&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *
{%- if simulation %}
DEF k{{artikel}}_sim( )
{%- else %}
DEF k{{artikel}}( )
{%- endif %}
;- Kuka src file, generated by FreeCAD LaserCladding WorkBench (by KVT)
;- Artikelnummer: {{artikel}}
;- Programm: {{label}}
;- Anweisungen ..

E6POS refpose
E6POS pulverstart
REAL WELDSPEED
REAL TRAVELSPEED
REAL LASERPOWER
INT POWDEROUT
REAL OFFSET_X
REAL OFFSET_Y
REAL OFFSET_Z

;------------- definitions ------------
EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World
BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on
BAS (#TOOL,{{tool}}) ;Initialicing the defaults for Vel and so on
BAS (#BASE,{{base}}) ;Initialicing the defaults for Vel and so on

; Home Pos
PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}

; hier teach punkt eingeben
;FOLD PTP P1 Vel=25 % PDAT1 Tool[6]:LASER Base[6]:Laser;%{PE}%R 8.2.24,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:25, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,25)
PTP XP1
;ENDFOLD


;------------- main part ------------

;- Process Parameters (change here)
TRAVELSPEED = {{vmax}} ; m/s
WELDSPEED = {{vproc}}; m/s
LASERPOWER = {{laserpower}} ;  Set laser power
POWDEROUT = {{powder_out}}

;- Offset for tweaking (in mm)
;- Only experts!
OFFSET_X = 0.0 ; mm
OFFSET_Y = 0.0 ; mm
OFFSET_Z = 0.0 ; mm

;- Movement parameters
$VEL.CP = TRAVELSPEED ; m/s ; m/s
$APO.CDIS = 2.300000 ; mm
$APO.CVEL = 95.000000 ; percent

;- Input/Output settings
$ANOUT[1] = LASERPOWER ;  Set laser power
$OUT[{{laser_out}}] = FALSE ;  Set Laser off
$OUT[2] = TRUE ;  Set Laser activation on
$OUT[POWDEROUT] = FALSE ; Set powder off
$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas off

;- Ab hier nicht mehr aendern!
;- Starting point
refpose=$POS_ACT
; zero out rotations
; because the base is already rectangular
refpose.A=0
refpose.B=0
refpose.C=0
; Offset draufrechnen (fummelfaktor)
refpose.X=refpose.X+OFFSET_X
refpose.Y=refpose.Y+OFFSET_Y
refpose.Z=refpose.Z+OFFSET_Z


pulverstart = {X 130.0, Y 0.0, Z 0.0, A 0.0000, B 0.0000, C 0.0000, E1 0.0000, E2 0.0000}
pulverstart.S = refpose.S
pulverstart.T = refpose.T
LIN refpose:pulverstart C_VEL; GENERATED

$OUT[2] = TRUE ;  Set Laser activation on
{% if simulation %}
$OUT[POWDEROUT] = FALSE ; OFF: SIMULATION Mode
$OUT[{{inert_gas_out}}] = FALSE ;  OFF: SIMULATION Mode
{% else %}
$OUT[POWDEROUT] = TRUE ; Set powder on
$OUT[{{inert_gas_out}}] = TRUE ; Set inert gas on
{% endif %}
WAIT SEC 7.0
;- =============================
;- == generated poses ==
{{paths}}

;- =============================
$OUT[{{laser_out}}] = FALSE ;  Set Laser off
$OUT[2] = FALSE ;  Set Laser activation on
$OUT[POWDEROUT] = FALSE ; Set powder on
$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas on
$VEL.CP = TRAVELSPEED ; m/s ; m/s
;- Move to HOME position
PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}

;------------- end ------------
END