a5.dat

&ACCESS RVO1
&REL 211
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program\Diagnostika
DEFDAT  A5
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make your modifications here

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL AXIS DOMOV={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 60.0000,A6 0.0}
DECL FDAT FP1={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.PointName=P31; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT31; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.VelocityFieldEnabled=False; Kuka.ColDetectFieldEnabled=False; Kuka.MovementParameterFieldEnabled=False; Kuka.IsAngleEnabled=False                  "}
DECL AXIS POHYB={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 25.0000,A6 0.0}
ENDDAT