&ACCESS RVP
&REL 27
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *
DEF TestProg( )

;--------- Declarations ------------------------------------
EXT BAS (BAS_COMMAND :IN,REAL :IN )

;---------- Init -------------------------------------------
BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on 

; SAK 
PTP {AXIS: A1 -21,A2 -52,A3 119,A4 -289,A5 -77,A6 -34} 

; Velocity for LIN points
$VEL.CP = 2 ; m/s
LIN {X 1400,Y 540,Z 680,A -90,B 70,C 164}


PTP {AXIS: A1 -21,A2 -52,A3 119,A4 -289,A5 -77,A6 -34} 

END