Weiss nicht warum aber beide Robis konnte ich so teachen das - Warte auf Folgestart - die letzte Anweisung war.
Wie du Anhand eines alten Testprogramms sehen kannst.
ACCESS RVP
&REL 33
&COMMENT lin
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM TPVW_VERSION = 3.4.0
&PARAM EDITMASK = Folge999[1-128]
DEF Folge4( )
; FOLD ;%{H} %MKUKATPVW
SPS_N=-1
VW (#VW_AUE_INIT,TRUE)
PENTER:
INTERRUPT DECL 10 WHEN $CYCFLAG[30]==FALSE DO VW(#FB_STOP,TRUE)
INTERRUPT ON 10
INT10=TRUE
; ENDFOLD
BAS(#INITMOV,0)
;FOLD PTP VB=100% VE=0% ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VPTP,%P 1:1, 2: VB=, 3:100, 4:%, 5: VE=, 6:0, 7:%, 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:0, 18:-1, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
SPS_FERTIG = FALSE
INTERRUPT DECL 10 WHEN $CYCFLAG[30]==FALSE DO VW(#FB_STOP,TRUE)
INTERRUPT ON 10
INT10=TRUE
VW(#VW_INIT,TRUE)
VW_USR_R (#USR_INIT)
TRIGGER WHEN DISTANCE=1 DELAY=-0.1 DO P0_MERKER=TRUE
VW_MPARA_ACT = P0_D
VW(#MPARA,TRUE)
PTP P0
;ENDFOLD
;ENDFOLD
;FOLD PTP VB=100% VE=0% ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VPTP,%P 1:1, 2: VB=, 3:100, 4:%, 5: VE=, 6:0, 7:%, 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:1, 18:-1, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P1_D
VW(#MPARA,TRUE)
PTP P1
;ENDFOLD
;ENDFOLD
;FOLD KCIR VB=50[mm/s] Genau=0[mm] ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VKCIR,%P 1:5, 2: VB=, 3:50, 4:[mm/s], 5: Genau=, 6:0, 7:[mm], 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:4, 18:2, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P4_D
VW(#MPARA,TRUE)
CIRC P4,P2
;ENDFOLD
;ENDFOLD
;FOLD KCIR VB=50[mm/s] Genau=0[mm] ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VKCIR,%P 1:5, 2: VB=, 3:50, 4:[mm/s], 5: Genau=, 6:0, 7:[mm], 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:5, 18:6, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P5_D
VW(#MPARA,TRUE)
CIRC P5,P6
;ENDFOLD
;ENDFOLD
;FOLD KCIR VB=50[mm/s] Genau=0[mm] ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VKCIR,%P 1:5, 2: VB=, 3:50, 4:[mm/s], 5: Genau=, 6:0, 7:[mm], 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:7, 18:8, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P7_D
VW(#MPARA,TRUE)
CIRC P7,P8
;ENDFOLD
;ENDFOLD
;FOLD KCIR VB=50[mm/s] Genau=0[mm] ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VKCIR,%P 1:5, 2: VB=, 3:50, 4:[mm/s], 5: Genau=, 6:0, 7:[mm], 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:9, 18:10, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P9_D
VW(#MPARA,TRUE)
CIRC P9,P10
;ENDFOLD
;ENDFOLD
;FOLD PTP VB=100% VE=0% ACC=100% Wzg=4 SPSTrig=0[1/100s] ;%{P}%MKUKATPVW,%CMOVE,%VPTP,%P 1:1, 2: VB=, 3:100, 4:%, 5: VE=, 6:0, 7:%, 8: ACC=, 9:100, 10:%, 11: Wzg=, 12:4, 13: SPSTrig=, 14:0, 15:[1/100s], 16: , 17:3, 18:-1, 19:-1
;FOLD 1:;%{SE} %MKUKATPVW
;ENDFOLD
;FOLD {H}
VW_MPARA_ACT = P3_D
VW(#MPARA,TRUE)
PTP P3
;ENDFOLD
;ENDFOLD
; FOLD Warte auf Folgenstart ;%{SE}%MKUKATPVW,%C,%V
VW (#VW_AUE_WAIT,TRUE )
IF N_VW==TRUE THEN
GOTO PEXIT
ENDIF
;ENDFOLD
Alles anzeigen
Ich kannte es nicht anders dehalb meine Verwunderung. Aber habe dein Vorschlag ausprobiert, funtioniert perfekt.