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


; GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
; INTERRUPT ON 3

;FOLD Initialise and set default speed
BAS (#INITMOV,0)
BAS (#VEL_PTP,100)
BAS (#ACC_PTP,20)
$VEL.CP=0.2
BAS (#TOOL,0)
BAS (#BASE,0)
;ENDFOLD

;;FOLD STARTPOS
;$BWDSTART = FALSE
;PDAT_ACT = PDEFAULT
;BAS(#PTP_DAT)
;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
;BAS(#FRAMES)
;;ENDFOLD

$ADVANCE = 5

;FOLD ---- Quickly skip BCO ----
; PTP $AXIS_ACT
;ENDFOLD

;FOLD ---- GO HOME ----
; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
;ENDFOLD


; DOZIKWORKS workspec v1.0 — product-centric weld program
$VEL.CP = 0.00750
; seam 1
LIN {X 1395.800,Y 949.570,Z -479.950,A 150.836,B -10.000,C 180.000}
LIN {X 1223.920,Y 1045.490,Z -484.050,A 150.354,B -10.000,C -180.000}
LIN {X 967.850,Y 1193.130,Z -485.100,A 147.937,B -10.000,C 180.000}
LIN {X 958.710,Y 1211.620,Z -486.100,A 120.742,B -10.000,C 180.000}
LIN {X 952.250,Y 1219.360,Z -489.910,A 107.116,B -10.000,C 180.000}
LIN {X 896.360,Y 1414.090,Z -491.770,A 106.014,B -10.000,C 180.000}
LIN {X 896.360,Y 1414.090,Z -491.770,A 133.497,B -10.000,C 180.000}
LIN {X 872.430,Y 1439.310,Z -495.680,A 152.507,B -10.000,C 180.000}
LIN {X 829.010,Y 1449.140,Z -493.090,A 167.244,B -10.000,C 180.000}
LIN {X 829.010,Y 1449.140,Z -493.090,A -165.406,B -10.000,C 180.000}
LIN {X 621.300,Y 1395.060,Z -492.060,A -167.026,B -10.000,C 180.000}
LIN {X 600.360,Y 1396.460,Z -496.480,A 153.292,B -10.000,C 180.000}
LIN {X 368.800,Y 1522.100,Z -502.830,A 151.666,B -10.000,C 180.000}
LIN {X 184.790,Y 1620.540,Z -507.270,A 150.738,B -10.000,C 180.000}
LIN {X 45.380,Y 1703.310,Z -505.750,A 149.302,B -10.000,C -180.000}
LIN {X 45.380,Y 1703.310,Z -505.750,A 167.086,B -10.000,C 180.000}
LIN {X 0.460,Y 1713.610,Z -506.010,A 178.515,B -10.000,C 180.000}
LIN {X -48.330,Y 1705.740,Z -506.170,A -170.837,B -10.000,C 180.000}
LIN {X -48.330,Y 1705.740,Z -506.170,A -153.324,B -10.000,C 180.000}
LIN {X -85.350,Y 1687.140,Z -510.360,A -156.056,B -10.000,C -180.000}
LIN {X -274.540,Y 1605.290,Z -510.250,A -156.605,B -10.000,C -180.000}
; seam 2
LIN {X 895.630,Y 898.860,Z -484.670,A 151.337,B -10.000,C 180.000}
LIN {X 652.040,Y 1032.020,Z -489.900,A 151.398,B -10.000,C 180.000}
LIN {X 424.130,Y 1155.950,Z -491.810,A 151.489,B -10.000,C 180.000}
LIN {X 326.400,Y 1208.910,Z -492.940,A 153.496,B -10.000,C -180.000}
LIN {X 306.980,Y 1214.370,Z -495.830,A -179.555,B -10.000,C 180.000}
LIN {X 58.480,Y 1206.830,Z -499.770,A -178.262,B -10.000,C 180.000}
LIN {X 58.480,Y 1206.830,Z -499.770,A 169.106,B -10.000,C 180.000}
LIN {X 24.760,Y 1213.320,Z -500.310,A 146.897,B -10.000,C -180.000}
LIN {X 0.410,Y 1244.690,Z -502.190,A 127.819,B -10.000,C 180.000}
LIN {X 0.410,Y 1244.690,Z -502.190,A 115.909,B -10.000,C -180.000}
LIN {X -93.570,Y 1438.160,Z -501.130,A 115.282,B -10.000,C -180.000}
LIN {X -92.300,Y 1440.980,Z -501.240,A 116.778,B -10.000,C -180.000}
LIN {X -99.540,Y 1449.990,Z -503.780,A 149.186,B -10.000,C 180.000}
LIN {X -215.260,Y 1514.320,Z -504.530,A 150.007,B -10.000,C -180.000}
LIN {X -220.020,Y 1519.530,Z -503.950,A 115.495,B -10.000,C 180.000}
LIN {X -225.570,Y 1535.940,Z -504.520,A 111.768,B -10.000,C -180.000}
LIN {X -252.110,Y 1599.890,Z -510.210,A 117.270,B -10.000,C 180.000}
LIN {X -262.530,Y 1607.640,Z -507.360,A 153.851,B -10.000,C 180.000}
LIN {X -274.210,Y 1610.740,Z -507.000,A 140.823,B -10.000,C 180.000}
LIN {X -270.310,Y 1613.980,Z -507.000,A 39.719,B -10.000,C 180.000}
; seam 3
LIN {X 1163.470,Y 748.990,Z -488.830,A 161.619,B -10.000,C 180.000}
LIN {X 1096.930,Y 771.100,Z -490.320,A 154.047,B -10.000,C 180.000}
LIN {X 909.360,Y 872.670,Z -491.390,A 150.989,B -10.000,C 180.000}
LIN {X 731.980,Y 973.490,Z -498.490,A 151.491,B -10.000,C 180.000}
LIN {X 629.050,Y 1024.920,Z -498.640,A 154.852,B -10.000,C 180.000}
LIN {X 556.140,Y 1056.040,Z -499.420,A 157.749,B -10.000,C 180.000}
LIN {X 459.840,Y 1094.150,Z -501.610,A 159.671,B -10.000,C 180.000}
LIN {X 397.000,Y 1115.000,Z -502.400,A 161.933,B -10.000,C -180.000}
LIN {X 323.180,Y 1138.730,Z -504.960,A 164.209,B -10.000,C 180.000}
LIN {X 220.620,Y 1164.880,Z -508.600,A 166.561,B -10.000,C 180.000}
LIN {X 153.060,Y 1179.380,Z -510.460,A 170.034,B -10.000,C -180.000}
LIN {X 56.610,Y 1193.700,Z -508.900,A 171.555,B -10.000,C 180.000}
LIN {X 56.610,Y 1193.700,Z -508.900,A 161.955,B -10.000,C -180.000}
LIN {X 17.780,Y 1206.350,Z -511.560,A 145.379,B -10.000,C 180.000}
LIN {X -11.120,Y 1240.460,Z -510.670,A 130.273,B -10.000,C 180.000}
LIN {X -11.120,Y 1240.460,Z -510.670,A 121.870,B -10.000,C 180.000}
LIN {X -46.570,Y 1297.480,Z -511.870,A 125.334,B -10.000,C 180.000}
LIN {X -74.540,Y 1329.920,Z -511.360,A 133.908,B -10.000,C 180.000}
LIN {X -102.640,Y 1355.730,Z -512.050,A 138.818,B -10.000,C -180.000}
LIN {X -130.480,Y 1378.860,Z -513.320,A 144.005,B -10.000,C 180.000}
LIN {X -160.060,Y 1397.440,Z -511.350,A 151.279,B -10.000,C 180.000}
LIN {X -209.590,Y 1422.210,Z -512.520,A 156.480,B -10.000,C 180.000}
LIN {X -251.690,Y 1437.320,Z -513.000,A 163.566,B -10.000,C 180.000}
LIN {X -295.770,Y 1447.630,Z -514.130,A 169.356,B -10.000,C 180.000}
LIN {X -336.820,Y 1453.320,Z -515.150,A 172.108,B -10.000,C -180.000}
LIN {X -336.820,Y 1453.320,Z -515.150,A 147.913,B -10.000,C -180.000}
LIN {X -384.940,Y 1483.490,Z -516.610,A 131.214,B -10.000,C 180.000}
LIN {X -398.350,Y 1523.570,Z -516.750,A 106.621,B -10.000,C 180.000}
LIN {X -397.970,Y 1527.140,Z -516.760,A 83.924,B -10.000,C 180.000}
; seam 4
LIN {X 1407.530,Y 948.810,Z -485.620,A 117.282,B -10.000,C -180.000}
LIN {X 1398.520,Y 966.280,Z -488.870,A 144.661,B -10.000,C -180.000}
LIN {X 1122.280,Y 1151.070,Z -495.020,A 146.004,B -10.000,C -180.000}
LIN {X 1088.490,Y 1175.370,Z -495.440,A 142.285,B -10.000,C 180.000}
LIN {X 1059.420,Y 1199.680,Z -496.790,A 135.708,B -10.000,C 180.000}
LIN {X 1019.710,Y 1242.470,Z -497.100,A 129.416,B -10.000,C 180.000}
LIN {X 981.250,Y 1294.790,Z -497.800,A 124.547,B -10.000,C 180.000}
LIN {X 960.300,Y 1328.760,Z -500.130,A 121.334,B -10.000,C 180.000}
LIN {X 902.120,Y 1424.760,Z -501.670,A 121.218,B -10.000,C 180.000}
LIN {X 902.120,Y 1424.760,Z -501.670,A 136.635,B -10.000,C 180.000}
LIN {X 878.700,Y 1446.880,Z -504.290,A 149.446,B -10.000,C 180.000}
LIN {X 841.170,Y 1460.740,Z -503.280,A 159.731,B -10.000,C 180.000}
LIN {X 841.170,Y 1460.740,Z -503.280,A 174.859,B -10.000,C 180.000}
LIN {X 650.670,Y 1477.880,Z -506.100,A 173.735,B -10.000,C -180.000}
LIN {X 564.270,Y 1491.140,Z -506.410,A 170.350,B -10.000,C 180.000}
LIN {X 523.640,Y 1499.480,Z -506.980,A 167.205,B -10.000,C 180.000}
LIN {X 472.020,Y 1512.090,Z -509.070,A 164.495,B -10.000,C 180.000}
LIN {X 416.620,Y 1529.170,Z -510.560,A 161.760,B -10.000,C 180.000}
LIN {X 372.370,Y 1544.930,Z -511.440,A 159.058,B -10.000,C 180.000}
LIN {X 330.180,Y 1562.250,Z -511.410,A 156.017,B -10.000,C -180.000}
LIN {X 257.890,Y 1595.860,Z -512.650,A 155.006,B -10.000,C 180.000}
LIN {X 216.770,Y 1615.120,Z -515.060,A 152.030,B -10.000,C 180.000}
LIN {X 118.750,Y 1669.750,Z -515.990,A 150.892,B -10.000,C -180.000}
LIN {X 51.910,Y 1706.910,Z -517.340,A 150.928,B -10.000,C -180.000}
LIN {X 51.910,Y 1706.910,Z -517.340,A 162.126,B -10.000,C 180.000}
LIN {X 4.560,Y 1722.180,Z -514.230,A 177.803,B -10.000,C 180.000}
LIN {X -59.150,Y 1711.170,Z -519.030,A -170.195,B -10.000,C 180.000}
LIN {X -59.150,Y 1711.170,Z -519.030,A -157.144,B -10.000,C -180.000}
LIN {X -208.680,Y 1648.140,Z -516.720,A -156.898,B -10.000,C 180.000}
LIN {X -358.680,Y 1583.400,Z -518.410,A -156.655,B -10.000,C -180.000}
LIN {X -358.680,Y 1583.400,Z -518.410,A -131.605,B -10.000,C 180.000}
LIN {X -392.300,Y 1545.540,Z -518.850,A -116.761,B -10.000,C 180.000}
LIN {X -395.840,Y 1509.710,Z -517.820,A -95.643,B -10.000,C 180.000}
END
