&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF L_GROOVE()

EXT BAS (BAS_COMMAND :IN,REAL :IN )

INT I

BAS (#INITMOV,0 )

;******ПТП***********************
;FOLD
;SET PTP $VEL_AXIS AND $ACC_AXIS
FOR I=1 TO 6
   $VEL_AXIS[I]=50
   $ACC_AXIS[I]=100
ENDFOR
;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS)

;******ЛИН_и_АРК***************
;FOLD
;SET LIN AND ARC MOTION VARIABLES
$VEL.CP=0.015
$VEL.ORI1=200
$VEL.ORI2=200
$ACC.ORI1=100
$ACC.ORI2=100
;ENDFOLD (SET LIN AND ARC MOTION VARIABLES)

;******Позиционирование*************
;FOLD
;SET POSITIONING CRITERIA
  $APO.CVEL = 100.0000
;ENDFOLD (SET POSITIONING CRITERIA)

$BASE={X 0.0000,Y 0.0000,Z 0.0000,A 0.0000,B 0.0000,C 0.0000}
$TOOL={X -113.3190,Y 114.8440,Z 130.8440,A 0.0000,B 90.0000,C -135.0000}

$ADVANCE = 5
PTP  {A1 0.0000,A2 -94.0000,A3 94.0000,A4 0.0000,A5 22.0000,A6 130.0000}
$VEL.CP=0.02
LIN  {X 1689.4532,Y 221.9637,Z 1102.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1689.4532,Y 221.9637,Z 1087.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
$VEL.CP=0.015  ;15mm/min
LIN  {X 1689.4532,Y 221.9637,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1666.7677,Y 198.5820,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1666.4667,Y 198.3116,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1666.1315,Y 198.0850,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1665.7685,Y 197.9063,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1665.3845,Y 197.7790,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1664.9866,Y 197.7054,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1664.5825,Y 197.6870,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1659.2013,Y 197.8110,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1658.7984,Y 197.8480,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1658.4044,Y 197.9399,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1658.0266,Y 198.0847,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1657.6722,Y 198.2799,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1657.3478,Y 198.5218,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1657.0596,Y 198.8057,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
LIN  {X 1635.4751,Y 223.2075,Z 1075.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
$VEL.CP=0.02
LIN  {X 1635.4751,Y 223.2075,Z 1102.3100,A -179.6545,B 0.0000,C 180.0000} C_VEL
PTP  {A1 0.0000,A2 -94.0000,A3 94.0000,A4 0.0000,A5 22.0000,A6 130.0000}

END