&ACCESS RVP &PARAM DISKPATH = KRC:\R1\WORKVISUAL DEF BOQUILLAS_ORIGINALL( ) DECL INT NUM_CORDONES,I DECL REAL INC_X,INC_Y,INC_Z NUM_CORDONES=5 INC_X=3.5 INC_Y=3.5 INC_Z=-4.5 ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) FOR I=0 TO NUM_CORDONES ;FOLD PTP P1 Vel=50 % PDAT1 Tool[1]:TIP Base[25]:CURSO 19;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:50, 7:PDAT1 $BWDSTART=FALSE PDAT_ACT=PPDAT1 FDAT_ACT=FP1 BAS(#PTP_PARAMS,50) PTP XP1 ;ENDFOLD ;FOLD LIN P2 Vel=0.5 m/s CPDAT1 Tool[1]:TIP Base[25]:CURSO 19;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:, 5:0.5, 7:CPDAT1 $BWDSTART=FALSE LDAT_ACT=LCPDAT1 FDAT_ACT=FP2 BAS(#CP_PARAMS,0.5) LIN XP2 ;ENDFOLD ;sector1 ;FOLD ARCON WDAT1 PTP P3 Vel=40 % PDAT2 Tool[1]:TIP Base[17]:Mx480_180_30_S0_440 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.arctech.arconptp; Kuka.PointName=P3; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=40; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT1; ArcTech.SeamName= ;FOLD Parameters ArcTechAdvanced ;%{h} ;Params IgnitionErrorStrategy=1; WeldErrorStrategy=1 ;ENDFOLD ArcTechAdvancedFoldEnd ;ENDFOLD $BWDSTART = FALSE PDAT_ACT = PPDAT2 FDAT_ACT = FP3 BAS(#PTP_PARAMS, 40.0) TRIGGER WHEN DISTANCE = 1 DELAY = ATBg_PreDefinitionTime DO Arc_DefineStrikeParams(1, AS_WDAT1) PRIO = -1 Arc_DefineCpPattern(#OffInAdvance, WV_WDAT1, TRUE) PTP XP3 Arc_On(1, AS_WDAT1, ATBg_StartErrSetField[1], AW_WDAT1, WV_WDAT1, ATBg_WeldErrSetField[1], #StdArcOn, " ") Arc_DefineCpPattern(#OnInAdvance, WV_WDAT1, TRUE) ;ENDFOLD ;FOLD ARCSWI WDAT2 CIRC P5 P4 CPDAT2 Tool[1]:TIP Base[17]:Mx480_180_30_S0_440 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.arctech.arcswicirc; Kuka.PointName=P4; Kuka.HelpPointName=P5; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT2 ;ENDFOLD $BWDSTART = FALSE LDAT_ACT = LCPDAT2 LDAT_ACT.APO_Dist = ATBg_APODistanceArcTech FDAT_ACT = FP4 BAS(#CP_PARAMS, ATBg_BAS_VELDefinition) TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO Arc_Swi(1, AW_WDAT2, WV_WDAT2, ATBg_WeldErrSetField[1]) PRIO = -1 ATB_ArcSwiGeneral() CIRC XP5, XP4 C_Dis C_Dis ATB_Definition(AW_WDAT2) Arc_DefineCpPattern(#OnInAdvance, WV_WDAT2, TRUE) ;ENDFOLD ;sector2 ;FOLD ARCSWI WDAT3 CIRC P6 P7 CPDAT3 Tool[1]:TIP Base[17]:Mx480_180_30_S0_440 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.arctech.arcswicirc; Kuka.PointName=P7; Kuka.HelpPointName=P6; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT3; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT3 ;ENDFOLD $BWDSTART = FALSE LDAT_ACT = LCPDAT3 LDAT_ACT.APO_Dist = ATBg_APODistanceArcTech FDAT_ACT = FP7 BAS(#CP_PARAMS, ATBg_BAS_VELDefinition) TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO Arc_Swi(1, AW_WDAT3, WV_WDAT3, ATBg_WeldErrSetField[1]) PRIO = -1 ATB_ArcSwiGeneral() CIRC XP6, XP7 C_Dis C_Dis ATB_Definition(AW_WDAT3) Arc_DefineCpPattern(#OnInAdvance, WV_WDAT3, TRUE) ;ENDFOLD ;sector3 ;FOLD ARCOFF WDAT4 CIRC P8 P9 CPDAT4 Tool[1]:TIP Base[17]:Mx480_180_30_S0_440 ;%{PE} ;FOLD Parameters ;%{h} ;Params IlfProvider=kukaroboter.arctech.arcoffcirc; Kuka.PointName=P9; Kuka.HelpPointName=P8; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT4 ;ENDFOLD $BWDSTART = FALSE LDAT_ACT = LCPDAT4 FDAT_ACT = FP9 BAS(#CP_PARAMS, ATBg_BAS_VELDefinition) ATB_ArcOffGeneral() CIRC XP8, XP9 Arc_Off(1, AC_WDAT4) ;ENDFOLD ;FOLD LIN P10 Vel=0.5 m/s CPDAT5 Tool[1]:TIP Base[25]:CURSO 19;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P10, 3:, 5:0.5, 7:CPDAT5 $BWDSTART=FALSE LDAT_ACT=LCPDAT5 FDAT_ACT=FP10 BAS(#CP_PARAMS,0.5) LIN XP10 ;ENDFOLD ;FOLD PTP P11 Vel=50 % PDAT3 Tool[1]:TIP Base[25]:CURSO 19;%{PE}%R 8.3.40,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P11, 3:, 5:50, 7:PDAT3 $BWDSTART=FALSE PDAT_ACT=PPDAT3 FDAT_ACT=FP11 BAS(#PTP_PARAMS,50) PTP XP11 ;ENDFOLD halt ;INCREMENTOS ;XP3.X=XP3.X+INC_X XP3.Y=XP3.Y+INC_Y XP3.Z=XP3.Z+INC_Z ;XP4.X=XP4.X+INC_X XP4.Y=XP4.Y-INC_Y XP4.Z=XP4.Z+INC_Z XP5.X=XP5.X-INC_X ;XP5.Y=XP5.Y+INC_Y XP5.Z=XP5.Z+INC_Z ;XP6.X=XP6.X+INC_X XP6.Y=XP6.Y-INC_Y XP6.Z=XP6.Z+INC_Z XP7.X=XP7.X+INC_X ;XP7.Y=XP7.Y+INC_Y XP7.Z=XP7.Z+INC_Z ;XP8.X=XP8.X+INC_X XP8.Y=XP8.Y+INC_Y XP8.Z=XP8.Z+INC_Z ;XP9.X=XP9.X+INC_X XP9.Y=XP9.Y+INC_Y XP9.Z=XP9.Z+INC_Z ENDFOR END