02300,A6 -96.82070} C_PTP
LIN {X 259.041,Y 397.196,Z 190.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 397.196,Z 140.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 397.196,Z 90.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 347.196,Z 90.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 347.196,Z 140.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 347.196,Z 190.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 297.196,Z 190.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 297.196,Z 140.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 297.196,Z 90.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 247.196,Z 90.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 247.196,Z 140.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 247.196,Z 190.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 197.196,Z 190.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 197.196,Z 140.000,A 90.000,B 0.000,C 125.000} C_DIS
LIN {X 259.041,Y 197.196,Z 90.000,A 90.000,B 0.000,C 125.000} C_DIS
$VEL.CP = 1.00000
LIN {X 177.126,Y 197.196,Z 147.358,A 90.000,B 0.000,C 125.000} C_DIS
DEF Z ( )


; 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


$APO.CPTP = 1
$APO.CDIS = 1.000
$VEL.CP = 1.00000
; Afficher TOOL 5
PTP {A1 5.52958,A2 -120.27400,A3 147.93700,A4 -168.22100,A5 28.16760,A6 -100.41600} C_PTP
LIN {X 259.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 259.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 259.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 259.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 259.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 309.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 309.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 309.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 309.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 309.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 359.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 359.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 359.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 359.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 359.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 409.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 409.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 409.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 409.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 409.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 459.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 459.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 459.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 459.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 459.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 509.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 509.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 509.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 509.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 509.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 559.041,Y 197.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 559.041,Y 247.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
LIN {X 559.041,Y 297.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 559.041,Y 347.196,Z 190.000,A -90.000,B 0.000,C -180.000} C_DIS
LIN {X 559.041,Y 397.196,Z 190.000,A -90.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 1.00000
LIN {X 559.041,Y 397.196,Z 290.000,A -90.000,B 0.000,C -180.000} C_DIS
END