stiffness.dat

&ACCESS RVO
&REL 23
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT stiffness
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD GRIPPERTECH EXT
;EXT  H50 (INT  :IN,INT  :IN,INT  :IN,GRP_TYP  :IN )
;ENDFOLD (GRIPPERTECH EXT)
;FOLD SPOTTECH EXT
;EXT  USERSPOT (S_COMMAND  :IN,SPOT_TYPE  :IN )
;ENDFOLD (SPOTTECH EXT)
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLERATIONS)
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "StartPos                ",POINT2[] "StartPos                ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT10                  ",CONT[] "                        ",CP_VEL[] "2.0                     ",PTP_VEL[] "100                     "}
DECL E6POS XSTARTPOS={X -539.306213,Y 102.192902,Z 288.445496,A -118.0214,B -9.07260182E-05,C 179.411301,S 1,T 37,E1 -10.5886898,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FStartPos={TOOL_NO 2,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT5={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT7={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT8={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT9={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL PDAT PPDAT10={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XProblemPos={X 46.9002914,Y 50.9478912,Z 774.595215,A -95.3028717,B -24.5935307,C 86.300827,S 0,T 37,E1 -9.96122646,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FProblemPos={TOOL_NO 2,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
ENDDAT