Movement, before the home position movement!

[vend]

Beginner programmer
Hello!

How is it possible to move the robot CELL.SRC up before he goes home position?

;EXT ( )
EXT TYROX ( )
EXT SUORAA ( )
;EXT EXAMPLE3 ( )

INIT
BASISTECH INI
CHECK_HOME
PTP HOME Vel=100 % DEFAULT
AUTOEXT INI
LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    SWITCH  PGNO ; Select with Programnumber

    CASE 1
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      TYROX ( ) ; Call User-Program

    CASE 2
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      SUORAA ( ) ; Call User-Program

    CASE 3
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      ;EXAMPLE3 ( ) ; Call User-Program

    DEFAULT
      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
  ENDLOOP

I tried to put between CHECK_HOME and PTP HOME Vel = 100% DEFAULT command
IF $ POS_ACT.Z> 1000 THEN
LIN_REL Z (150)
Endif

However, it does not work I got an alarm in 1443 (start movement inadmissible).

thanks if you can help

[TygerDawg]

KUKA ALWAYS requires a move to a defined PTP location before any programmed move.  This establishes arm configuration for subsequent moves.

[SkyeFire]

There is a possible way to get around this, but it can be EXTREMELY DANGEROUS and so should be used with EXTREME CAUTION.

Generally, establishing BCO without actually moving is performed by using either
PTP $POS_ACT
or
PTP $AXIS_ACT
Before attempting linear motion. 

Sometimes this may not work due to undefined BASE and/or TOOL data.  In which case, creating a full motion fold using the MOVE button helps by using calls to BAS.SRC to define all that data without any fuss.  So something like:

xP1 = $POS_ACT
<insert PTP move inline form for P1 here>