Beiträge von Karlo

&ACCESS RVP
&REL 34
&COMMENT HANDLER on external automatic
DEF  CELL ( )
;FOLD INIT
DECL CHAR DMY[3]
DMY[]="---"
;ENDFOLD (INIT)
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;FOLD COLLDETECT Off ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.colldetect.off; CollDetect.Command=Off
;ENDFOLD
USE_CD_PARAMS(0)
;ENDFOLD
;ENDFOLD (BASISTECH INI)
;FOLD TouchSense Corr Off ;%{PE}
;FOLD Parameters Corr Off ;%{h}
;Params IlfProvider=KukaRoboter.TouchSense.CorrectionOFF
;ENDFOLD
TS_CorrOff()
;ENDFOLD
;FOLD COLLDETECT Off ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.colldetect.off; CollDetect.Command=Off
;ENDFOLD
USE_CD_PARAMS(0)
;ENDFOLD
;FOLD CHECK HOME
$H_POS=XHOME
IF CHECK_HOME==TRUE THEN
P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
ENDIF
;ENDFOLD (CHECK HOME)
;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%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
;FOLD AUTOEXT INI
P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
LOOP
P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
SWITCH  PGNO ; Select with Programnumber


CASE 1
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030050() ; Call User-Program


CASE 2
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030008() ; Call User-Program


CASE 3
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030011() ; Call User-Program


CASE 4
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030012() ; Call User-Program


CASE 5
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030014() ; Call User-Program


CASE 6
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ64030025() ; Call User-Program


CASE 7
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030013() ; Call User-Program


CASE 8
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ30030007() ; Call User-Program




CASE 9
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
rMain_Typ64030920() ;Nur Rohr ausbrennen






DEFAULT
P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
ENDSWITCH
ENDLOOP
END