&ACCESS RVP &REL 299 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF testfri( ) ;FOLD INI

  ;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)

friret = FRISTOP() friret = FRICLOSE()

;FOLD PTP P2 CONT Vel=100 % PDAT2 Tool[1]:ii Base[0];%{PE}MKUKATPBASIS,VPTP,%P 1:PTP, 2:P2, 3:C_PTP, 5:100, 7:PDAT2 $BWDSTART=FALSE PDAT_ACT=PPDAT2 FDAT_ACT=FP2 BAS(#PTP_PARAMS,100) PTP XP2 C_PTP ;ENDFOLD

friret = FRISETUP("192.168.111.100",49938,49938) friret = FRIOPEN(5)

fri_on = FALSE fri_on = $FRI_FRM_BOOL[1] com_on = FALSE com_on = $FRI_FRM_BOOL[2]

WHILE fri_on == false

  fri_on = $FRI_FRM_BOOL[1]

ENDWHILE

my_pose = $AXIS_ACT PTP my_pose friret = FRISTART(0.5)

WHILE fri_on == true

  IF $FRISTATE == #MON THEN
      my_pose = $AXIS_ACT
      PTP my_pose
      friret = FRISTART(0.5)
  ENDIF

  fri_on = $FRI_FRM_BOOL[1]
  com_on = $FRI_FRM_BOOL[2]

ENDWHILE

my_pose = $AXIS_ACT PTP my_pose

friret = FRISTOP() friret = FRICLOSE() END