KRL File: FRIControl.dat

KRL File: FRIControl.dat

&ACCESS RVP
&REL 67
DEFDAT  FRICONTROL
;FOLD Program information
    ;=====================================
    ; Stanford University
    ; Department of Computer Science
    ; Artificial Intelligence Laboratory 
    ; Gates Computer Science Building 1A
    ; 353 Serra Mall
    ; Stanford, CA 94305-9010
    ; USA
    ; 
    ; KRL application, which contains the KRL commands
    ; for appying the Fast Research Interface (FRI) of
    ; the KUKA Light-Weight Robot (LWR)
    ; 
    ; July 20, 2010
    ; 
    ; Author: Torsten Kroeger, tkr@stanford.edu
    ; 
    ; Latest update: November 19, 2011
    ;=====================================
;ENDFOLD (Program information)

;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
    ;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
    
        DECL FRISTATE RETURN_VALUE
        INT I
        INT STRING_OFFSET
        DECL STATE_T STATE

    ;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLERATIONS)

DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P2                      ",POINT2[] "P2                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT2                   ",CONT[] "                        ",CP_VEL[] "2.0                     ",PTP_VEL[] "100                     "}
DECL E6POS XP1={X -525.592529,Y -0.0128466198,Z 659.265625,A 0.00409000413,B -45.2178993,C -0.00150612905,S 5,T 28,E1 -0.00314998603,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={X -61.6020203,Y -3.44777509E-05,Z 1174.51501,A 0.00320645003,B -3.6860249,C -0.000158029696,S 5,T 28,E1 0.000214576707,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
ENDDAT

See also:

KRL File: FRIControl.src