From e1902ef8357fecd4dd852f11716221cd269c1aa0 Mon Sep 17 00:00:00 2001
From: Eduard Gerlitz <eduard.gerlitz@mabi-robotic.com>
Date: Mon, 24 Mar 2025 13:36:24 +0100
Subject: [PATCH] Initial commit

---
 CYCLE/CYC_MESSZ1.SPF                          |   37 +
 CYCLE/HOME_BELADEN.SPF                        |   14 +
 CYCLE/HOME_DMU.SPF                            |   13 +
 CYCLE/SETKOS.MPF                              |   36 +
 .../20250317_133409_CYC_MESSZ_X - Kopie.SPF   |   26 +
 CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF |   23 +
 .../20250318_091601_CYC_MESSZ1 - Kopie.SPF    |   37 +
 CYCLE/_ARCHIV/CYC_INIT.SPF                    |    8 +
 GUD/GUD5.DEF                                  |   43 +
 .../TEST_ROB_ZELLE.WPD/4E_4148_2_OP1.MPF      | 1057 +++++++++++++++++
 .../TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF      |  228 ++++
 MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF     |    8 +
 .../TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF     |   22 +
 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF    |    9 +
 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF     |   12 +
 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF     |    8 +
 MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF         |  120 ++
 MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF   |   29 +
 MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF               |   38 +
 MPF/ROB/AUTO_ROB/CFG_INL.SPF                  |   12 +
 MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF        |   32 +
 MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF   |   42 +
 MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF       |   16 +
 MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF          |    5 +
 MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF           |    5 +
 MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF              |   13 +
 MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF               |   13 +
 MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF           |   19 +
 MPF/ROB/AUTO_ROB/COM_RESET.MPF                |    9 +
 MPF/ROB/AUTO_ROB/COM_RESET_R.MPF              |   18 +
 MPF/ROB/AUTO_ROB/COM_SENT.MPF                 |   25 +
 MPF/ROB/AUTO_ROB/COM_WAIT.MPF                 |    9 +
 MPF/ROB/AUTO_ROB/DMU_DRY.MPF                  |   29 +
 MPF/ROB/AUTO_ROB/DMU_PUT.MPF                  |   35 +
 MPF/ROB/AUTO_ROB/DMU_TAKE.MPF                 |   50 +
 MPF/ROB/AUTO_ROB/INLAY_PUT.MPF                |   33 +
 MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF               |   36 +
 MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF          |   53 +
 MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF    |   33 +
 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF            |   33 +
 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF           |   33 +
 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF     |   37 +
 MPF/ROB/AUTO_ROB/SETKOS.MPF                   |   36 +
 MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF              |    7 +
 MPF/ROB/AUTO_ROB/_REF_G54.MPF                 |   13 +
 MPF/ROB/AUTO_ROB/_REF_G55.MPF                 |   13 +
 MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF             |    7 +
 MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF            |    6 +
 MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF             |    7 +
 MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF           |   54 +
 MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF       |   86 ++
 MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF            |   40 +
 MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF           |   45 +
 MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF    |   25 +
 MPF/ROB/CALIB/CALIB_LASER_A.MPF               |   38 +
 MPF/ROB/CALIB/CALIB_LASER_B.MPF               |   40 +
 MPF/ROB/CALIB/CALIB_LASER_XY.MPF              |   68 ++
 MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF        |   35 +
 MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF        |   65 +
 MPF/ROB/CALIB/CALIB_LASER_Z.MPF               |   34 +
 MPF/ROB/CALIB/CALIB_WP_C.MPF                  |   40 +
 MPF/ROB/CALIB/CALIB_WP_XYZ.MPF                |   53 +
 MPF/ROB/CALIB/SETKOS.MPF                      |   36 +
 MPF/ROB/CALIB/SETKOS_GRIPPER.MPF              |    6 +
 MPF/ROB/CALIB/SETKOS_LASER.MPF                |    5 +
 65 files changed, 3117 insertions(+)
 create mode 100644 CYCLE/CYC_MESSZ1.SPF
 create mode 100644 CYCLE/HOME_BELADEN.SPF
 create mode 100644 CYCLE/HOME_DMU.SPF
 create mode 100644 CYCLE/SETKOS.MPF
 create mode 100644 CYCLE/_ARCHIV/20250317_133409_CYC_MESSZ_X - Kopie.SPF
 create mode 100644 CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF
 create mode 100644 CYCLE/_ARCHIV/20250318_091601_CYC_MESSZ1 - Kopie.SPF
 create mode 100644 CYCLE/_ARCHIV/CYC_INIT.SPF
 create mode 100644 GUD/GUD5.DEF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP1.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF
 create mode 100644 MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF
 create mode 100644 MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF
 create mode 100644 MPF/ROB/AUTO_ROB/CFG_INL.SPF
 create mode 100644 MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/COM_RESET.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/COM_RESET_R.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/COM_SENT.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/COM_WAIT.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/DMU_DRY.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/DMU_PUT.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/DMU_TAKE.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/INLAY_PUT.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/SETKOS.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/_REF_G54.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/_REF_G55.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF
 create mode 100644 MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_A.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_B.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_XY.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_LASER_Z.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_WP_C.MPF
 create mode 100644 MPF/ROB/CALIB/CALIB_WP_XYZ.MPF
 create mode 100644 MPF/ROB/CALIB/SETKOS.MPF
 create mode 100644 MPF/ROB/CALIB/SETKOS_GRIPPER.MPF
 create mode 100644 MPF/ROB/CALIB/SETKOS_LASER.MPF

diff --git a/CYCLE/CYC_MESSZ1.SPF b/CYCLE/CYC_MESSZ1.SPF
new file mode 100644
index 0000000..2b0ddb3
--- /dev/null
+++ b/CYCLE/CYC_MESSZ1.SPF
@@ -0,0 +1,37 @@
+; BEFORE FIRST TIME USE:
+; $MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+; $MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+; $MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+; $MC_LEN_AC_FIFO = 26            ; 20 VAR
+; $MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+; --> PO
+
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE X_MOVE AS 2;1.2
+DEFINE FEED_MESS AS 150;75          ;INKR_MESS=0.05/0.04*60
+DEFINE FEED_BACK AS 500    
+
+
+$MC_MM_NUM_AC_MARKER=2
+$AC_MARKER[0]=0
+$AC_FIFO1[4]=0
+R0=0
+R9=0
+
+; SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do $AC_MARKER[0]=$AC_MARKER[0]+1 $AC_FIFO1[0]=$A_DBR[20] R0=$AC_MARKER[0]
+
+; --- MOVE AND MEASURE
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+; CALC
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+; --- GO BACK
+G1 G91 X=-X_MOVE F=FEED_BACK
+
+
+M17
diff --git a/CYCLE/HOME_BELADEN.SPF b/CYCLE/HOME_BELADEN.SPF
new file mode 100644
index 0000000..377ac5f
--- /dev/null
+++ b/CYCLE/HOME_BELADEN.SPF
@@ -0,0 +1,14 @@
+;****************************************************
+;
+; Homing program called by the "Home" softkey
+; Home position can be adjusted for the application
+;
+;****************************************************
+
+N10 TRAFOOF		;Deactivate transformation
+
+N20 G90 G1 RA1=0 RA2=-30 RA3=-35 RA4=0 RA5=15 RA6=0 F5000
+;G90 G1 RA1=0 RA2=-30 RA3=30 RA4=0 RA5=45 RA6=0 F5000
+
+
+M17
diff --git a/CYCLE/HOME_DMU.SPF b/CYCLE/HOME_DMU.SPF
new file mode 100644
index 0000000..046e301
--- /dev/null
+++ b/CYCLE/HOME_DMU.SPF
@@ -0,0 +1,13 @@
+;****************************************************
+;
+; Homing program called by the "Home" softkey
+; Home position can be adjusted for the application
+;
+;****************************************************
+
+N10 TRAFOOF		;Deactivate transformation
+
+G90 G1 RA1=-90 RA2=-40 RA3=40 RA4=0 RA5=45 RA6=0 F5000
+
+
+M17
diff --git a/CYCLE/SETKOS.MPF b/CYCLE/SETKOS.MPF
new file mode 100644
index 0000000..78869c2
--- /dev/null
+++ b/CYCLE/SETKOS.MPF
@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17
diff --git a/CYCLE/_ARCHIV/20250317_133409_CYC_MESSZ_X - Kopie.SPF b/CYCLE/_ARCHIV/20250317_133409_CYC_MESSZ_X - Kopie.SPF
new file mode 100644
index 0000000..1ea7fec
--- /dev/null
+++ b/CYCLE/_ARCHIV/20250317_133409_CYC_MESSZ_X - Kopie.SPF	
@@ -0,0 +1,26 @@
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE IDX AS 0
+DEFINE INKR_MESS  AS 0.05        ; IN MM
+DEFINE X_MOVE AS 1.2
+
+
+; INIT
+DEFINE FEED_MESS AS 0.0
+FEED_MESS = INKR_MESS/0.04*60
+
+; --- SETUP SYNCACT
+ID=1 whenever IDX<INKR_NUM do $AC_FIFO1[0]=$A_DBR[20]
+ID=2 whenever IDX<INKR_NUM do IDX=IDX+1
+
+; --- MOVE AND ME
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+
+M17
+
diff --git a/CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF b/CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF
new file mode 100644
index 0000000..fd1b926
--- /dev/null
+++ b/CYCLE/_ARCHIV/20250318_090334_CYC_MESSZ_X.SPF
@@ -0,0 +1,23 @@
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE IDX AS 0
+DEFINE X_MOVE AS 1.2
+DEFINE FEED_MESS AS 75          ;INKR_MESS=0.05/0.04*60
+
+$MC_MM_NUM_AC_MARKER=1
+$AC_MARKER[0]=0
+R[9]=0
+; --- SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do R[$AC_MARKER[0]+10]=$A_DBR[20] R[9]=R[9]+$A_DBR[20]
+ID=2 whenever TRUE do $AC_MARKER[0]=$AC_MARKER[0]+1
+
+; --- MOVE AND ME
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+
+STOPRE
+R9 = R9/INKR_NUM
+
+
+M30
diff --git a/CYCLE/_ARCHIV/20250318_091601_CYC_MESSZ1 - Kopie.SPF b/CYCLE/_ARCHIV/20250318_091601_CYC_MESSZ1 - Kopie.SPF
new file mode 100644
index 0000000..d282b05
--- /dev/null
+++ b/CYCLE/_ARCHIV/20250318_091601_CYC_MESSZ1 - Kopie.SPF	
@@ -0,0 +1,37 @@
+; BEFORE FIRST TIME USE:
+; $MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+; $MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+; $MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+; $MC_LEN_AC_FIFO = 26            ; 20 VAR
+; $MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+; --> PO
+
+; Konfiguration:
+DEFINE INKR_NUM AS 20
+DEFINE X_MOVE AS 1.2
+DEFINE FEED_MESS AS 75          ;INKR_MESS=0.05/0.04*60
+DEFINE FEED_BACK AS 500          ;INKR_MESS=0.05/0.04*60
+
+
+$MC_MM_NUM_AC_MARKER=2
+$AC_MARKER[0]=0
+$AC_FIFO1[4]=0
+R0=0
+R9=0
+
+; SETUP SYNCACT
+ID=1 whenever $AC_MARKER[0]<INKR_NUM do $AC_MARKER[0]=$AC_MARKER[0]+1 $AC_FIFO1[0]=$A_DBR[20] R0=$AC_MARKER[0]
+
+; --- MOVE AND MEASURE
+TRAORI
+G1 G91 X=X_MOVE F=FEED_MESS
+
+; CALC
+STOPRE
+R9 = $AC_FIFO1[3]/$AC_FIFO1[4]
+
+; --- GO BACK
+G1 G91 X=-X_MOVE F=FEED_BACK
+
+
+M17
diff --git a/CYCLE/_ARCHIV/CYC_INIT.SPF b/CYCLE/_ARCHIV/CYC_INIT.SPF
new file mode 100644
index 0000000..b452303
--- /dev/null
+++ b/CYCLE/_ARCHIV/CYC_INIT.SPF
@@ -0,0 +1,8 @@
+
+$MC_MM_NUM_R_PARAM = 300        ; Maximale Anzahl an R-Parameter
+$MC_START_AC_FIFO = 100         ; (FIFO-Speicher beginnt ab R100)
+$MC_NUM_AC_FIFO = 1             ; (FIFO-Speicher einrichten)
+$MC_LEN_AC_FIFO = 26            ; 20 VAR
+$MC_MODE_AC_FIFO = 1            ;( Summenbildung)
+
+M17
\ No newline at end of file
diff --git a/GUD/GUD5.DEF b/GUD/GUD5.DEF
new file mode 100644
index 0000000..46ee16f
--- /dev/null
+++ b/GUD/GUD5.DEF
@@ -0,0 +1,43 @@
+DEF CHAN REAL OFFSET_LASER_Z
+
+DEF CHAN INT INL_X_NUM
+DEF CHAN REAL INL_X_OFFSET
+DEF CHAN INT INL_Y_NUM
+DEF CHAN REAL INL_Y_OFFSET
+DEF CHAN REAL WPR_X
+DEF CHAN REAL WPR_Y
+DEF CHAN REAL WPR_Z
+DEF CHAN REAL WPF_X
+DEF CHAN REAL WPF_Y
+DEF CHAN REAL WPF_Z
+DEF CHAN REAL WP_CLP_OFFSET_X
+DEF CHAN REAL WP_GRP_OFFSET_Z
+DEF CHAN REAL CLP_BACKENWEITE
+DEF CHAN REAL CLP_BACKENHOHE
+DEF CHAN REAL CLP_SPANNHOHE
+DEF CHAN REAL CLP_AUFLAGETIEFE
+DEF CHAN REAL MESSPOS_X
+DEF CHAN REAL MESSPOS_Y
+DEF CHAN REAL MESSPOS_Z
+DEF CHAN REAL MESSPOS_TOL
+
+DEF CHAN REAL WP_NUM
+DEF CHAN REAL FEED_CP_FAST
+DEF CHAN REAL FEED_CP_SLOW
+DEF CHAN REAL WP_X[100]
+DEF CHAN REAL WP_Y[100]
+
+DEF CHAN REAL PRB_BOD_RE_X
+DEF CHAN REAL PRB_BOD_RE_Y
+DEF CHAN REAL PRB_BOD_LI_X
+DEF CHAN REAL PRB_BOD_LI_Y
+DEF CHAN REAL PRB_SEI_HI_X
+DEF CHAN REAL PRB_SEI_HI_Z
+DEF CHAN REAL PRB_SEI_VO_X
+DEF CHAN REAL PRB_SEI_VO_Z
+DEF CHAN REAL PRB_VERS_X_Y
+DEF CHAN REAL PRB_VERS_X_Z
+
+M17
+
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP1.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP1.MPF
new file mode 100644
index 0000000..6758bb0
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP1.MPF
@@ -0,0 +1,1057 @@
+;%_N_1000_MPF
+;$PATH=/_N_WKS_DIR/_N_OP1_WPD
+
+;
+; --------------------------------------------------------------------------
+; Maschine             : DMG-DMU50-3GEN-SIN840D-BCSim
+; Teilename (.ppf)     : 4E_4148_2
+; Arbeitsplan          : 
+; Kommentar            : 
+; Familie              : 
+; Kunde                : 
+; Programmierer        : 
+; Arbeitsplan-Revision : 
+; Material             : EC80
+; Sequence             : OP1
+; Datum / Zeit         : 04/02/25 / 15:16:48
+; 
+; Bearbeitungszeit inkl. Werkzeugwechsel:  0h 4min 45sec
+; --------------------------------------------------------------------------
+;
+;                     Werkzeugliste
+;
+;---------------------------------------------------------------------------
+; Nr     Kommentar            Code ID    Durchmesser    Werkzeugtyp
+;---------------------------------------------------------------------------
+; 1      WB_D22_ET88.5_GL210
+;                                        22             Bohrer    
+; 2      SF_D16_SR_SL32_ET32_GL166
+;                                        16             Fraeser   
+; 3      SF_D8_SL28_ET40_GL123
+;                                        8              Fraeser   
+; 4      SF_D16_SL_SL32_ET32_GL165
+;                                        16             Fraeser   
+; 5      SB_8.1_ET55_GL185
+;                                        8.1            Bohrer    
+; 6      SB_9.8_ET49_GL145
+;                                        9.8            Bohrer    
+; 7      FAC_D6_W90_GL175
+;                                        6              Flach     
+; 8      FAC_D6_W90_D4_GL140
+;                                        6              Flach     
+; 9      SF_D6_SL_SL13_ET13_GL145
+;                                        6              Fraeser   
+;---------------------------------------------------------------------------
+ 
+ EXTERN BLUMLASER(STRING[40])
+ EXTERN _BLUM(STRING[40])
+ 
+ 
+GOTOF _OHNE_SCHWENKEN ; Schwenkebene am Programmanfang ueberspringen
+ 
+INDEX_1: CYCLE800(0,"DMG",0,27,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,1,) ; Teile NP
+INDEX_2: CYCLE800(0,"DMG",0,27,0.0,18,-12.5,90,90,0.0,0,0,0,1,) ; hinten OP1
+INDEX_3: CYCLE800(0,"DMG",0,27,0.0,-18,-12.5,-90,90,0.0,0,0,0,1,) ; vorne OP1
+INDEX_4: CYCLE800(0,"DMG",0,27,22.5,0.0,-12.5,0.0,90,0.0,0,0,0,1,) ; rechts OP1
+INDEX_5: CYCLE800(0,"DMG",0,27,-22,0.0,-12.5,-180,90,0.0,0,0,0,1,) ; links OP1
+_OHNE_SCHWENKEN:
+ 
+ 
+N10 G54 ; NP-Anwahl
+N20 CYCLE800()
+N30 TRAFOOF
+N40 WORKPIECE(,"",,"BOX",112,0.56,-29.44,-80,-24,-20,24,20)
+N50 G17 G64 G90 G710
+N60 RTLION
+N70 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N80 R3=42000 ; Hoher Vorschub in mm/min 
+ 
+; -------------------------------------
+; Ablaufsteuerung 
+; -------------------------------------
+ 
+R1 = 1 ; Startoperation
+GOTOF "T_"<<R1 
+ 
+ 
+T_1:
+_BLUM("BREAK")
+; (WERKZEUG: WB_D22_ET88.5_GL210)
+N90 T="WB_D22_ET88.5_GL210"
+N100 M6
+_BLUM("CHECK")
+N110 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N120 D1
+N130 T="SF_D16_SR_SL32_ET32_GL166"
+N140 S1447 M3
+N150 G60
+ 
+N160 G54 ; NP-Anwahl
+N170 REPEATB INDEX_1 ; Teile NP
+ ; Instruktion 3 - Bohrung
+N180 M7
+N190 G0 X0.0 Y0.0
+N200 Z5.0
+N210 F463.0 S1447
+N220 MCALL CYCLE83(5,0,2,-35,,,99,0,0,,1,1,,,,0,1)
+N230  X0.0 Y0.0
+N240 MCALL
+N250 M5
+N260 M9
+N270 TRAFOOF
+N280 TRANS
+N290 ROT
+N300 ; EILGANG ZU WERKZEUGWECHSEL
+N310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N320 G0 SUPA X-644.763 Y-291.443
+ 
+T_2:
+_BLUM("BREAK")
+; (WERKZEUG: SF_D16_SR_SL32_ET32_GL166)
+N330 T="SF_D16_SR_SL32_ET32_GL166"
+N340 M6
+_BLUM("CHECK")
+N350 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N360 D1
+N370 T="SF_D8_SL28_ET40_GL123"
+N380 S2945 M3
+N390 G64
+ 
+N400 G54 ; NP-Anwahl
+N410 REPEATB INDEX_1 ; Teile NP
+ ;
+N420 R1=2000 ; Eintauchvorschub in mm/min 
+N430 R2=1013 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 6 - Profilschlichten
+N440 M7
+N450 CYCLE832(0.01,_FINISH,1)
+N460 G0 X-3.6 Y34.1
+N470 Z5.0
+N480 Z2.0
+N490 G1 Z-26.0 F=R1
+N500 G41 X-12.0 F=R2
+N510 Y29.1
+N520 G3 X-1.0 Y18.1 CR=11.0
+N530 G1 X1.0
+N540 X22.5
+N550 G2 X22.6 Y18.0 CR=0.1
+N560 G1 Y-18.0
+N570 G2 X22.5 Y-18.1 CR=0.1
+N580 G1 X-22.5
+N590 G2 X-22.6 Y-18.0 CR=0.1
+N600 G1 Y18.0
+N610 G2 X-22.5 Y18.1 CR=0.1
+N620 G1 X1.0
+N630 G3 X12.0 Y29.1 CR=11.0
+N640 G1 Y34.1
+N650 G40 X3.6
+N660 G0 Z5.0 S2350
+ ;
+N670 R1=2000 ; Eintauchvorschub in mm/min 
+N680 R2=810 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 7 - Profilschlichten
+N690 X5.98 Y-0.6
+N700 G1 Z0.0 F=R1
+N710 G41 Y-9.0 F=R2
+N720 X7.98
+N730 G3 X16.98 Y0.0 CR=9.0
+N740 G1 Y11.98 Z-0.414
+N750 X-16.98 Z-1.586
+N760 Y-11.98 Z-2.414
+N770 X16.98 Z-3.586
+N780 Y0.0 Z-4.0
+N790 Y11.98 Z-4.414
+N800 X-16.98 Z-5.586
+N810 Y-11.98 Z-6.414
+N820 X16.98 Z-7.586
+N830 Y0.0 Z-8.0
+N840 Y11.98 Z-8.414
+N850 X-16.98 Z-9.586
+N860 Y-11.98 Z-10.414
+N870 X16.98 Z-11.586
+N880 Y0.0 Z-12.0
+N890 Y11.98 Z-12.414
+N900 X-16.98 Z-13.586
+N910 Y-11.98 Z-14.414
+N920 X16.98 Z-15.586
+N930 Y0.0 Z-16.0
+N940 Y11.98 Z-16.414
+N950 X-16.98 Z-17.586
+N960 Y-11.98 Z-18.414
+N970 X16.98 Z-19.586
+N980 Y0.0 Z-20.0
+N990 Y11.98 Z-20.414
+N1000 X-16.98 Z-21.586
+N1010 Y-11.98 Z-22.414
+N1020 X16.98 Z-23.586
+N1030 Y0.0 Z-24.0
+N1040 Y11.98 Z-24.414
+N1050 X-16.98 Z-25.586
+N1060 Y0.0 Z-26.0
+N1070 Y-11.98
+N1080 X16.98
+N1090 Y0.0
+N1100 Y11.98
+N1110 X-16.98
+N1120 Y0.0
+N1130 G3 X-7.98 Y-9.0 CR=9.0
+N1140 G1 X-5.98
+N1150 G40 Y-0.6
+N1160 G0 Z5.0
+ ; Instruktion 8 - Profilschlichten
+N1170 X39.0 Y5.6
+N1180 G1 Z0.0 F=R1
+N1190 G41 Y14.0 F=R2
+N1200 X29.0
+N1210 G3 X16.0 Y1.0 CR=13.0
+N1220 G1 Y-1.0
+N1230 Y-7.0
+N1240 G2 X12.0 Y-11.0 CR=4.0
+N1250 G1 X-12.0
+N1260 G2 X-16.0 Y-7.0 CR=4.0
+N1270 G1 Y7.0
+N1280 G2 X-12.0 Y11.0 CR=4.0
+N1290 G1 X12.0
+N1300 G2 X16.0 Y7.0 CR=4.0
+N1310 G1 Y-1.0
+N1320 G3 X29.0 Y-14.0 CR=13.0
+N1330 G1 X39.0
+N1340 G40 Y-5.6
+N1350 G0 Z5.0
+N1360 M5
+N1370 M9
+N1380 CYCLE832(0,_OFF,1)
+N1390 TRAFOOF
+N1400 TRANS
+N1410 ROT
+N1420 ; EILGANG ZU WERKZEUGWECHSEL
+N1430 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N1440 G0 SUPA X-644.763 Y-291.443
+ 
+T_3:
+_BLUM("BREAK")
+; (WERKZEUG: SF_D8_SL28_ET40_GL123)
+N1450 T="SF_D8_SL28_ET40_GL123"
+N1460 M6
+_BLUM("CHECK")
+N1470 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N1480 D1
+N1490 T="SF_D16_SL_SL32_ET32_GL165"
+N1500 S3000 M3
+N1510 G64
+ 
+N1520 G54 ; NP-Anwahl
+N1530 REPEATB INDEX_1 ; Teile NP
+ ;
+N1540 R1=2000 ; Eintauchvorschub in mm/min 
+N1550 R2=750 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 11 - Profilschlichten
+N1560 M8
+N1570 CYCLE832(0.01,_FINISH,1)
+N1580 G0 X8.665 Y-4.317
+N1590 Z5.0
+N1600 Z2.0
+N1610 G1 Z-25.5 F=R1
+N1620 G41 X4.489 Y-4.761 F=R2
+N1630 X4.7 Y-6.75
+N1640 G3 X9.672 Y-11.221 CR=5.0
+N1650 G3 X10.201 Y-11.193 CR=5.0
+N1660 G1 X15.671 Y-10.612
+N1670 X16.17 Y-5.156
+N1680 G3 X16.19 Y-4.701 CR=5.0
+N1690 G3 X11.645 Y0.279 CR=5.0
+N1700 G1 X9.654 Y0.461
+N1710 G40 X9.272 Y-3.722
+N1720 X8.816 Y-4.684
+N1730 G41 X4.624 Y-4.945
+N1740 X4.749 Y-6.941
+N1750 G3 X9.739 Y-11.63 CR=5.0
+N1760 G3 X10.051 Y-11.62 CR=5.0
+N1770 G1 X12.758 Y-11.451
+N1780 X13.981 Y-11.098
+N1790 X15.325 Y-10.113
+N1800 X15.724 Y-9.498
+N1810 G3 X16.495 Y-7.174 CR=4.843
+N1820 G1 X16.511 Y-6.925
+N1830 X16.371 Y-4.572
+N1840 G3 X11.38 Y0.125 CR=5.0
+N1850 G3 X11.064 Y0.115 CR=5.0
+N1860 G1 X9.068 Y-0.011
+N1870 G40 X9.333 Y-4.202
+N1880 X9.029 Y-5.0
+N1890 G41 X4.829
+N1900 Y-7.0
+N1910 G3 X9.829 Y-12.0 CR=5.0
+N1920 G1 X12.0
+N1930 G3 X17.0 Y-7.0 CR=5.0
+N1940 G1 Y-4.832
+N1950 G3 X12.0 Y0.168 CR=5.0
+N1960 G1 X10.0
+N1970 G40 Y-4.032
+N1980 Z1.0 F=R3
+N1990 X-9.239 Y-3.76
+N2000 Z-25.5 F=R1
+N2010 G41 X-9.581 Y0.426 F=R2
+N2020 X-11.574 Y0.264
+N2030 G3 X-16.168 Y-4.72 CR=5.0
+N2040 G3 X-16.151 Y-5.127 CR=5.0
+N2050 G1 X-15.704 Y-10.597
+N2060 X-10.216 Y-11.199
+N2070 G3 X-9.671 Y-11.229 CR=5.0
+N2080 G3 X-4.701 Y-6.774 CR=5.0
+N2090 G1 X-4.483 Y-4.786
+N2100 G40 X-8.658 Y-4.328
+N2110 X-9.308 Y-4.242
+N2120 G41 X-9.008 Y-0.053
+N2130 X-11.003 Y0.09
+N2140 G3 X-11.36 Y0.103 CR=5.0
+N2150 G3 X-16.347 Y-4.54 CR=5.0
+N2160 G1 X-16.49 Y-6.534
+N2170 G3 X-16.503 Y-6.878 CR=4.801
+N2180 G3 X-15.704 Y-9.53 CR=4.801
+N2190 G1 X-15.31 Y-10.125
+N2200 X-13.981 Y-11.098
+N2210 X-12.761 Y-11.45
+N2220 X-10.059 Y-11.623
+N2230 G3 X-9.74 Y-11.633 CR=5.0
+N2240 G3 X-4.75 Y-6.952 CR=5.0
+N2250 G1 X-4.622 Y-4.956
+N2260 G40 X-8.814 Y-4.688
+N2270 X-10.0 Y-4.047
+N2280 G41 Y0.153
+N2290 X-12.0
+N2300 G3 X-17.0 Y-4.847 CR=5.0
+N2310 G1 Y-7.0
+N2320 G3 X-12.0 Y-12.0 CR=5.0
+N2330 G1 X-9.83
+N2340 G3 X-4.83 Y-7.0 CR=5.0
+N2350 G1 Y-5.0
+N2360 G40 X-9.03
+N2370 X-8.665 Y4.317
+N2380 G41 X-4.489 Y4.761
+N2390 X-4.7 Y6.75
+N2400 G3 X-9.672 Y11.221 CR=5.0
+N2410 G3 X-10.201 Y11.193 CR=5.0
+N2420 G1 X-15.671 Y10.612
+N2430 X-16.17 Y5.156
+N2440 G3 X-16.19 Y4.701 CR=5.0
+N2450 G3 X-11.645 Y-0.279 CR=5.0
+N2460 G1 X-9.654 Y-0.461
+N2470 G40 X-9.272 Y3.722
+N2480 X-8.816 Y4.684
+N2490 G41 X-4.624 Y4.945
+N2500 X-4.749 Y6.941
+N2510 G3 X-9.739 Y11.63 CR=5.0
+N2520 G3 X-10.051 Y11.62 CR=5.0
+N2530 G1 X-12.758 Y11.451
+N2540 X-13.981 Y11.098
+N2550 X-15.325 Y10.113
+N2560 X-15.724 Y9.498
+N2570 G3 X-16.495 Y7.174 CR=4.843
+N2580 G1 X-16.511 Y6.925
+N2590 X-16.371 Y4.572
+N2600 G3 X-11.38 Y-0.125 CR=5.0
+N2610 G3 X-11.064 Y-0.115 CR=5.0
+N2620 G1 X-9.068 Y0.011
+N2630 G40 X-9.333 Y4.202
+N2640 X-9.029 Y5.0
+N2650 G41 X-4.829
+N2660 Y7.0
+N2670 G3 X-9.829 Y12.0 CR=5.0
+N2680 G1 X-12.0
+N2690 G3 X-17.0 Y7.0 CR=5.0
+N2700 G1 Y4.832
+N2710 G3 X-12.0 Y-0.168 CR=5.0
+N2720 G1 X-10.0
+N2730 G40 Y4.032
+N2740 Z1.0 F=R3
+N2750 X9.239 Y3.76
+N2760 Z-25.5 F=R1
+N2770 G41 X9.581 Y-0.426 F=R2
+N2780 X11.574 Y-0.264
+N2790 G3 X16.168 Y4.72 CR=5.0
+N2800 G3 X16.151 Y5.127 CR=5.0
+N2810 G1 X15.705 Y10.59
+N2820 X10.226 Y11.203
+N2830 G3 X9.669 Y11.234 CR=5.0
+N2840 G3 X4.7 Y6.791 CR=5.0
+N2850 G1 X4.478 Y4.803
+N2860 G40 X8.652 Y4.336
+N2870 X9.308 Y4.242
+N2880 G41 X9.008 Y0.053
+N2890 X11.003 Y-0.09
+N2900 G3 X11.36 Y-0.103 CR=5.0
+N2910 G3 X16.347 Y4.54 CR=5.0
+N2920 G1 X16.49 Y6.534
+N2930 G3 X16.503 Y6.878 CR=4.801
+N2940 G3 X15.704 Y9.53 CR=4.801
+N2950 G1 X15.31 Y10.125
+N2960 X13.981 Y11.098
+N2970 X12.763 Y11.45
+N2980 X10.063 Y11.626
+N2990 G3 X9.739 Y11.636 CR=5.0
+N3000 G3 X4.749 Y6.961 CR=5.0
+N3010 G1 X4.619 Y4.965
+N3020 G40 X8.81 Y4.692
+N3030 X10.0 Y4.047
+N3040 G41 Y-0.153
+N3050 X12.0
+N3060 G3 X17.0 Y4.847 CR=5.0
+N3070 G1 Y7.0
+N3080 G3 X12.0 Y12.0 CR=5.0
+N3090 G1 X9.83
+N3100 G3 X4.83 Y7.0 CR=5.0
+N3110 G1 Y5.0
+N3120 G40 X9.03
+N3130 G0 Z5.0
+ ; Instruktion 12 - Profilschlichten
+N3140 X10.03 Y-0.8
+N3150 Z2.0
+N3160 G1 Z-26.0 F=R1
+N3170 G41 Y-5.0 F=R2
+N3180 X12.03
+N3190 G3 X17.03 Y0.0 CR=5.0
+N3200 G1 Y7.0
+N3210 G3 X12.0 Y12.03 CR=5.03
+N3220 G1 X-12.0
+N3230 G3 X-17.03 Y7.0 CR=5.03
+N3240 G1 Y-7.0
+N3250 G3 X-12.0 Y-12.03 CR=5.03
+N3260 G1 X12.0
+N3270 G3 X17.03 Y-7.0 CR=5.03
+N3280 G1 Y0.0
+N3290 Y7.0
+N3300 G3 X12.0 Y12.03 CR=5.03
+N3310 G1 X-12.0
+N3320 G3 X-17.03 Y7.0 CR=5.03
+N3330 G1 Y-7.0
+N3340 G3 X-12.0 Y-12.03 CR=5.03
+N3350 G1 X12.0
+N3360 G3 X17.03 Y-7.0 CR=5.03
+N3370 G1 Y0.0
+N3380 G3 X12.03 Y5.0 CR=5.0
+N3390 G1 X10.03
+N3400 G40 Y0.8
+N3410 G0 Z5.0
+N3420 M5
+N3430 M9
+N3440 CYCLE832(0,_OFF,1)
+N3450 TRAFOOF
+N3460 TRANS
+N3470 ROT
+N3480 ; EILGANG ZU WERKZEUGWECHSEL
+N3490 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N3500 G0 SUPA X-644.763 Y-291.443
+ 
+T_4:
+_BLUM("BREAK")
+; (WERKZEUG: SF_D16_SL_SL32_ET32_GL165)
+N3510 T="SF_D16_SL_SL32_ET32_GL165"
+N3520 M6
+_BLUM("CHECK")
+N3530 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N3540 D1
+N3550 T="SB_8.1_ET55_GL165"
+N3560 S9320 M3
+N3570 G64
+ 
+N3580 G54 ; NP-Anwahl
+N3590 REPEATB INDEX_1 ; Teile NP
+ ;
+N3600 R1=2000 ; Eintauchvorschub in mm/min 
+N3610 R2=3870 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 15 - Profilschlichten
+N3620 M7
+N3630 CYCLE832(0.01,_FINISH,1)
+N3640 G0 X-1.6 Y29.0
+N3650 Z5.0
+N3660 Z2.0
+N3670 G1 Z-26.0 F=R1
+N3680 G41 X-10.0 F=R2
+N3690 Y27.0
+N3700 G3 X-1.0 Y18.0 CR=9.0
+N3710 G1 X1.0
+N3720 X22.075
+N3730 G2 X22.375 Y17.7 CR=0.3
+N3740 G1 Y-17.7
+N3750 G2 X22.075 Y-18.0 CR=0.3
+N3760 G1 X-22.075
+N3770 G2 X-22.375 Y-17.7 CR=0.3
+N3780 G1 Y17.7
+N3790 G2 X-22.075 Y18.0 CR=0.3
+N3800 G1 X1.0
+N3810 G3 X10.0 Y27.0 CR=9.0
+N3820 G1 Y29.0
+N3830 G40 X1.6
+N3840 G0 Z5.0
+N3850 M5
+N3860 M9
+N3870 CYCLE832(0,_OFF,1)
+N3880 TRAFOOF
+N3890 TRANS
+N3900 ROT
+N3910 ; EILGANG ZU WERKZEUGWECHSEL
+N3920 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N3930 G0 SUPA X-644.763 Y-291.443
+ 
+T_5:
+_BLUM("BREAK")
+; (WERKZEUG: SB_8.1_ET55_GL185)
+N3940 T="SB_8.1_ET55_GL165"
+N3950 M6
+_BLUM("CHECK")
+N3960 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N3970 D1
+N3980 T="SB_9.8_ET49_GL145"
+N3990 S4330 M3
+N4000 G60
+ 
+N4010 G54 ; NP-Anwahl
+N4020 REPEATB INDEX_2 ; hinten OP1
+ ; Instruktion 19 - Bohrung
+N4030 M7
+N4040 G0 X0.0 Y0.0
+N4050 Z5.0
+N4060 F878.0 S4330
+N4070 MCALL CYCLE83(5,0,2,-10,,,99,0,0,,1,1,,,,0,1)
+N4080  X0.0 Y0.0
+N4090 MCALL
+N4100 Z150.0
+ 
+N4110 G54 ; NP-Anwahl
+N4120 REPEATB INDEX_3 ; vorne OP1
+ ; Instruktion 22 - Bohrung
+N4130 X0.0 Y0.0
+N4140 Z5.0
+N4150 F878.0 S4330
+N4160 MCALL CYCLE83(5,0,2,-10,,,99,0,0,,1,1,,,,0,1)
+N4170  X0.0 Y0.0
+N4180 MCALL
+N4190 M5
+N4200 M9
+N4210 TRAFOOF
+N4220 TRANS
+N4230 ROT
+N4240 ; EILGANG ZU WERKZEUGWECHSEL
+N4250 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N4260 G0 SUPA X-644.763 Y-291.443
+ 
+T_6:
+_BLUM("BREAK")
+; (WERKZEUG: SB_9.8_ET49_GL145)
+N4270 T="SB_9.8_ET49_GL145"
+N4280 M6
+_BLUM("CHECK")
+N4290 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N4300 D1
+N4310 T="FAC_D6_W90_GL175"
+N4320 S3610 M3
+N4330 G60
+ 
+N4340 G54 ; NP-Anwahl
+N4350 REPEATB INDEX_4 ; rechts OP1
+ ; Instruktion 26 - Bohrung
+N4360 M7
+N4370 G0 X0.0 Y0.0
+N4380 Z5.0
+N4390 F802.0 S3610
+N4400 MCALL CYCLE83(5,0,2,-10,,,99,0,0,,1,1,,,,0,1)
+N4410  X0.0 Y0.0
+N4420 MCALL
+N4430 Z150.0
+ 
+N4440 G54 ; NP-Anwahl
+N4450 REPEATB INDEX_5 ; links OP1
+ ; Instruktion 29 - Bohrung
+N4460 X0.0 Y0.0
+N4470 Z5.0
+N4480 F802.0 S3610
+N4490 MCALL CYCLE83(5,0,2,-10,,,99,0,0,,1,1,,,,0,1)
+N4500  X0.0 Y0.0
+N4510 MCALL
+N4520 M5
+N4530 M9
+N4540 TRAFOOF
+N4550 TRANS
+N4560 ROT
+N4570 ; EILGANG ZU WERKZEUGWECHSEL
+N4580 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N4590 G0 SUPA X-644.763 Y-291.443
+ 
+T_7:
+_BLUM("BREAK")
+; (WERKZEUG: FAC_D6_W90_GL175)
+N4600 T="FAC_D6_W90_GL175"
+N4610 M6
+_BLUM("CHECK")
+N4620 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N4630 D1
+N4640 T="FAC_D6_W90_D4_GL140"
+N4650 S15000 M3
+N4660 G64
+ 
+N4670 G54 ; NP-Anwahl
+N4680 REPEATB INDEX_5 ; links OP1
+ ;
+N4690 R1=2000 ; Eintauchvorschub in mm/min 
+N4700 R2=600 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 33 - Fasefräsen
+N4710 M8
+N4720 CYCLE832(0.01,_FINISH,1)
+N4730 G0 X-1.358 Y-0.73
+N4740 Z5.5
+N4750 Z2.0
+N4760 G1 Z-1.0 F=R1
+N4770 X-1.765 Y-2.688 F=R2
+N4780 G3 X-1.786 Y-2.891 CR=1.0
+N4790 G3 X-0.989 Y-3.87 CR=1.0
+N4800 G1 X-0.545 Y-3.963
+N4810 G3 X0.0 Y-4.0 CR=4.0
+N4820 G3 X4.0 Y0.0 CR=4.0
+N4830 G3 X0.0 Y4.0 CR=4.0
+N4840 G3 X-4.0 Y0.0 CR=4.0
+N4850 G3 X-1.079 Y-3.852 CR=4.0
+N4860 G3 X-0.011 Y-4.0 CR=3.921
+N4870 G3 X0.989 Y-3.87 CR=3.921
+N4880 G3 X1.786 Y-2.891 CR=1.0
+N4890 G3 X1.765 Y-2.688 CR=1.0
+N4900 G1 X1.358 Y-0.73
+N4910 G0 Z5.0 S15000
+N4920 Z150.0
+ 
+N4930 G54 ; NP-Anwahl
+N4940 REPEATB INDEX_3 ; vorne OP1
+ ;
+N4950 R1=2000 ; Eintauchvorschub in mm/min 
+N4960 R2=1500 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 36 - Fasefräsen
+N4970 X-0.756 Y0.377
+N4980 Z5.0
+N4990 Z1.75
+N5000 G1 Z-1.35 F=R1
+N5010 X-1.521 Y-1.471 F=R2
+N5020 G3 X-1.597 Y-1.853 CR=1.0
+N5030 G3 X-0.98 Y-2.777 CR=1.0
+N5040 G1 X-0.912 Y-2.806
+N5050 G3 X0.0 Y-2.95 CR=2.95
+N5060 G3 X2.95 Y0.0 CR=2.95
+N5070 G3 X0.0 Y2.95 CR=2.95
+N5080 G3 X-2.95 Y0.0 CR=2.95
+N5090 G3 X-0.912 Y-2.806 CR=2.95
+N5100 G3 X-0.007 Y-2.95 CR=2.906
+N5110 G3 X0.98 Y-2.777 CR=2.906
+N5120 G3 X1.597 Y-1.853 CR=1.0
+N5130 G3 X1.521 Y-1.471 CR=1.0
+N5140 G1 X0.756 Y0.377
+N5150 G0 Z4.75 S15000
+N5160 Z150.0
+ 
+N5170 G54 ; NP-Anwahl
+N5180 REPEATB INDEX_4 ; rechts OP1
+ ;
+N5190 R1=2000 ; Eintauchvorschub in mm/min 
+N5200 R2=600 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 39 - Fasefräsen
+N5210 X-1.358 Y-0.73
+N5220 Z5.0
+N5230 Z1.5
+N5240 G1 Z-1.5 F=R1
+N5250 X-1.765 Y-2.688 F=R2
+N5260 G3 X-1.786 Y-2.891 CR=1.0
+N5270 G3 X-0.989 Y-3.87 CR=1.0
+N5280 G1 X-0.545 Y-3.963
+N5290 G3 X0.0 Y-4.0 CR=4.0
+N5300 G3 X4.0 Y0.0 CR=4.0
+N5310 G3 X0.0 Y4.0 CR=4.0
+N5320 G3 X-4.0 Y0.0 CR=4.0
+N5330 G3 X-0.545 Y-3.963 CR=4.0
+N5340 G3 X-0.007 Y-4.0 CR=3.894
+N5350 G3 X0.989 Y-3.87 CR=3.894
+N5360 G3 X1.786 Y-2.891 CR=1.0
+N5370 G3 X1.765 Y-2.688 CR=1.0
+N5380 G1 X1.358 Y-0.73
+N5390 G0 Z4.5 S15000
+N5400 Z150.0
+ 
+N5410 G54 ; NP-Anwahl
+N5420 REPEATB INDEX_2 ; hinten OP1
+ ;
+N5430 R1=2000 ; Eintauchvorschub in mm/min 
+N5440 R2=1500 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 42 - Fasefräsen
+N5450 X-0.756 Y0.377
+N5460 Z5.0
+N5470 Z1.75
+N5480 G1 Z-1.35 F=R1
+N5490 X-1.521 Y-1.471 F=R2
+N5500 G3 X-1.597 Y-1.853 CR=1.0
+N5510 G3 X-0.98 Y-2.777 CR=1.0
+N5520 G1 X-0.912 Y-2.806
+N5530 G3 X0.0 Y-2.95 CR=2.95
+N5540 G3 X2.95 Y0.0 CR=2.95
+N5550 G3 X0.0 Y2.95 CR=2.95
+N5560 G3 X-2.95 Y0.0 CR=2.95
+N5570 G3 X-0.912 Y-2.806 CR=2.95
+N5580 G3 X-0.007 Y-2.95 CR=2.906
+N5590 G3 X0.98 Y-2.777 CR=2.906
+N5600 G3 X1.597 Y-1.853 CR=1.0
+N5610 G3 X1.521 Y-1.471 CR=1.0
+N5620 G1 X0.756 Y0.377
+N5630 G0 Z4.75
+N5640 CYCLE832(0,_OFF,1)
+N5650 TRAFOOF
+N5660 TRANS
+N5670 ROT
+N5680 ; EILGANG ZU WERKZEUGWECHSEL
+N5690 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N5700 D1
+ 
+N5710 G54 ; NP-Anwahl
+N5720 REPEATB INDEX_1 ; Teile NP
+ ;
+N5730 R1=2000 ; Eintauchvorschub in mm/min 
+N5740 R2=1000 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 45 - Fasefräsen
+N5750 CYCLE832(0.01,_FINISH,1)
+N5760 G0 X-1.906 Y-7.648
+N5770 Z5.0
+N5780 Z1.7
+N5790 G1 Z-1.65 F=R1
+N5800 X-1.905 Y-9.648 F=R2
+N5810 G3 X-0.905 Y-10.648 CR=1.0
+N5820 G1 X12.19 Y-10.645
+N5830 G3 X15.65 Y-7.0 CR=3.65
+N5840 G1 X15.645 Y7.19
+N5850 G3 X12.0 Y10.65 CR=3.65
+N5860 G1 X-12.19 Y10.645
+N5870 G3 X-15.65 Y7.0 CR=3.65
+N5880 G1 X-15.645 Y-7.19
+N5890 G3 X-12.0 Y-10.65 CR=3.65
+N5900 G1 X1.095 Y-10.647
+N5910 G3 X2.095 Y-9.647 CR=1.0
+N5920 G1 X2.094 Y-7.647
+N5930 G0 Z4.7
+ ; Instruktion 46 - Fasefräsen
+N5940 Z5.0
+N5950 X2.0 Y-22.35
+N5960 Z2.0
+N5970 G1 Z-1.65 F=R1
+N5980 Y-20.35 F=R2
+N5990 G3 X1.0 Y-19.35 CR=1.0
+N6000 G1 X-1.0
+N6010 X-22.075
+N6020 G2 X-23.725 Y-17.7 CR=1.65
+N6030 G1 Y17.7
+N6040 G2 X-22.075 Y19.35 CR=1.65
+N6050 G1 X22.075
+N6060 G2 X23.725 Y17.7 CR=1.65
+N6070 G1 Y-17.7
+N6080 G2 X22.075 Y-19.35 CR=1.65
+N6090 G1 X-1.0
+N6100 G3 X-2.0 Y-20.35 CR=1.0
+N6110 G1 Y-22.35
+N6120 G0 Z5.0
+N6130 M5
+N6140 M9
+N6150 CYCLE832(0,_OFF,1)
+N6160 TRAFOOF
+N6170 TRANS
+N6180 ROT
+N6190 ; EILGANG ZU WERKZEUGWECHSEL
+N6200 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N6210 G0 SUPA X-644.763 Y-291.443
+ 
+T_8:
+_BLUM("BREAK")
+; (WERKZEUG: FAC_D6_W90_D4_GL140)
+N6220 T="FAC_D6_W90_D4_GL140"
+N6230 M6
+_BLUM("CHECK")
+N6240 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N6250 D1
+N6260 T="SF_D6_SL_SL13_ET13_GL145"
+N6270 S12000 M3
+N6280 G64
+ 
+N6290 G54 ; NP-Anwahl
+N6300 REPEATB INDEX_5 ; links OP1
+ ;
+N6310 R1=2000 ; Eintauchvorschub in mm/min 
+N6320 R2=1500 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 50 - Fasefräsen
+N6330 M8
+N6340 CYCLE832(0.01,_FINISH,1)
+N6350 G0 X0.0 Y0.0
+N6360 Z5.0
+N6370 Z-4.2
+N6380 G1 Z-8.325 F=R1
+N6390 X-0.939 Y-1.122 F=R2
+N6400 X-1.28 Y-2.062
+N6410 G3 X-1.31 Y-2.233 CR=0.5
+N6420 G3 X-0.981 Y-2.703 CR=0.5
+N6430 G3 X2.832 Y-0.498 CR=2.875
+N6440 G3 X0.0 Y2.875 CR=2.875
+N6450 G3 X-2.875 Y0.0 CR=2.875
+N6460 G3 X0.0 Y-2.875 CR=2.875
+N6470 G3 X0.98 Y-2.703 CR=2.875
+N6480 G3 X1.31 Y-2.233 CR=0.5
+N6490 G3 X1.28 Y-2.062 CR=0.5
+N6500 G1 X0.939 Y-1.122
+N6510 X0.0 Y0.0
+N6520 G0 Z5.0
+N6530 Z150.0
+ 
+N6540 G54 ; NP-Anwahl
+N6550 REPEATB INDEX_3 ; vorne OP1
+ ; Instruktion 53 - Fasefräsen
+N6560 X0.0 Y0.0
+N6570 Z5.0
+N6580 Z-5.2
+N6590 G1 Z-9.325 F=R1
+N6600 X-0.645 Y-0.12 F=R2
+N6610 X-1.142 Y-0.988
+N6620 G3 X-1.208 Y-1.237 CR=0.5
+N6630 G3 X-0.956 Y-1.671 CR=0.5
+N6640 G3 X0.0 Y-1.925 CR=1.925
+N6650 G3 X1.925 Y0.0 CR=1.925
+N6660 G3 X0.0 Y1.925 CR=1.925
+N6670 G3 X-1.925 Y0.0 CR=1.925
+N6680 G3 X0.0 Y-1.925 CR=1.925
+N6690 G3 X0.956 Y-1.671 CR=1.925
+N6700 G3 X1.208 Y-1.237 CR=0.5
+N6710 G3 X1.142 Y-0.988 CR=0.5
+N6720 G1 X0.645 Y-0.12
+N6730 X0.0 Y0.0
+N6740 G0 Z5.0
+N6750 Z150.0
+ 
+N6760 G54 ; NP-Anwahl
+N6770 REPEATB INDEX_4 ; rechts OP1
+ ; Instruktion 56 - Fasefräsen
+N6780 X0.0 Y0.0
+N6790 Z5.0
+N6800 Z-4.7
+N6810 G1 Z-8.825 F=R1
+N6820 X-0.939 Y-1.122 F=R2
+N6830 X-1.28 Y-2.062
+N6840 G3 X-1.31 Y-2.233 CR=0.5
+N6850 G3 X-0.981 Y-2.703 CR=0.5
+N6860 G3 X0.0 Y-2.875 CR=2.875
+N6870 G3 X0.98 Y-2.703 CR=2.875
+N6880 G3 X2.875 Y0.0 CR=2.875
+N6890 G3 X0.0 Y2.875 CR=2.875
+N6900 G3 X-2.875 Y0.0 CR=2.875
+N6910 G3 X0.0 Y-2.875 CR=2.875
+N6920 G3 X0.98 Y-2.703 CR=2.875
+N6930 G3 X1.31 Y-2.233 CR=0.5
+N6940 G3 X1.28 Y-2.062 CR=0.5
+N6950 G1 X0.939 Y-1.122
+N6960 X0.0 Y0.0
+N6970 G0 Z5.0
+N6980 Z150.0
+ 
+N6990 G54 ; NP-Anwahl
+N7000 REPEATB INDEX_2 ; hinten OP1
+ ; Instruktion 59 - Fasefräsen
+N7010 X0.0 Y0.0
+N7020 Z5.0
+N7030 Z-5.2
+N7040 G1 Z-9.325 F=R1
+N7050 X-0.645 Y-0.12 F=R2
+N7060 X-1.142 Y-0.988
+N7070 G3 X-1.208 Y-1.237 CR=0.5
+N7080 G3 X-0.956 Y-1.671 CR=0.5
+N7090 G3 X0.0 Y-1.925 CR=1.925
+N7100 G3 X1.925 Y0.0 CR=1.925
+N7110 G3 X0.0 Y1.925 CR=1.925
+N7120 G3 X-1.925 Y0.0 CR=1.925
+N7130 G3 X0.0 Y-1.925 CR=1.925
+N7140 G3 X0.956 Y-1.671 CR=1.925
+N7150 G3 X1.208 Y-1.237 CR=0.5
+N7160 G3 X1.142 Y-0.988 CR=0.5
+N7170 G1 X0.645 Y-0.12
+N7180 X0.0 Y0.0
+N7190 G0 Z5.0
+N7200 M5
+N7210 M9
+N7220 CYCLE832(0,_OFF,1)
+N7230 TRAFOOF
+N7240 TRANS
+N7250 ROT
+N7260 ; EILGANG ZU WERKZEUGWECHSEL
+N7270 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N7280 G0 SUPA X-644.763 Y-291.443
+ 
+T_9:
+_BLUM("BREAK")
+; (WERKZEUG: SF_D6_SL_SL13_ET13_GL145)
+N7290 T="SF_D6_SL_SL13_ET13_GL145"
+N7300 M6
+_BLUM("CHECK")
+N7310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N7320 D1
+N7330 T="WB_D22_ET88.5_GL210"
+N7340 S15000 M3
+N7350 G64
+ 
+N7360 G54 ; NP-Anwahl
+N7370 REPEATB INDEX_4 ; rechts OP1
+ ;
+N7380 R1=2000 ; Eintauchvorschub in mm/min 
+N7390 R2=1550 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 63 - Profilschlichten
+N7400 M7
+N7410 CYCLE832(0.01,_FINISH,1)
+N7420 G0 X0.0 Y0.0
+N7430 Z5.0
+N7440 Z2.0
+N7450 G1 Z-6.5 F=R1
+N7460 X0.031 Y-0.986 F=R2
+N7470 G41 X-1.48 Y-3.75
+N7480 X-1.041 Y-3.99
+N7490 G3 X0.877 Y-4.48 CR=4.0
+N7500 G3 X4.387 Y-2.398 CR=4.0
+N7510 G3 X5.0 Y0.0 CR=5.0
+N7520 G3 X0.0 Y5.0 CR=5.0
+N7530 G3 X-5.0 Y0.0 CR=5.0
+N7540 G3 X0.0 Y-5.0 CR=5.0
+N7550 G3 X1.237 Y-4.844 CR=5.0
+N7560 G3 X5.0 Y0.0 CR=5.0
+N7570 G3 X4.387 Y2.398 CR=5.0
+N7580 G3 X0.878 Y4.48 CR=4.0
+N7590 G3 X-1.041 Y3.99 CR=4.0
+N7600 G1 X-1.48 Y3.75
+N7610 G40 X0.031 Y0.986
+N7620 X0.0 Y0.0
+N7630 X0.031 Y-0.986
+N7640 G41 X-1.48 Y-3.75
+N7650 X-1.041 Y-3.99
+N7660 G3 X0.877 Y-4.48 CR=4.0
+N7670 G3 X4.387 Y-2.398 CR=4.0
+N7680 G3 X5.0 Y0.0 CR=5.0
+N7690 G3 X0.0 Y5.0 CR=5.0
+N7700 G3 X-5.0 Y0.0 CR=5.0
+N7710 G3 X0.0 Y-5.0 CR=5.0
+N7720 G3 X1.237 Y-4.844 CR=5.0
+N7730 G3 X5.0 Y0.0 CR=5.0
+N7740 G3 X4.387 Y2.398 CR=5.0
+N7750 G3 X0.878 Y4.48 CR=4.0
+N7760 G3 X-1.041 Y3.99 CR=4.0
+N7770 G1 X-1.48 Y3.75
+N7780 G40 X0.031 Y0.986
+N7790 X0.0 Y0.0
+N7800 X0.031 Y-0.986
+N7810 G41 X-1.48 Y-3.75
+N7820 X-1.041 Y-3.99
+N7830 G3 X0.877 Y-4.48 CR=4.0
+N7840 G3 X4.387 Y-2.398 CR=4.0
+N7850 G3 X5.0 Y0.0 CR=5.0
+N7860 G3 X0.0 Y5.0 CR=5.0
+N7870 G3 X-5.0 Y0.0 CR=5.0
+N7880 G3 X0.0 Y-5.0 CR=5.0
+N7890 G3 X1.237 Y-4.844 CR=5.0
+N7900 G3 X5.0 Y0.0 CR=5.0
+N7910 G3 X4.387 Y2.398 CR=5.0
+N7920 G3 X0.878 Y4.48 CR=4.0
+N7930 G3 X-1.041 Y3.99 CR=4.0
+N7940 G1 X-1.48 Y3.75
+N7950 G40 X0.031 Y0.986
+N7960 X0.0 Y0.0
+N7970 G0 Z5.0
+N7980 Z150.0
+ 
+N7990 G54 ; NP-Anwahl
+N8000 REPEATB INDEX_5 ; links OP1
+ ; Instruktion 66 - Profilschlichten
+N8010 X0.0 Y0.0
+N8020 Z5.5
+N8030 Z2.5
+N8040 G1 Z-6.0 F=R1
+N8050 X0.031 Y-0.986 F=R2
+N8060 G41 X-1.48 Y-3.75
+N8070 X-1.041 Y-3.99
+N8080 G3 X0.877 Y-4.48 CR=4.0
+N8090 G3 X4.387 Y-2.398 CR=4.0
+N8100 G3 X5.0 Y0.0 CR=5.0
+N8110 G3 X0.0 Y5.0 CR=5.0
+N8120 G3 X-5.0 Y0.0 CR=5.0
+N8130 G3 X0.0 Y-5.0 CR=5.0
+N8140 G3 X1.237 Y-4.844 CR=5.0
+N8150 G3 X5.0 Y0.0 CR=5.0
+N8160 G3 X4.388 Y2.398 CR=5.0
+N8170 G3 X0.878 Y4.48 CR=4.0
+N8180 G3 X-1.041 Y3.99 CR=4.0
+N8190 G1 X-1.48 Y3.75
+N8200 G40 X0.031 Y0.986
+N8210 X0.0 Y0.0
+N8220 X0.031 Y-0.986
+N8230 G41 X-1.48 Y-3.75
+N8240 X-1.041 Y-3.99
+N8250 G3 X0.877 Y-4.48 CR=4.0
+N8260 G3 X4.387 Y-2.398 CR=4.0
+N8270 G3 X5.0 Y0.0 CR=5.0
+N8280 G3 X0.0 Y5.0 CR=5.0
+N8290 G3 X-5.0 Y0.0 CR=5.0
+N8300 G3 X0.0 Y-5.0 CR=5.0
+N8310 G3 X1.237 Y-4.844 CR=5.0
+N8320 G3 X5.0 Y0.0 CR=5.0
+N8330 G3 X4.388 Y2.398 CR=5.0
+N8340 G3 X0.878 Y4.48 CR=4.0
+N8350 G3 X-1.041 Y3.99 CR=4.0
+N8360 G1 X-1.48 Y3.75
+N8370 G40 X0.031 Y0.986
+N8380 X0.0 Y0.0
+N8390 X0.031 Y-0.986
+N8400 G41 X-1.48 Y-3.75
+N8410 X-1.041 Y-3.99
+N8420 G3 X0.877 Y-4.48 CR=4.0
+N8430 G3 X4.387 Y-2.398 CR=4.0
+N8440 G3 X5.0 Y0.0 CR=5.0
+N8450 G3 X0.0 Y5.0 CR=5.0
+N8460 G3 X-5.0 Y0.0 CR=5.0
+N8470 G3 X0.0 Y-5.0 CR=5.0
+N8480 G3 X1.237 Y-4.844 CR=5.0
+N8490 G3 X5.0 Y0.0 CR=5.0
+N8500 G3 X4.388 Y2.398 CR=5.0
+N8510 G3 X0.878 Y4.48 CR=4.0
+N8520 G3 X-1.041 Y3.99 CR=4.0
+N8530 G1 X-1.48 Y3.75
+N8540 G40 X0.031 Y0.986
+N8550 X0.0 Y0.0
+N8560 G0 Z5.5
+N8570 CYCLE832(0,_OFF,1)
+N8580 TRAFOOF
+N8590 TRANS
+N8600 ROT
+N8610 ; EILGANG ZU WERKZEUGWECHSEL
+N8620 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N8630 G0 SUPA X-644.763 Y-291.443
+N8640 D1
+ 
+N8650 G54 ; NP-Anwahl
+N8660 REPEATB INDEX_1 ; Teile NP
+ 
+N8670 M5 M9
+N8680 CYCLE832(0,_OFF,1)
+N8690 TRAFOOF
+N8700 TRANS
+N8710 ROT
+N8720 CYCLE800()
+N8730 M30
+ 
+ ; ============ ENDE ===============
+ 
+ 
+ 
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF
new file mode 100644
index 0000000..89333f3
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/4E_4148_2_OP2.MPF
@@ -0,0 +1,228 @@
+EXTERN TASTER (STRING[50])
+;%_N_1000_MPF
+;$PATH=/_N_WKS_DIR/_N_OP2_WPD
+
+;
+; --------------------------------------------------------------------------
+; Maschine             : DMG-DMU50-3GEN-SIN840D-BCSim
+; Teilename (.ppf)     : 4E_4148_2
+; Arbeitsplan          : 
+; Kommentar            : 
+; Familie              : 
+; Kunde                : 
+; Programmierer        : 
+; Arbeitsplan-Revision : 
+; Material             : EC80
+; Sequence             : OP2
+; Datum / Zeit         : 11/03/25 / 14:06:16
+; 
+; Bearbeitungszeit inkl. Werkzeugwechsel:  0h 0min 57sec
+; --------------------------------------------------------------------------
+;
+;                     Werkzeugliste
+;
+;---------------------------------------------------------------------------
+; Nr     Kommentar            Code ID    Durchmesser    Werkzeugtyp
+;---------------------------------------------------------------------------
+; 1      9999
+;                                        6                        
+; 2      WPF_D25_Z4_EL41_GL117
+;                                        25             Fraeser   
+; 3      FAC_D6_W90_GL175
+;                                        6              Flach     
+;---------------------------------------------------------------------------
+ 
+ EXTERN BLUMLASER(STRING[40])
+ EXTERN _BLUM(STRING[40])
+ 
+ 
+GOTOF _OHNE_SCHWENKEN ; Schwenkebene am Programmanfang ueberspringen
+ 
+INDEX_1: CYCLE800(0,"DMG",0,27,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,1,) ; np op2
+_OHNE_SCHWENKEN:
+ 
+ 
+N10 G54 ; NP-Anwahl
+N20 CYCLE800()
+N30 TRAFOOF
+N40 WORKPIECE(,"",,"BOX",112,4.44,-25,-80,-24,-20,24,20)
+N50 G17 G64 G90 G710
+N60 RTLION
+N70 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N80 R3=42000 ; Hoher Vorschub in mm/min 
+ 
+; -------------------------------------
+; Ablaufsteuerung 
+; -------------------------------------
+ 
+R1 = 1 ; Startoperation
+GOTOF "T_"<<R1 
+ 
+ 
+T_1:
+_BLUM("BREAK")
+; (WERKZEUG: 9999)
+N90 T="9999"
+N100 M6
+_BLUM("CHECK")
+N110 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N120 D1
+N130 T="WPF_D25_Z4_EL41_GL117"
+N140 M5
+N150 G60
+ TASTER("AUS")
+N160 G54 ; NP-Anwahl
+N170 REPEATB INDEX_1 ; np op2
+N180 G0 X0 Y0.0
+N190 Z10.0
+TASTER("EIN")
+G0 Z1
+CYCLE150(40,11000,"")
+
+CYCLE977(101,1,,1,22,,,5,1,45,1,20,,,1,"VHF_8_ALU",,0,69.5,69.7,69.6,0.34,1,0,,1,0)
+TASTER("AUS")
+N210 Z10.0
+N220 M5
+N230 TRAFOOF
+N240 TRANS
+N250 ROT
+N260 ; EILGANG ZU WERKZEUGWECHSEL
+N270 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N280 G0 SUPA X-644.763 Y-291.443
+ TASTER("EIN")
+T_2:
+_BLUM("BREAK")
+; (WERKZEUG: WPF_D25_Z4_EL41_GL117)
+N290 T="WPF_D25_Z4_EL41_GL117"
+N300 M6
+_BLUM("CHECK")
+N310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N320 D1
+N330 T="FAC_D6_W90_GL175"
+N340 S3100 M3
+N350 G64
+ 
+N360 G54 ; NP-Anwahl
+N370 REPEATB INDEX_1 ; np op2
+ ;
+N380 R1=2000 ; Eintauchvorschub in mm/min 
+N390 R2=1500 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 9 - Stirnfräsen
+N400 M26
+N410 CYCLE832(0.01,_FINISH,1)
+N420 G0 X-19.6 Y38.0
+N430 Z15.0
+N440 Z2.2
+N450 G1 Z0.2 F=R1
+N460 Y-18.0 F=R2
+N470 G3 X-14.76 Y-22.84 CR=4.84
+N480 G1 X-9.44
+N490 G3 X-4.6 Y-18.0 CR=4.84
+N500 G1 Y18.0
+N510 G2 X0.24 Y22.84 CR=4.84
+N520 G1 X10.16
+N530 G2 X15.0 Y18.0 CR=4.84
+N540 G1 Y-38.0
+N550 Z2.2 F=R3
+N560 X-19.6 Y38.0
+N570 Z2.0
+N580 Z0.0 F=R1
+N590 Y-18.0 F=R2
+N600 G3 X-14.76 Y-22.84 CR=4.84
+N610 G1 X-9.44
+N620 G3 X-4.6 Y-18.0 CR=4.84
+N630 G1 Y18.0
+N640 G2 X0.24 Y22.84 CR=4.84
+N650 G1 X10.16
+N660 G2 X15.0 Y18.0 CR=4.84
+N670 G1 Y-38.0
+N680 G0 Z15.0
+N690 M5
+N700 M9
+N710 CYCLE832(0,_OFF,1)
+N720 TRAFOOF
+N730 TRANS
+N740 ROT
+N750 ; EILGANG ZU WERKZEUGWECHSEL
+N760 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N770 G0 SUPA X-644.763 Y-291.443
+ 
+T_3:
+_BLUM("BREAK")
+; (WERKZEUG: FAC_D6_W90_GL175)
+N780 T="FAC_D6_W90_GL175"
+N790 M6
+_BLUM("CHECK")
+N800 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N810 D1
+N820 T="9999"
+N830 S15000 M3
+N840 G64
+ 
+N850 G54 ; NP-Anwahl
+N860 REPEATB INDEX_1 ; np op2
+ ;
+N870 R1=2000 ; Eintauchvorschub in mm/min 
+N880 R2=1000 ; Arbeitsvorschub in mm/min 
+ ;
+ ; Instruktion 12 - Fasefräsen
+N890 M8
+N900 CYCLE832(0.01,_FINISH,1)
+N910 G0 X2.0 Y-21.35
+N920 Z5.0
+N930 Z1.7
+N940 G1 Z-1.65 F=R1
+N950 Y-20.35 F=R2
+N960 G3 X1.0 Y-19.35 CR=1.0
+N970 G1 X-22.5
+N980 G2 X-23.85 Y-18.0 CR=1.35
+N990 G1 Y18.0
+N1000 G2 X-22.5 Y19.35 CR=1.35
+N1010 G1 X22.5
+N1020 G2 X23.85 Y18.0 CR=1.35
+N1030 G1 Y-18.0
+N1040 G2 X22.5 Y-19.35 CR=1.35
+N1050 G1 X-1.0
+N1060 G3 X-2.0 Y-20.35 CR=1.0
+N1070 G1 Y-21.35
+N1080 G0 Z5.0
+N1090 Y-8.65
+N1100 Z1.7
+N1110 G1 Z-1.65 F=R1
+N1120 Y-9.65 F=R2
+N1130 G3 X-1.0 Y-10.65 CR=1.0
+N1140 G1 X12.0
+N1150 G3 X15.645 Y-7.19 CR=3.65
+N1160 G1 X15.65 Y7.0
+N1170 G3 X12.19 Y10.645 CR=3.65
+N1180 G1 X-12.0 Y10.65
+N1190 G3 X-15.645 Y7.19 CR=3.65
+N1200 G1 X-15.65 Y-7.0
+N1210 G3 X-12.0 Y-10.65 CR=3.65
+N1220 G1 X1.0
+N1230 G3 X2.0 Y-9.65 CR=1.0
+N1240 G1 Y-8.65
+N1250 G0 Z4.7
+N1260 CYCLE832(0,_OFF,1)
+N1270 TRAFOOF
+N1280 TRANS
+N1290 ROT
+N1300 ; EILGANG ZU WERKZEUGWECHSEL
+N1310 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z] D0
+N1320 G0 SUPA X-644.763 Y-291.443
+N1330 D1
+ 
+N1340 M5 M9
+N1350 CYCLE832(0,_OFF,1)
+N1360 TRAFOOF
+N1370 TRANS
+N1380 ROT
+N1390 CYCLE800()
+N1400 M30
+ 
+ ; ============ ENDE ===============
+ 
+ 
+ 
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF
new file mode 100644
index 0000000..be3f8bf
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/CHECK_IO.SPF
@@ -0,0 +1,8 @@
+MSG($A_IN[1]<<$A_IN[2]<<$A_IN[3]<<$A_IN[4])
+
+M0
+
+
+MSG("ZUSTAND OUTPUT 1: "<<$A_OUT[1]<<" 2: "<<$A_OUT[2]<<" 3: "<<$A_OUT[3]<<" 4: "<<$A_OUT[4])
+M0
+M30
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF
new file mode 100644
index 0000000..1496483
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_HANDSH_DMU.MPF
@@ -0,0 +1,22 @@
+; SENT0000
+COM_RESET
+
+; WAIT 1111
+WHILE NOT (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+; SENT 1111
+$A_OUT[1]=1
+$A_OUT[2]=1
+$A_OUT[3]=1
+$A_OUT[4]=1
+STOPRE
+
+; WAIT NOTT 1111
+WHILE (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+M17
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF
new file mode 100644
index 0000000..9bf0cac
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_RESET.MPF
@@ -0,0 +1,9 @@
+STOPRE
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+STOPRE
+
+M17
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF
new file mode 100644
index 0000000..78cc25b
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_SENT.MPF
@@ -0,0 +1,12 @@
+PROC COM_SENT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+STOPRE
+$A_OUT[1]=BB1
+$A_OUT[2]=BB2
+$A_OUT[3]=BB3
+$A_OUT[4]=BB4
+STOPRE
+G4 F1
+
+M17
+
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF
new file mode 100644
index 0000000..7932e99
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/COM_WAIT.MPF
@@ -0,0 +1,8 @@
+PROC COM_WAIT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+WHILE NOT ($A_IN[1]==BB1) AND ($A_IN[2]==BB2) AND ($A_IN[3]==BB3) AND ($A_IN[4]==BB4)
+ENDWHILE
+STOPRE
+G4 F1
+
+M17
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF
new file mode 100644
index 0000000..3148572
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/MAIN.MPF
@@ -0,0 +1,120 @@
+N0 EXTERN COM_SENT (INT,INT,INT,INT)
+N5 EXTERN COM_WAIT(INT,INT,INT,INT)
+
+N15 COM_RESET
+
+;INITIALISIEREN DER VARIABLEN
+
+
+;Int_ABL:
+;0 = Kein Teil in der Maschine
+;1 = Teil In Maschine
+;2 = Teil Fertig
+;3 = Teil Falsch eingespannt
+;102 - Am Bearbeiten
+
+;Bit Belegung: 
+
+;Input
+;0000 Keine Teile mehr zum bearbeiten
+;0100 Maschine Reinigen und auf Beladeposition fahren
+;0001 TEIL WURDE VON ROBOTER BELADEN
+
+;Output
+;0001 Maschine ist gereinigt und Teil kann beladen werden
+;0010 Teil Entladen
+;0011 Rohteil Entladen
+;0100 Teil ist Beladen und bearbeitung wurde gestartet
+
+N25 STARRT:
+N25 COM_HANDSH_DMU
+
+N30	IF ($A_IN[1] == 0) AND ($A_IN[2] == 1) AND	($A_IN[3] == 0) AND ($A_IN[4] == 0) ; M
+;N35 aschine Reinigen
+N45 MSG("REINIGUNG MASCHINE")
+N50 
+
+N55 CALL "CLEAN.SPF"
+N60 MSG()
+		
+N65		REPEAT BELADEN_START BELADEN_END	;Werkzeug entladen und auf Position für Be/Entladen fahren
+
+N70	ENDIF
+	
+	;Beginn der Bearbeitung
+N75 IF ($A_IN[1] == 0) AND ($A_IN[2] == 0) AND	($A_IN[3] == 0) AND ($A_IN[4] == 1) ; MASCHINE STARTEN
+
+N85	B_MEAS_WKS = TRUE
+	
+	;Unterprogramm zum Teil vermessen
+N90	
+
+MEAS_WKS
+	
+	;Wenn das Teil richtig liegt und der Schraubstock gespannt ist kann mit der Bearbeitung begonnen werden
+N100	STOPRE
+N105	IF (B_MEAS_WKS == TRUE)
+N110 CALL "4E_4148_2_OP2.MPF"
+
+N115	REPEAT ENTLADEN_START ENTLADEN_END	;Werkzeug entladen und auf Position für Be/Entladen fahre
+N120	ELSE ; Wenn beim Messen ein fehler aufgetreten ist soll das Rohmaterial wieder entladen werden
+N125	REPEAT ENTLADEN_START ENTLADEN_END
+
+N130	ENDIF	
+N135 ENDIF
+
+N140 GOTOB STARRT
+;N245 CLEAN()	;Maschine reinigen
+
+N145 REPEAT LBL1 LBL2
+
+;Programm Ende
+
+N150 STOPRE 
+N155; COM_SENT(1,1,1,1) ; AUSGANGSSIGNAL MASCHINE FERTIG
+
+N160 M30
+
+N165 BELADEN_START:
+
+N170 G57
+
+N175 T0	;Werkzeug versorgen
+N180 M6
+;Fahren auf Heimposition
+
+N185 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N190 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N195 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N200 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,-90,0,0,0,1,,0)
+
+N205		STOPRE
+			
+N210		COM_SENT(0,0,0,1) ;Ausgangssignal geben um Teil zu beladen
+									
+N215 M0
+N220 BELADEN_END:
+
+N225 ENTLADEN_START:
+MSG()
+N230 G57
+
+N235 T0	;Werkzeug versorgen
+N240 M6
+;Fahren auf Heimposition
+
+N245 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N250 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N255 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N260 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,-90,0,0,0,1,,0)
+
+N265 IF B_MEAS_WKS == TRUE
+N270 COM_SENT(0,0,1,1)
+N275 ELSE
+N280 COM_SENT(0,0,1,0)
+ENDIF
+MSG($A_OUT[1]<<$A_OUT[2]<<$A_OUT[3]<<$A_OUT[4])
+N285 M0
+N290 ENTLADEN_END:
diff --git a/MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF b/MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF
new file mode 100644
index 0000000..8815959
--- /dev/null
+++ b/MPF/DMU50/TEST_ROB_ZELLE.WPD/TEST_ZELLE.SPF
@@ -0,0 +1,29 @@
+N0 G17 G64 G90 G710
+N5 RTLION
+N10 CYCLE800()
+N15 TRAFOOF
+N20 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+ 
+N25 G57 ; NP-Anwahl
+ 
+; (WERKZEUG: 9999)
+N30 T="WPF_D25_Z4_EL41_GL117"
+N35 M6
+N40 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N45 D1
+N50 S3000 M3
+N55 G60
+
+
+
+N70 T0	;Werkzeug versorgen
+N75 M6
+;Fahren auf Heimposition
+
+N80 G0 SUPA Z=$MA_POS_LIMIT_PLUS[Z]-1 D0
+N85 G0 SUPA X=$MA_POS_LIMIT_MINUS[X]+1 D0
+N90 G0 SUPA Y=$MA_POS_LIMIT_PLUS[Y]-1 D0
+
+N95 CYCLE800(0,"DMG",200000,57,0,0,0,0,0,0,0,0,0,1,,0)
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF b/MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF
new file mode 100644
index 0000000..9d847fc
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CFG_DMUAUT.SPF
@@ -0,0 +1,38 @@
+; CFG FILE FOR DMU50 AUTOMATION
+; GENERATED: 250318_185125
+; ---------------------------------------------------
+INL_X_NUM = 6
+INL_X_OFFSET = 120
+INL_Y_NUM = 9
+INL_Y_OFFSET = 125
+; ---------------------------------------------------
+WPR_X = 22.4
+WPR_Y = 18
+WPR_Z = 29.4
+WPF_X = 22.4
+WPF_Y = 18
+WPF_Z = 29.4
+WP_CLP_OFFSET_X = 2
+WP_GRP_OFFSET_Z = 13.5
+; ---------------------------------------------------
+CLP_BACKENWEITE = 35
+CLP_BACKENHOHE = 32
+CLP_SPANNHOHE = 6
+CLP_AUFLAGETIEFE = 5.6
+MESSPOS_X = 0
+MESSPOS_Y = 0
+MESSPOS_Z = 0
+MESSPOS_TOL = 0
+; ---------------------------------------------------
+PRB_BOD_RE_X = 0
+PRB_BOD_RE_Y = 0
+PRB_BOD_LI_X = 0
+PRB_BOD_LI_Y = 0
+PRB_SEI_HI_X = 0
+PRB_SEI_HI_Z = 0
+PRB_SEI_VO_X = 0
+PRB_SEI_VO_Z = 0
+PRB_VERS_X_Y = 0
+PRB_VERS_X_Z = 0
+; ---------------------------------------------------
+M17
diff --git a/MPF/ROB/AUTO_ROB/CFG_INL.SPF b/MPF/ROB/AUTO_ROB/CFG_INL.SPF
new file mode 100644
index 0000000..21b617e
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CFG_INL.SPF
@@ -0,0 +1,12 @@
+; CFG FILE FOR DMU50 AUTOMATION
+; GENERATED: 250318_185415
+; ---------------------------------------------------
+WP_X[0]=0.0
+WP_Y[0]=0.0
+WP_X[1]=120.0
+WP_Y[1]=0.0
+WP_X[2]=240.0
+WP_Y[2]=0.0
+WP_NUM=3
+; ---------------------------------------------------
+M17
diff --git a/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF b/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF
new file mode 100644
index 0000000..d28584b
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP.MPF
@@ -0,0 +1,32 @@
+EXTERN SETKOS(INT)
+
+DEFINE TOLER AS 10
+DEFINE XMESS AS 5
+DEFINE YMESS AS 5
+DEFINE ZMESS AS 250
+R83=0
+R90=0
+
+SOFT
+
+;HOME
+SETKOS(0)
+TRAORI
+
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+XMESS   Y=R52+YMESS   Z=ZMESS A0 B0 C0 G94
+
+;MESSE
+IF $A_DBR[20] < (ZMESS+OFFSET_LASER_Z-TOLER)
+R90=1
+ENDIF
+
+
+SETKOS(1)
+;HOME
+
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF b/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF
new file mode 100644
index 0000000..f465eae
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CHECKLAS_ISTHEREP_OFFZ.MPF
@@ -0,0 +1,42 @@
+EXTERN SETKOS(INT)
+
+DEFINE TOL_OFFZ AS 2.5
+DEFINE TOL_CHECK AS 10
+DEFINE XMESS AS 5
+DEFINE YMESS AS 5
+DEFINE ZMESS AS 250
+R83=0
+R90=0
+
+SOFT
+
+;HOME
+SETKOS(0)
+TRAORI
+
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+XMESS   Y=R52+YMESS   Z=ZMESS A0 B0 C0 G94
+
+; PRUFE ISTHERE PART
+R9=$A_DBR[20]
+IF TOL_CHECK < (ZMESS+OFFSET_LASER_Z-R9)
+R90=1
+
+; BESTIMME HOHE BAUTEIL UND OFFSETZ_GRIFFHOHE
+CYC_MESSZ1
+R83 = (ZMESS+OFFSET_LASER_Z-R9)-WPR_Z
+IF ABS(R83) > TOL_OFFZ
+MSG("BAUTEILHOEHE AUSSERHALB TOLERANZ: "<<R83)
+M0
+ENDIF
+
+ENDIF
+
+SETKOS(1)
+;HOME
+
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF b/MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF
new file mode 100644
index 0000000..e73d94e
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CMD_GREIFER_OFFSET.MPF
@@ -0,0 +1,16 @@
+IF (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+R70=1
+ENDIF
+
+IF R70==1  ;WENN BEARBEITET
+R71=15
+R72=15
+R73=0.5
+ELSE    ;WENN UNBEARBEITET
+R71=10
+R72=10
+R73=0.5
+ENDIF
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF b/MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF
new file mode 100644
index 0000000..3c40731
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CMD_SPANNER_AUF.MPF
@@ -0,0 +1,5 @@
+M91
+G4 F1
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF b/MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF
new file mode 100644
index 0000000..c1782c8
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CMD_SPANNER_ZU.MPF
@@ -0,0 +1,5 @@
+M92
+G4 F1
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF b/MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF
new file mode 100644
index 0000000..6ddf8e5
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CMD_TUR_AUF.MPF
@@ -0,0 +1,13 @@
+EXTERN WAIT_SENSOR(INT)
+
+WHILE NOT ($A_DBB[3]==1)
+M65
+G4 F1
+ENDWHILE
+
+; TUR AUF BIS SENSOR ERREICHT
+M71
+WAIT_SENSOR(1)
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF b/MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF
new file mode 100644
index 0000000..c610d8d
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/CMD_TUR_ZU.MPF
@@ -0,0 +1,13 @@
+EXTERN WAIT_SENSOR(INT)
+
+M72
+WAIT_SENSOR(2)
+G4 F1
+
+WHILE NOT ($A_DBB[3]==0)
+M65
+G4 F1
+ENDWHILE
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF b/MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF
new file mode 100644
index 0000000..30d5fd3
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/COM_HANDSH_ROB.MPF
@@ -0,0 +1,19 @@
+; WAIT 0000
+WHILE NOT (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==0) AND ($A_IN[4]==0))
+ENDWHILE
+STOPRE
+
+; SENT 1111
+$A_OUT[1]=1
+$A_OUT[2]=1
+$A_OUT[3]=1
+$A_OUT[4]=1
+STOPRE
+
+; WAIT 1111
+WHILE NOT (($A_IN[1]==1) AND ($A_IN[2]==1) AND ($A_IN[3]==1) AND ($A_IN[4]==1))
+ENDWHILE
+STOPRE
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/COM_RESET.MPF b/MPF/ROB/AUTO_ROB/COM_RESET.MPF
new file mode 100644
index 0000000..9bf0cac
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/COM_RESET.MPF
@@ -0,0 +1,9 @@
+STOPRE
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+STOPRE
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/COM_RESET_R.MPF b/MPF/ROB/AUTO_ROB/COM_RESET_R.MPF
new file mode 100644
index 0000000..3207215
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/COM_RESET_R.MPF
@@ -0,0 +1,18 @@
+STOPRE
+
+R51=0
+R52=0
+R53=0
+
+R70=0
+R71=0
+R72=0
+R73=0
+
+R83=0
+
+R90=0
+
+STOPRE
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/COM_SENT.MPF b/MPF/ROB/AUTO_ROB/COM_SENT.MPF
new file mode 100644
index 0000000..f6d5ca0
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/COM_SENT.MPF
@@ -0,0 +1,25 @@
+PROC COM_SENT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+; START BUTTON
+COM_RESET
+M66
+G4 F1
+;HANDSHAKE
+COM_HANDSH_ROB
+
+STOPRE
+$A_OUT[1]=BB1
+$A_OUT[2]=BB2
+$A_OUT[3]=BB3
+$A_OUT[4]=BB4
+STOPRE
+
+;$A_OUT[1]=0
+;$A_OUT[2]=0
+;$A_OUT[3]=0
+;$A_OUT[4]=0
+;G4 F0.5
+
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/COM_WAIT.MPF b/MPF/ROB/AUTO_ROB/COM_WAIT.MPF
new file mode 100644
index 0000000..cd72702
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/COM_WAIT.MPF
@@ -0,0 +1,9 @@
+PROC COM_WAIT(INT BB1, INT BB2, INT BB3, INT BB4)
+
+WHILE NOT (($A_IN[1]==BB1) AND ($A_IN[2]==BB2) AND ($A_IN[3]==BB3) AND ($A_IN[4]==BB4))
+ENDWHILE
+STOPRE
+G4 F1
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/DMU_DRY.MPF b/MPF/ROB/AUTO_ROB/DMU_DRY.MPF
new file mode 100644
index 0000000..5f71889
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/DMU_DRY.MPF
@@ -0,0 +1,29 @@
+DEF REAL ANGLE
+DEF REAL WAIT_TIME
+ANGLE=110
+WAIT_TIME=2
+
+TRAFOOF
+BRISK
+
+F10000
+;
+G91 G1 RA6=+ANGLE
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=-ANGLE*2
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=+ANGLE*2
+G4 F=WAIT_TIME
+
+;
+G91 G1 RA6=-ANGLE
+
+SOFT
+TRAORI
+G90 
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/DMU_PUT.MPF b/MPF/ROB/AUTO_ROB/DMU_PUT.MPF
new file mode 100644
index 0000000..e40b76c
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/DMU_PUT.MPF
@@ -0,0 +1,35 @@
+; SCHWENKE
+HOME_DMU
+CMD_SPANNER_AUF
+; FAHRE IN DMU REIN
+TRAORI
+G500
+F17000
+G1 X0.000 Y-1650.000 Z1100.000 A0.000 B0.000 C-90.000
+
+; FAHRE UBER SCHRAUBSTOCK
+G55
+G90 G1 X=WP_CLP_OFFSET_X Y0 Z=CLP_BACKENHOHE+WPR_Z-WP_GRP_OFFSET_Z+30 A0 B0 C0 G94
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 Z=-30+1
+
+; GREIFER AUF
+M51
+G4 F2
+CMD_SPANNER_ZU
+; FAHRE INKR HOCH
+G91 G1 Z30.0
+
+; FAHRE AUS DMU RAUS
+G500
+F17000
+G90 G1 X0.000 Y-1000.000 Z1300.000 A0.000 B0.000 C-90.000
+
+; HOME
+HOME_DMU
+
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/DMU_TAKE.MPF b/MPF/ROB/AUTO_ROB/DMU_TAKE.MPF
new file mode 100644
index 0000000..dc9d24a
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/DMU_TAKE.MPF
@@ -0,0 +1,50 @@
+; SCHWENKE
+HOME_DMU
+
+; GREIFER AUF
+M51
+
+; FAHRE IN DMU REIN
+TRAORI
+G500
+F17000
+G1 X0.000 Y-1650.000 Z1100.000 A0.000 B0.000 C-90.000
+
+; FAHRE UBER SCHRAUBSTOCK
+G55
+G90 G1 X=WP_CLP_OFFSET_X Y0 Z=CLP_BACKENHOHE+WPR_Z-WP_GRP_OFFSET_Z+30 A0 B0 C0 G94
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 Z=-30
+
+; SCHRAUBSTOCK AUF
+CMD_SPANNER_AUF
+
+; GREIFER ZU
+M52
+G4 F4
+
+; FAHRE INKR HOCH
+G91 G1 Z30.0
+
+; FAHRE ZURUCK
+G500
+F17000
+G90 G1 Y-1500
+
+; TROCKNEN
+IF R70==1
+DMU_DRY
+ENDIF
+
+; FAHRE AUS DMU RAUS
+;F17000
+;G90 G1 X0.000 Y-1000.000 Z1300.000 A0.000 B0.000 C-90.000
+
+; HOME
+HOME_DMU
+
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/INLAY_PUT.MPF b/MPF/ROB/AUTO_ROB/INLAY_PUT.MPF
new file mode 100644
index 0000000..fa7fd27
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/INLAY_PUT.MPF
@@ -0,0 +1,33 @@
+SOFT
+
+; HOME
+HOME
+
+; FAHRE UBER INLAY
+TRAORI
+;G500
+;F13000
+;G1 PTP X1400 Y-100 Z700 A0 B0 C0 G94
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+WPR_X+R71   Y=R52+WPR_Y+R72   Z=WPR_Z-WP_GRP_OFFSET_Z+60+R73+R83 A0 B0 C0 G94
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 CP Z=-60
+
+; GREIFER AUF
+M51
+G4 F2
+
+; FAHRE INKR HOCH
+G91 G1 Z60
+G90
+
+; HOME
+;HOME
+
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF b/MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF
new file mode 100644
index 0000000..7ef0979
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/INLAY_TAKE.MPF
@@ -0,0 +1,36 @@
+SOFT
+
+; HOME
+;HOME
+
+; GREIFER AUF
+M51
+
+; FAHRE UBER INLAY
+TRAORI
+;G500
+;F13000
+;G1 PTP X1400 Y-100 Z700 A0 B0 C0 G94
+
+; FAHRE UBER TEIL
+G54
+F17000
+G90 G1 CP X=R51+WPR_X   Y=R52+WPR_Y   Z=WPR_Z-WP_GRP_OFFSET_Z+60+R83 A0 B0 C0 G94
+
+; FAHRE INKR RUNTER
+F1000
+G91 G1 CP Z-60
+
+; GREIFER ZU
+M52
+G4 F3
+
+; FAHRE INKR HOCH
+G91 G1 X5 Y5 Z60
+G90
+
+; HOME
+HOME
+
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF b/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF
new file mode 100644
index 0000000..556a550
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL.MPF
@@ -0,0 +1,53 @@
+EXTERN COM_SENT(INT, INT, INT, INT)
+EXTERN COM_WAIT(INT, INT, INT, INT)
+
+
+; TÃœR ZU
+CMD_TUR_ZU
+
+; +++ START - REINIGUNG
+COM_SENT(0,1,0,0)
+
+; ROHTEIL AUS INLAY HOLEN - HOME POSITION FAHREN
+INLAY_TAKE
+
+; WARTE - BIS MASCHINE GEREINIGT WURDE 
+COM_WAIT(0,0,0,1)
+COM_RESET
+
+; SCHRAUBSTOCK AUF
+
+; TÃœR AUF
+CMD_TUR_AUF
+
+; ROHTEIL IN DMU LEGEN
+DMU_PUT
+
+; SCHRAUBSTOCK ZU
+
+; TUR ZU
+CMD_TUR_ZU
+
+; +++ START - BEARBEITEN AUFSPANNUNG1
+COM_SENT(0, 0, 0, 1)
+
+; WARTE - BIS TEIL BEARBEITET IST
+WHILE NOT (($A_IN[1]==0) AND ($A_IN[2]==0) AND ($A_IN[3]==1))
+ENDWHILE
+G4 F1
+COM_RESET
+CMD_GREIFER_OFFSET
+
+; TÃœR AUF
+CMD_TUR_AUF
+
+; TEIL AUS DMU HOLEN
+DMU_TAKE
+
+; TEIL INS INLAY LEGEN
+INLAY_PUT
+
+; RESETTE R VARIABLE
+COM_RESET_R
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF b/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF
new file mode 100644
index 0000000..82fcf4c
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/MAIN_ROB_KERNEL_DEBUG.MPF
@@ -0,0 +1,33 @@
+; SCHRAUBSTOCK AUF
+CMD_SPANNER_AUF
+
+; TÃœR AUF
+CMD_TUR_AUF
+
+; ROHTEIL AUS INLAY HOLEN - HOME POSITION FAHREN
+INLAY_TAKE
+
+; ROHTEIL IN DMU LEGEN
+DMU_PUT
+
+; SCHRAUBSTOCK ZU
+CMD_SPANNER_ZU
+
+; TUR ZU
+CMD_TUR_ZU
+
+CMD_GREIFER_OFFSET
+
+; TÃœR AUF
+CMD_TUR_AUF
+
+; TEIL AUS DMU HOLEN
+DMU_TAKE
+
+; TEIL INS INLAY LEGEN
+INLAY_PUT
+
+; RESETTE R VARIABLE
+COM_RESET_R
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF
new file mode 100644
index 0000000..a1e6cca
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP.MPF
@@ -0,0 +1,33 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX= 1 TO 4
+R52=(( IDX-1) MOD 2)*125*4
+R51=(( IDX-1) DIV 2)*120*2
+
+; MAIN KERNEL RUN
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+
diff --git a/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF
new file mode 100644
index 0000000..578751e
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2.MPF
@@ -0,0 +1,33 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX=0 TO WP_NUM-1
+R51=WP_X[IDX]
+R52=WP_Y[IDX]
+
+; MAIN KERNEL RUN
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+
diff --git a/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF
new file mode 100644
index 0000000..72624ab
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/MAIN_ROB_LOOP2_LASER.MPF
@@ -0,0 +1,37 @@
+; --------------------------------
+; CREATOR: LENTZSCH, GERLITZ
+; --------------------------------
+
+; INIT
+DEF INT IDX
+COM_RESET
+COM_RESET_R
+CFG_INL
+CFG_DMUAUT
+
+
+HOME
+
+; ----------------------------------------
+FOR IDX=0 TO WP_NUM-1
+R51=WP_X[IDX]
+R52=WP_Y[IDX]
+
+CHECKLAS_ISTHEREP_OFFZ
+IF R90==1 
+
+IF R99==69
+MAIN_ROB_KERNEL
+ELSE
+MAIN_ROB_KERNEL_DEBUG
+ENDIF
+
+ENDIF
+
+ENDFOR
+; ----------------------------------------
+
+HOME
+
+M30
+
diff --git a/MPF/ROB/AUTO_ROB/SETKOS.MPF b/MPF/ROB/AUTO_ROB/SETKOS.MPF
new file mode 100644
index 0000000..78869c2
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/SETKOS.MPF
@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF b/MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF
new file mode 100644
index 0000000..38811f0
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/WAIT_SENSOR.MPF
@@ -0,0 +1,7 @@
+PROC WAIT_SENSOR(INT CHANN)
+
+WHILE NOT ($A_DBB[CHANN]==1)
+ENDWHILE
+
+M17
+
diff --git a/MPF/ROB/AUTO_ROB/_REF_G54.MPF b/MPF/ROB/AUTO_ROB/_REF_G54.MPF
new file mode 100644
index 0000000..3bd35f6
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/_REF_G54.MPF
@@ -0,0 +1,13 @@
+DEF REAL CUR_X
+DEF REAL CUR_Y
+DEF REAL CUR_Z
+
+CUR_X=$VA_IW[X]
+CUR_Y=$VA_IW[Y]
+CUR_Z=$VA_IW[Z]
+ 
+
+
+$P_UIFR[1]=CTRANS(X,CUR_X,Y,CUR_Y,Z,CUR_Z):CROT(X,0.000000,Y,-0.000000,Z,0.000000)
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/_REF_G55.MPF b/MPF/ROB/AUTO_ROB/_REF_G55.MPF
new file mode 100644
index 0000000..42c84bd
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/_REF_G55.MPF
@@ -0,0 +1,13 @@
+DEF REAL CUR_X
+DEF REAL CUR_Y
+DEF REAL CUR_Z
+
+CUR_X=$VA_IW[X]
+CUR_Y=$VA_IW[Y]
+CUR_Z=$VA_IW[Z]
+ 
+
+
+$P_UIFR[2]=CTRANS(X,CUR_X,Y,CUR_Y,Z,CUR_Z):CROT(X,0.000000,Y,-0.000000,Z,0.000000)
+
+M17
diff --git a/MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF b/MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF
new file mode 100644
index 0000000..4b2a1fc
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/_TEST_COM_IN.MPF
@@ -0,0 +1,7 @@
+NN1010:
+
+MSG("ZUSTAND INPUT:  "<<$A_IN[1]<<" "<<$A_IN[2]<<" "<<$A_IN[3]<<" "<<$A_IN[4])
+G4 F1
+GOTOB NN1010
+
+M30
diff --git a/MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF b/MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF
new file mode 100644
index 0000000..aa67345
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/_TEST_COM_OUT.MPF
@@ -0,0 +1,6 @@
+$A_OUT[1]=0
+$A_OUT[2]=0
+$A_OUT[3]=0
+$A_OUT[4]=0
+
+M30
diff --git a/MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF b/MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF
new file mode 100644
index 0000000..80077d4
--- /dev/null
+++ b/MPF/ROB/AUTO_ROB/_TEST_SEMSOR.MPF
@@ -0,0 +1,7 @@
+NN1010:
+
+MSG("ZUSTAND INPUT:  "<<$A_DBB[1]<<" "<<$A_DBB[2]<<" "<<$A_DBB[3]<<" "<<$A_DBB[4])
+G4 F1
+GOTOB NN1010
+
+M30
diff --git a/MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF b/MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF
new file mode 100644
index 0000000..8bb5c02
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_INLAYORI_BA.MPF
@@ -0,0 +1,54 @@
+;>>>>> G54:A = +R8 <<<<<
+;>>>>> G54:B = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -50
+DEFINE YSTART AS 15
+DEFINE ZSTART AS 290
+DEFINE XDIFF AS 600
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+SETKOS(0)
+TRAORI
+G54
+
+;P1
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[Z]
+STOPRE
+M01
+
+;P2
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[Z]
+STOPRE
+M01
+
+;P3
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[Z]
+STOPRE
+M01
+
+
+SETKOS(1)
+
+
+
+; BERECHNE
+R8=ATAN((R1-R0)/XDIFF)
+R9=ATAN((R2-R1)/YDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF b/MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF
new file mode 100644
index 0000000..dea12f1
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_INLAYORI_BA___1.MPF
@@ -0,0 +1,86 @@
+;>>>>> G54:A = +R8 <<<<<
+;>>>>> G54:B = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 20
+DEFINE YSTART AS 20
+DEFINE ZSTART AS 275
+DEFINE XDIFF AS 600
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F500
+
+;P1
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R10=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+1 Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R11=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART Y=YSTART+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R12=$AA_MW[Z]
+STOPRE
+M01
+
+;P2
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R20=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+1 Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R21=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART Y=YSTART+YDIFF+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R22=$AA_MW[Z]
+STOPRE
+M01
+
+;P3
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R30=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+XDIFF+1 Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R31=$AA_MW[Z]
+STOPRE
+G90 G1 X=XSTART+XDIFF Y=YSTART+YDIFF+1 Z=ZSTART F=FEED_FAST
+G91 G1 Z=-150 F=FEED_MESS MEAS=1
+STOPRE
+R32=$AA_MW[Z]
+STOPRE
+M01
+
+
+SETKOS(1)
+
+
+; BERECHNE
+R0=(R10+R11+R12)/3
+R1=(R20+R21+R22)/3
+R2=(R30+R31+R32)/3
+
+R8=ATAN((R1-R0)/XDIFF)
+R9=ATAN((R2-R1)/YDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF b/MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF
new file mode 100644
index 0000000..1e7be25
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_INLAYORI_C.MPF
@@ -0,0 +1,40 @@
+;>>>>> G54:C = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -60
+DEFINE YSTART AS 25
+DEFINE ZSTART AS 250
+DEFINE YDIFF AS 1000
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+H1=ZSTART+OFFSET_LASER_Z-10
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R1-R0
+R9=ATAN(R2/YDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF b/MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF
new file mode 100644
index 0000000..c551152
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_INLAYORI_XY.MPF
@@ -0,0 +1,45 @@
+;>>>>> G54:X = +R8 <<<<<
+;>>>>> G54:Y = +R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 30
+DEFINE YSTART AS 30
+DEFINE ZSTART AS 250
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 300.0
+
+R8=0
+R9=0
+H1=ZSTART+OFFSET_LASER_Z-1.5
+
+SETKOS(0)
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=-150 F=FEED_MESS MEAS=1
+STOPRE
+R8=$AA_MW[X]
+STOPRE
+M01
+
+;Y
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R9=$AA_MW[Y]
+STOPRE
+M01
+
+
+M0
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF b/MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF
new file mode 100644
index 0000000..60a2b5d
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_INLAYORI_Z_GRIPPER.MPF
@@ -0,0 +1,25 @@
+;>>>>> RUNTERFAHREN MIT GREIFER BIS PAPIER KLEMMT <<<<<
+;>>>>> ABLESEN Z <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 30
+DEFINE YSTART AS 30
+DEFINE ZSTART AS 300
+DEFINE ZEND AS 50
+DEFINE FEED_FAST AS 13000.0
+
+
+SETKOS(1)
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C0 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 Z=ZEND F=FEED_FAST
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_A.MPF b/MPF/ROB/CALIB/CALIB_LASER_A.MPF
new file mode 100644
index 0000000..9214367
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_A.MPF
@@ -0,0 +1,38 @@
+;>>>>> $MC_ROBX_TTCFL_RPY[2] = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 1090+480
+DEFINE YSTART AS 450
+DEFINE ZSTART AS 850.0
+DEFINE ZDIFF AS 300.0
+DEFINE FEED_FAST AS 5000.0
+DEFINE FEED_MESS AS 200.0
+
+SETKOS(0)
+TRAORI
+
+G90 G1 A0 B0 C0 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 G53 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[Y]
+STOPRE
+M01
+
+
+G90 G1 Y=YSTART Z=ZSTART-ZDIFF F=FEED_FAST
+G91 G1 G53 Y=-150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[Y]
+STOPRE
+
+SETKOS(1)
+M94   ;LASER AUS
+
+
+; BERECHNE
+R2=R0-R1
+R9=ATAN(R2/ZDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_B.MPF b/MPF/ROB/CALIB/CALIB_LASER_B.MPF
new file mode 100644
index 0000000..29659b0
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_B.MPF
@@ -0,0 +1,40 @@
+;>>>>> $MC_ROBX_TTCFL_RPY[0] = R9 <<<<<
+
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 950.0
+DEFINE YSTART AS -400
+DEFINE ZSTART AS 750.0
+DEFINE ZDIFF AS 300.0
+DEFINE FEED_FAST AS 5000.0
+DEFINE FEED_MESS AS 200.0
+
+
+SETKOS(0)
+TRAORI
+
+G90 G1 A0 B0 C30 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 G53 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Z=ZSTART-ZDIFF F=FEED_FAST
+G91 G1 G53 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R0-R1
+R9=ATAN(R2/ZDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_XY.MPF b/MPF/ROB/CALIB/CALIB_LASER_XY.MPF
new file mode 100644
index 0000000..86db233
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_XY.MPF
@@ -0,0 +1,68 @@
+;>>>>> IN SETKOS.MPF:LASER        <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[0] = -X_L = -R8 <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[2] = -Y_L = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+DEFINE THETA1 AS 10
+DEFINE THETA2 AS 90
+DEFINE THETA3 AS 130
+
+H1=370.0
+R1=0
+R2=0
+R3=0
+R4=0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C=THETA1 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C=THETA2 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C=THETA3 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R3=$AA_MW[X]
+STOPRE
+M01
+
+
+
+; BERECHNE
+;(* Compute X_L *)
+R8 = ((R2 - R1) * (-SIN(THETA3) + SIN(THETA1)) - (R3 - R1) * (-SIN(THETA2) + SIN(THETA1))) / ((COS(THETA2) - COS(THETA1)) * (-SIN(THETA3) + SIN(THETA1)) - (COS(THETA3) - COS(THETA1)) * (-SIN(THETA2) + SIN(THETA1)))
+
+;(* Compute Y_L *)
+R9 = ((R2 - R1) - (COS(THETA2) - COS(THETA1)) * R8) / (-SIN(THETA2) + SIN(THETA1))
+
+
+
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF b/MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF
new file mode 100644
index 0000000..9874abe
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_XY_VERIF.MPF
@@ -0,0 +1,35 @@
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C45 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C90 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+G90 G1 A0 B0 C130 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M0
+
+
+SETKOS(1)
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF b/MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF
new file mode 100644
index 0000000..6f0ca78
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_XY__REGR.MPF
@@ -0,0 +1,65 @@
+;>>>>> IN SETKOS.MPF:LASER        <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[0] = -X_L <<<<<
+;>>>>> $MC_ROBX_TTCFL_POS[2] = -Y_L <<<<<
+
+
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -70
+DEFINE YSTART AS 630
+DEFINE ZSTART AS 200
+DEFINE XPROBE AS 250.0
+DEFINE FEED_FAST AS 11000.0
+DEFINE FEED_MESS AS 200.0
+
+H1=370.0
+R1=0
+R2=0
+R3=0
+R4=0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C10 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C45 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R2=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C90 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R3=$AA_MW[X]
+STOPRE
+M01
+
+G90 G1 A0 B0 C130 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=XPROBE F=FEED_MESS MEAS=1
+STOPRE
+R4=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_LASER_Z.MPF b/MPF/ROB/CALIB/CALIB_LASER_Z.MPF
new file mode 100644
index 0000000..a2d6608
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_LASER_Z.MPF
@@ -0,0 +1,34 @@
+;>>>>> LASER_DIST - Z_KOSGRIP    = R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS 15.0
+DEFINE YSTART AS 15.0
+DEFINE ZSTART AS 250
+DEFINE FEED_FAST AS 11000.0
+
+
+R9=0
+H1=370.0
+
+SETKOS(0)
+TRAORI
+G54
+
+G90 G1 A0 B0 C0 F1700
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+M01
+
+CYC_MESSZ1
+
+; BERECHNE
+OFFSET_LASER_Z = R9 - ZSTART
+
+M0
+
+G90 G1 A0 B0 C0 F1700
+;HOME
+SETKOS(1)
+
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_WP_C.MPF b/MPF/ROB/CALIB/CALIB_WP_C.MPF
new file mode 100644
index 0000000..7f2d45d
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_WP_C.MPF
@@ -0,0 +1,40 @@
+;>>>>> G55:C = -R9 <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XSTART AS -60
+DEFINE YSTART AS -25
+DEFINE ZSTART AS 250
+DEFINE YDIFF AS 50
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 500.0
+
+H1=ZSTART+OFFSET_LASER_Z-10
+
+SETKOS(0)
+TRAORI
+G55
+
+G90 G1 A0 B0 C10 F500
+G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R0=$AA_MW[X]
+STOPRE
+M01
+
+
+G90 G1 X=XSTART Y=YSTART+YDIFF Z=ZSTART F=FEED_FAST
+G91 G1 X=150 F=FEED_MESS MEAS=1
+STOPRE
+R1=$AA_MW[X]
+STOPRE
+
+SETKOS(1)
+
+
+; BERECHNE
+R2=R1-R0
+R9=ATAN(R2/YDIFF)
+
+M17
diff --git a/MPF/ROB/CALIB/CALIB_WP_XYZ.MPF b/MPF/ROB/CALIB/CALIB_WP_XYZ.MPF
new file mode 100644
index 0000000..3e3ff7f
--- /dev/null
+++ b/MPF/ROB/CALIB/CALIB_WP_XYZ.MPF
@@ -0,0 +1,53 @@
+;>>>>> X = OFFSET_WP_X <<<<<
+;>>>>> Y = OFFSET_WP_Y <<<<<
+;>>>>> Z = OFFSET_WP_Z <<<<<
+
+EXTERN SETKOS(INT)
+
+DEFINE XAPPROX AS 30
+DEFINE XPLUS AS 60
+DEFINE YAPPROX AS 30
+DEFINE YPLUS AS 60
+DEFINE ZSTART AS 300
+DEFINE FEED_FAST AS 13000.0
+DEFINE FEED_MESS AS 300.0
+
+H1=ZSTART+OFFSET_LASER_Z-10
+
+SETKOS(0)
+TRAORI
+G54
+
+;X
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX+XPLUS Y=YAPPROX Z=ZSTART F=FEED_FAST
+G91 G1 X=-XPLUS F=FEED_MESS MEAS=1
+STOPRE
+OFFSET_WP_X=$AA_MW[X]/2
+STOPRE
+M01
+
+;Y
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX Y=YAPPROX+YPLUS Z=ZSTART F=FEED_FAST
+G91 G1 Y=-YPLUS F=FEED_MESS MEAS=1
+STOPRE
+OFFSET_WP_Y=$AA_MW[Y]/2
+STOPRE
+M01
+
+;Z
+G90 G1 A0 B0 C-3 F500
+G90 G1 X=XAPPROX Y=YAPPROX Z=ZSTART F=FEED_FAST
+CYC_MESSZ1
+OFFSET_WP_Z = -(R9 - OFFSET_LASER_Z -ZSTART)
+
+
+
+M0
+G90 G1 A0 B0 C0 F1700
+HOME
+SETKOS(1)
+
+
+M17
diff --git a/MPF/ROB/CALIB/SETKOS.MPF b/MPF/ROB/CALIB/SETKOS.MPF
new file mode 100644
index 0000000..78869c2
--- /dev/null
+++ b/MPF/ROB/CALIB/SETKOS.MPF
@@ -0,0 +1,36 @@
+PROC SETKOS(INT KOSIDX)
+; KOSIDX =
+;   0: LASER
+;   1: GREIFER
+
+TRAFOOF
+
+T="GRP1"
+M6
+
+;   0: LASER
+IF KOSIDX==0
+$MC_ROBX_TTCFL_POS[0]=40.0747807660773
+$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
+$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
+$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
+$MC_ROBX_TTCFL_RPY[1]=0
+$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
+M93   ;LASER AN
+ENDIF
+
+;   1: GREIFER
+IF KOSIDX==1
+M94   ;LASER AUS
+$MC_ROBX_TTCFL_POS[0]=0
+$MC_ROBX_TTCFL_POS[1]=0
+$MC_ROBX_TTCFL_POS[2]=0
+$MC_ROBX_TTCFL_RPY[0]=45.00
+$MC_ROBX_TTCFL_RPY[1]=1.25
+$MC_ROBX_TTCFL_RPY[2]=91.09
+ENDIF
+
+STOPRE
+NEWCONF
+
+M17
diff --git a/MPF/ROB/CALIB/SETKOS_GRIPPER.MPF b/MPF/ROB/CALIB/SETKOS_GRIPPER.MPF
new file mode 100644
index 0000000..e156a0b
--- /dev/null
+++ b/MPF/ROB/CALIB/SETKOS_GRIPPER.MPF
@@ -0,0 +1,6 @@
+EXTERN SETKOS(INT)
+
+
+SETKOS(1)
+
+M17
diff --git a/MPF/ROB/CALIB/SETKOS_LASER.MPF b/MPF/ROB/CALIB/SETKOS_LASER.MPF
new file mode 100644
index 0000000..5722f6a
--- /dev/null
+++ b/MPF/ROB/CALIB/SETKOS_LASER.MPF
@@ -0,0 +1,5 @@
+EXTERN SETKOS(INT)
+
+SETKOS(0)
+
+M17