so hier noch das holen programm
ist quasi ein leeres programm also INI PTP HOME --> PTP HOME --> END
&ACCESS RVO
DEF HOLEN ( )
;FOLD INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VINIT,%P
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD
;FOLD A20 INI;%{E}%V2.2.2,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI )
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20 (TECH_STOP2 )
ENDIF
;ENDFOLD
;FOLD A10 INI;%{E}%V2.2.2,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR )
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM )
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC )
INTERRUPT ON 5
A10_INI ( )
ENDIF
;ENDFOLD
;FOLD GRIPPER INI;%{E}%V2.2.2,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP (0,DUMMY,DUMMY,GDEFAULT )
;ENDFOLD
;FOLD SPOT INI;%{E}%V.2.2,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT (#INIT )
;ENDFOLD
;FOLD TOUCHSENSE INI;%{E}%V2.2.2,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0 )
H70 (1,CD0 )
ENDIF
;ENDFOLD
;FOLD USER INI;%{P}%V2.2.2,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD
;ENDFOLD
;FOLD PTP P1 Vel= 100 % PDAT1;%{PE}%R 2.4.6,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
PDAT_ACT=PPDAT1
BAS (#PTP_DAT )
FDAT_ACT=FP1
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XP1
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V2.2.2,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
END