Hi,
could you paste program code here?
DEF line_150_1()
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
DEF_CIRC_TYP=#PATH
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD ARCTECH_ANALOG INI
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL A_Arc_Control_Intr WHEN $CYCFLAG[A_CycFlagIndex1]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL A_Arc_Swi_Intr WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL A_Arc_HPU_Intr WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT ON A_Arc_HPU_Intr
A10_INI ( )
ENDIF
;ENDFOLD (ARCTECH_ANALOG INI)
;FOLD USER INI
;Make your modifications here
;** SETS THE SPEED TO THE CORRECT 50% VALUE **
IF $OV_PRO>=50 THEN
$OV_PRO=50
ENDIF
A10_WRITE_ENABLE=TRUE
WRITE_CUR=FALSE
WRITE_WFD=FALSE
INTERRUPT DECL 18 WHEN WRITE_CUR DO TIG_VAR ( )
INTERRUPT DECL 19 WHEN WRITE_WFD DO TIG_VAR ( )
INTERRUPT ON 19
INTERRUPT ON 18
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;** THIS IS THE VEL STEP SET BETWEEN 1 - 50 **
;VEL_STEP_OFFSET=3
BASE_DATA[17].X=0.0
BASE_DATA[17].Y=0.0
BASE_DATA[17].Z=0.0
;*** Set the tool and TCP offsets
; TOOL 16, TCP offsets: -0.5, 0.503, 411.890015
TOOL_DATA[16]={x -0.5, y 0.503, z 411.89001, a 180.0, b 0.0, c 0.0 }
LOOP
;***above start POSITION 1 -----TO CHANGE TO P2------ ***
;FOLD PTP P29 CONT Vel= 5 % PDAT3 Tool[16]:OFFLINE TIGTORCH Base[17]:DKP_400;%{PE}%R 5.2.271,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P29, 3:C_PTP, 5:5, 7:PDAT3
$BWDSTART = FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FP29
BAS(#PTP_PARAMS,5)
PTP XP29 C_PTP
;ENDFOLD
;*** weld start POSITION 2 ***
;FOLD LIN P1 Vel= 0.005 m/s CPDAT1 ARC_ON PS S Seam1 Tool[16]:OFFLINE TIGTORCH Base[17]:DKP_400;%{PE}%R 1.1.4,%MKUKATPARC,%CARC_ON,%VLIN,%P 1:LIN, 2:P1, 3:, 5:0.005, 7:CPDAT1, 9:1, 10:S, 12:Seam1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP1
BAS(#CP_PARAMS,0.005)
A10(#PRE_ARC_ON,A10BS,A_W_PARA_ACT,A_E_PARA_ACT,1)
LIN XP1
A10(#ARC_STRT)
;ENDFOLD
;*** weld start POSITION 2 ***
;FOLD LIN P2 CPDAT3 ARC PS 1 W2 Tool[16]:OFFLINE TIGTORCH Base[17]:DKP_400;%{PE}%R 1.1.4,%MKUKATPARC,%CARC_SWI,%VLIN,%P 1:LIN, 2:P2, 3:, 5:0.005, 7:CPDAT3, 9:1, 11:W2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT3
FDAT_ACT=FP2
BAS(#CP_PARAMS,LDEFAULT.VEL)
A10(#PRE_ARC_SWI,A_S_PARA_ACT,A10WW2,A_E_PARA_ACT,1)
LIN XP2
;ENDFOLD
;*** end point POSITION 3 ***
;FOLD LIN P27 CPDAT4 ARC PS 1 W3 Tool[16]:OFFLINE TIGTORCH Base[17]:DKP_400;%{PE}%R 1.1.4,%MKUKATPARC,%CARC_SWI,%VLIN,%P 1:LIN, 2:P27, 3:, 5:0.005, 7:CPDAT4, 9:1, 11:W3
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP27
BAS(#CP_PARAMS,LDEFAULT.VEL)
A10(#PRE_ARC_SWI,A_S_PARA_ACT,A10WW3,A_E_PARA_ACT,1)
LIN XP27
;ENDFOLD
;*** wire retract NO POSISTION ***
;FOLD SYN OUT 200 '' State= FALSE at END Delay= 0 ms;%{PE}%R 4.1.15,%MKUKATPBASIS,%COUT,%VSYNOUT,%P 2:200, 3:'', 5:FALSE, 7:1, 9:0, 12:0
TRIGGER WHEN DISTANCE=1 DELAY=0 DO $OUT[200]=FALSE
;ENDFOLD
;FOLD PULSE 31 'O31_FRONIUS_RET' State= TRUE CONT Time= 0.1 sec;%{PE}%R 4.1.15,%MKUKATPBASIS,%COUT,%VPULSE,%P 2:31, 3:'O31_FRONIUS_RET', 5:TRUE, 6:CONTINUE, 8:0.1
CONTINUE
PULSE($OUT[31], TRUE,0.1)
;ENDFOLD
;*** end point POSITION 3 ***
;FOLD LIN P24 CPDAT25 ARC_OFF PS E Seam1 Seam0 Tool[16]:OFFLINE TIGTORCH Base[17]:DKP_400;%{PE}%R 1.1.4,%MKUKATPARC,%CARC_OFF,%VLIN,%P 1:LIN, 2:P24, 3:, 5:0.005, 7:CPDAT25, 9:1, 10:E, 11:Seam1, 12:Seam0
$BWDSTART=FALSE
LDAT_ACT=LCPDAT25
FDAT_ACT=FP24
BAS(#CP_PARAMS,LDEFAULT.VEL)
A10(#PRE_ARC_OFF,A_S_PARA_ACT,A10WE,A10ESeam1,1)
LIN XP24
A10(#ARC_OFF)
;ENDFOLD
;*** above end point POSITION 4 ***
;FOLD LIN P26 CONT Vel= 0.005 m/s CPDAT26 Tool[16]:Tig Torch BASE_DATA[17];%{PE}%R 4.1.14,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P26, 3:C_DIS, 5:0.005, 7:CPDAT26
$BWDSTART = FALSE
LDAT_ACT=LCPDAT26
BAS(#CP_DAT)
FDAT_ACT=FP26
BAS(#FRAMES)
BAS(#VEL_CP,0.005)
LIN XP26 C_DIS
;ENDFOLD
ENDLOOP
END