HI Panic Mode
My code is:
INT HANDLE,OFFSET,M,L
DECL CHAR ch[2]
DECL E6AXIS POS1
REAL TIMEOUT
DECL STATE_T SR_T,SW_T,SC_T
DECL MODUS_T MR_T,MW_T
INI
F=FALSE
ch[1]="0"
GLOBAL INTERRUPT DECL 20 WHEN ch[1]=="1" DO SUB1()
POS1.A1=0
POS1.A2=-74
POS1.A3=100
POS1.A4=0
POS1.A5=-27
POS1.A6=0
;FOLD PTP HOME Vel= 2 % DEFAULT;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:2, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT=FHOME
BAS(#FRAMES)
BAS(#VEL_PTP,2)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
HANDLE=3
MR_T=#ABS
MW_T=#ABS
OPEN_P()
INTERRUPT ON 20
READ_p()
ptp POS1
CLOSE_P()
;FOLD PTP HOME Vel= 20 % DEFAULT;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:20, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT=FHOME
BAS(#FRAMES)
BAS(#VEL_PTP,20)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
;------------------------------------------------------------------------------------------
DEF OPEN_P()
COPEN(:SER_3, HANDLE)
IF (HANDLE==0) THEN
HALT
ENDIF
END
;-----------------------------------------------------------------------
DEF READ_P()
INTERRUPT ON 20
CWRITE(HANDLE,SW_T,MW_T,"%c","y")
TIMEOUT=3
OFFSET=0
WAIT FOR ($DATA_SER3<>0)
CREAD(HANDLE,SR_T,MR_T,TIMEOUT,OFFSET,"%s",ch[])
OFFSET=0
END
;-----------------------------------------------------------
DEF SUB1()
CWRITE(HANDLE,SW_T,MW_T,"%c","A")
INTERRUPT OFF 20
HALT
BRAKE
END
;-----------------------------------------------------------------------
DEF CLOSE_P()
CCLOSE(HANDLE,SC_T)
IF (SC_T.RET1<>#CMD_OK) THEN
HALT
ENDIF
END