Hello. I'm new to Kuka robot programming. 
My problem is this:
I would like to make a welding process with a length of 100 mm and a width of 12 mm at a height of 50 mm which would be multipass. The height of each welding pass is 3 mm. How to make a loop that will rise 3mm in Z?
File name: ylisans
Code
&ACCESS RVP
&REL 1
&PARAM DISKPATH = KRC:\R1\Program\kaynak programlari
DEF ylisans( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
;FOLD PTP P1 Vel=100 % PDAT1 Tool[1]:tourch1 Base[0];%{PE}%R 8.3.41,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1
;ENDFOLD
;FOLD LIN P9 Vel=2 m/s CPDAT6 Tool[1]:tourch1 Base[0];%{PE}%R 8.3.41,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P9, 3:, 5:2, 7:CPDAT6
$BWDSTART=FALSE
LDAT_ACT=LCPDAT6
FDAT_ACT=FP9
BAS(#CP_PARAMS,2)
LIN XP9
;ENDFOLD
;FOLD ARCON WDAT1 PTP P2 Vel=100 % PDAT2 Tool[1]:tourch1 Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arconptp; Kuka.PointName=P2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT1; ArcTech.SeamName=
;FOLD Parameters ArcTechAdvanced ;%{h}
;Params IgnitionErrorStrategy=1; WeldErrorStrategy=1
;ENDFOLD ArcTechAdvancedFoldEnd
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FP2
BAS(#PTP_PARAMS, 100.0)
TRIGGER WHEN DISTANCE = 1 DELAY = ATBg_PreDefinitionTime DO Arc_DefineStrikeParams(1, AS_WDAT1) PRIO = -1
Arc_DefineCpPattern(#OffInAdvance, WV_WDAT1, TRUE)
PTP XP2
Arc_On(1, AS_WDAT1, ATBg_StartErrSetField[1], AW_WDAT1, WV_WDAT1, ATBg_WeldErrSetField[1], #StdArcOn, " ")
Arc_DefineCpPattern(#OnInAdvance, WV_WDAT1, TRUE)
;ENDFOLD
;FOLD ARCOFF WDAT2 LIN P3 CPDAT1 Tool[1]:tourch1 Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arcofflin; Kuka.PointName=P3; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT2
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FP3
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
LIN XP3
Arc_Off(1, AC_WDAT2)
;ENDFOLD
;FOLD LIN P4 Vel=2 m/s CPDAT2 Tool[1]:tourch1 Base[0];%{PE}%R 8.3.41,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:2, 7:CPDAT2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT2
FDAT_ACT=FP4
BAS(#CP_PARAMS,2)
LIN XP4
;ENDFOLD
;FOLD LIN P5 Vel=2 m/s CPDAT3 Tool[1]:tourch1 Base[0];%{PE}%R 8.3.41,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P5, 3:, 5:2, 7:CPDAT3
$BWDSTART=FALSE
LDAT_ACT=LCPDAT3
FDAT_ACT=FP5
BAS(#CP_PARAMS,2)
LIN XP5
;ENDFOLD
;FOLD ARCON WDAT3 PTP P6 Vel=100 % PDAT3 Tool[1]:tourch1 Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arconptp; Kuka.PointName=P6; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT3; ArcTech.SeamName=
;FOLD Parameters ArcTechAdvanced ;%{h}
;Params IgnitionErrorStrategy=1; WeldErrorStrategy=1
;ENDFOLD ArcTechAdvancedFoldEnd
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT3
FDAT_ACT = FP6
BAS(#PTP_PARAMS, 100.0)
TRIGGER WHEN DISTANCE = 1 DELAY = ATBg_PreDefinitionTime DO Arc_DefineStrikeParams(1, AS_WDAT3) PRIO = -1
Arc_DefineCpPattern(#OffInAdvance, WV_WDAT3, TRUE)
PTP XP6
Arc_On(1, AS_WDAT3, ATBg_StartErrSetField[1], AW_WDAT3, WV_WDAT3, ATBg_WeldErrSetField[1], #StdArcOn, " ")
Arc_DefineCpPattern(#OnInAdvance, WV_WDAT3, TRUE)
;ENDFOLD
;FOLD ARCOFF WDAT4 LIN P7 CPDAT4 Tool[1]:tourch1 Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arcofflin; Kuka.PointName=P7; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.MovementParameterFieldEnabled=True; ArcTech.WdatVarName=WDAT4
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT4
FDAT_ACT = FP7
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
LIN XP7
Arc_Off(1, AC_WDAT4)
;ENDFOLD
;FOLD LIN P8 Vel=2 m/s CPDAT5 Tool[1]:tourch1 Base[0];%{PE}%R 8.3.41,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P8, 3:, 5:2, 7:CPDAT5
$BWDSTART=FALSE
LDAT_ACT=LCPDAT5
FDAT_ACT=FP8
BAS(#CP_PARAMS,2)
LIN XP8
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
