FOUSHAN SPS FOR KUKA

DEF  SPS ( )

;Automatik extern

VW (#VW_SPS_INIT,TRUE)

;User-Baustein

VW_USR_S (#USR_INIT)

; interrupts for resets in special situations

INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO VW(#VW_P_FREE,TRUE)  

INTERRUPT ON 91

INTERRUPT DECL 92 WHEN $PRO_STATE1==#P_RESET DO VW(#VW_P_RESET,TRUE)  

INTERRUPT ON 92

MAKROSTEP(1) ; init MakroStep

MAKROTRIGGER(0,0);init Trigger

LOOP

;Automatik extern

VW (#VW_SPS_CYC,TRUE)

;Zangenfunktionen

VW (#VW_ZANGE,TRUE)

;Freilaufende SPS

MAKROSPS()      

MAKROSTEP(0)    

;User-Baustein

VW_USR_S (#USR_LOOP)

WAIT FOR NOT $POWER_FAIL

ENDLOOP

END