&ACCESS RVP &REL 299 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEFDAT TESTFRI ;FOLD EXTERNAL DECLARATIONS;%{PE}CEXT,P ;FOLD BASISTECH EXT;%{PE}CEXT,P EXT BAS (BAS_COMMAND :IN,REAL :IN ) DECL INT SUCCESS ;ENDFOLD (BASISTECH EXT) ;FOLD USER EXT;%{E}CEXT,P ;Make here your modifications DECL FRISTATE friret DECL E6AXIS my_pose DECL BOOL fri_on DECL BOOL com_on ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P4 ",POINT2[] "P4 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT4 ",CONT[] "C_PTP ",CP_VEL[] "2.0 ",PTP_VEL[] "100 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 "} DECL E6POS XP1={X 506.169189,Y 40.425209,Z 920.065125,A 124.417603,B 59.9667206,C 98.0792465,S 6,T 16,E1 -6.86645508E-05,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP} DECL E6POS XP2={X 506.110199,Y 40.4458885,Z 920.098328,A 124.421501,B 59.9687309,C 98.0796509,S 6,T 16,E1 -0.000291824312,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,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP} DECL E6POS XP3={X 576.16687,Y 42.6422195,Z 752.283081,A 121.656799,B 26.9882908,C 95.6384735,S 6,T 48,E1 -0.000291824312,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP3={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP} DECL E6POS XP4={X 226.225494,Y -47.1375999,Z 1123.29102,A -101.482101,B 31.0951004,C -31.3761997,S 6,T 56,E1 -0.000291824312,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP} ENDDAT