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sampleSplineOut.src
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&ACCESS RVP
&REL 2
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF mimi( )
;FOLD INI;%{PE}
;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)
;FOLD PTP HOME Vel= 2 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,2 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP1
BAS(#CP_PARAMS,2)
;FOLD Shape SPLINE
SPLINE
TIME_BLOCK START
SPL XP1
SPL XP2
;Time mark at 1s with value 1s
TIME_BLOCK PART = 1
SPL XP3
SPL XP4
SPL XP5
SPL XP6
SPL XP7
SPL XP8
SPL XP9
;Time mark at 2s with value 1s
TIME_BLOCK PART = 1
SPL XP10
SPL XP11
SPL XP12
SPL XP13
SPL XP14
SPL XP15
SPL XP16
SPL XP17
SPL XP18
SPL XP19
SPL XP20
SPL XP21
SPL XP22
SPL XP23
SPL XP24
;Time mark at 3s with value 1s
TIME_BLOCK PART = 1
SPL XP25
SPL XP26
SPL XP27
SPL XP28
SPL XP29
SPL XP30
SPL XP31
;Time mark at 4.7s with value 1.7s
TIME_BLOCK PART = 1.7
SPL XP32
SPL XP33
;Time mark at 5.8333s with value 1.1333s
TIME_BLOCK PART = 1.1333
SPL XP34
SPL XP35
SPL XP36
SPL XP37
;Time mark at 7s with value 1.1667s
TIME_BLOCK PART = 1.1667
SPL XP38
;Time mark at 8s with value 1s
TIME_BLOCK PART = 1
SPL XP39
;Time mark at 9s with value 1s
TIME_BLOCK PART = 1
TIME_BLOCK END = 9.000000
ENDSPLINE
;ENDFOLD
;FOLD WAIT Time=2.5 sec;%{PE}%R 8.3.31,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:2.5
WAIT SEC 2.5
;ENDFOLD
;FOLD PTP HOME Vel= 2 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,2 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END