From 45144a2db2403949f2971cd7a226417a21b0619f Mon Sep 17 00:00:00 2001
From: zhusenlin <Zhu584066*>
Date: Sat, 7 Feb 2026 20:52:35 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E7=A8=8B=E5=BA=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 6040-003上下料 V2.1.project                   | Bin 11859342 -> 11860189 bytes
 KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat    |   2 +-
 KUKA/KRC/R1/KUKA/CollDetect_UserAction.src    |   2 +-
 KUKA/KRC/R1/KUKA/masref_user.dat              |   2 +-
 KUKA/KRC/R1/KUKA/masref_user.src              |   2 +-
 KUKA/KRC/R1/Program/ActionReturn.src          |   2 +-
 KUKA/KRC/R1/Program/Config.dat                |  16 ++---
 KUKA/KRC/R1/Program/Grip/GripClose.src        |   2 +-
 KUKA/KRC/R1/Program/Mylib/CheckInPos.src      |  12 ++--
 KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat      |  18 +++---
 KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src      |   4 +-
 KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat      |  20 +++---
 KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src      |   2 +-
 KUKA/KRC/R1/Program/PL/Pallet1Place.dat       |  18 +++---
 KUKA/KRC/R1/Program/PL/Pallet1Place.src       |   6 +-
 KUKA/KRC/R1/Program/PL/Pallet2Place.dat       |  24 +++----
 KUKA/KRC/R1/Program/PL/Pallet2Place.src       |  12 ++--
 KUKA/KRC/R1/Program/{PL => }/PosBase.dat      |   6 +-
 KUKA/KRC/R1/Program/TP/TestModule.dat         |   8 +--
 KUKA/KRC/R1/Program/TP/TestModule.src         |  61 +++++-------------
 KUKA/KRC/R1/System/$config.dat                |   4 +-
 KUKA/KRC/R1/System/MqttConfig.dat             |   2 +-
 KUKA/KRC/R1/System/MsgLib.dat                 |   2 +-
 KUKA/KRC/R1/System/MsgLib.src                 |   2 +-
 KUKA/KRC/R1/System/bas.src                    |   2 +-
 KUKA/KRC/R1/System/collmonlib.dat             |   2 +-
 KUKA/KRC/R1/System/collmonlib.src             |   2 +-
 KUKA/KRC/R1/System/ir_stopm.src               |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat    |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src    |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat    |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src    |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat     |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src     |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat   |   2 +-
 KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src   |   2 +-
 KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat    |   2 +-
 KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src    |   2 +-
 .../R1/TP/EthernetKRL/EthernetKRL_USER.src    |   2 +-
 KUKA/KRC/R1/TP/p00.dat                        |   2 +-
 KUKA/KRC/R1/TP/p00.src                        |   2 +-
 KUKA/KRC/STEU/$config.dat                     |   2 +-
 42 files changed, 123 insertions(+), 142 deletions(-)
 rename KUKA/KRC/R1/Program/{PL => }/PosBase.dat (75%)

diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project
index 9c4e3ccbf65edd10f84ceaa74b1530fef99573df..b484cb1d558c09a3b4c321bbf0340ea6fd81d725 100644
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diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
index c32e56d..7cae1ab 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 DEFDAT  CollDetect_UserAction
 
 
diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
index b0a5633..0171bef 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 DEF CollDetect_UserAction( )
 
 
diff --git a/KUKA/KRC/R1/KUKA/masref_user.dat b/KUKA/KRC/R1/KUKA/masref_user.dat
index b2a7b8c..e898148 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.dat
+++ b/KUKA/KRC/R1/KUKA/masref_user.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/KUKA/masref_user.src b/KUKA/KRC/R1/KUKA/masref_user.src
index 06a315a..5cb41e2 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.src
+++ b/KUKA/KRC/R1/KUKA/masref_user.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/Program/ActionReturn.src b/KUKA/KRC/R1/Program/ActionReturn.src
index aa0108f..ab75c14 100644
--- a/KUKA/KRC/R1/Program/ActionReturn.src
+++ b/KUKA/KRC/R1/Program/ActionReturn.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 DEF   ActionReturn (nRet:IN )  
    DECL INT nRet  
    END_POS=$POS_ACT   
diff --git a/KUKA/KRC/R1/Program/Config.dat b/KUKA/KRC/R1/Program/Config.dat
index d3b399a..65d04a6 100644
--- a/KUKA/KRC/R1/Program/Config.dat
+++ b/KUKA/KRC/R1/Program/Config.dat
@@ -1,16 +1,16 @@
-&ACCESS RV1
+&ACCESS RV3
 DEFDAT  CONFIG PUBLIC
 
 GLOBAL INT PdtTypeLast=0
-GLOBAL INT CmdCountLast=5
-GLOBAL INT CmdSave=10
-GLOBAL INT OffsetX_Save=0
-GLOBAL INT OffsetY_Save=0
-GLOBAL INT CountX_Save=1
-GLOBAL INT CountY_Save=4
+GLOBAL INT CmdCountLast=19
+GLOBAL INT CmdSave=1
+GLOBAL INT OffsetX_Save=200
+GLOBAL INT OffsetY_Save=100
+GLOBAL INT CountX_Save=0
+GLOBAL INT CountY_Save=0
 
 GLOBAL BOOL ConfMessSave=FALSE
 
-DECL GLOBAL E6POS END_POS={X 3447.50732,Y 2180.00269,Z 1194.16223,A 179.028702,B -19.9683552,C 89.8567,S 6,T 19,E1 3545.58130,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS END_POS={X 1370.55286,Y 1953.72595,Z 1455.51660,A -164.411240,B 0.411031902,C 179.747101,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 
 ENDDAT
diff --git a/KUKA/KRC/R1/Program/Grip/GripClose.src b/KUKA/KRC/R1/Program/Grip/GripClose.src
index 4ba3dd5..7b5f6c3 100644
--- a/KUKA/KRC/R1/Program/Grip/GripClose.src
+++ b/KUKA/KRC/R1/Program/Grip/GripClose.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 DEF  GripClose ( )
    Q_GripPosIndex=102
    Q_GripPosCount=I_GripPosCountRet+1
diff --git a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
index 7d5f646..71867a0 100644
--- a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
+++ b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
@@ -1,19 +1,17 @@
-&ACCESS RVO
+&ACCESS RVO2
 DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
    DECL REAL R_offset
    DECL BOOL b_Pok
    DECL E6POS ACT_Point
    DECL E6POS EndPos
+   BAS(#BASE,1)
+   BAS(#TOOL,1)   
+   
    ACT_Point = $POS_ACT   
    IF (ABS(ACT_Point.X - EndPos.X) > R_offset) OR (ABS(ACT_Point.Y - EndPos.Y) > R_offset) OR (ABS(ACT_Point.Z - EndPos.Z) > R_offset)  OR (ABS(ACT_Point.A - EndPos.A) > 0.5)  OR (ABS(ACT_Point.B - EndPos.B) > 0.5)  OR (ABS(ACT_Point.C - EndPos.C) > 0.5)  OR (ABS(ACT_Point.E1 - EndPos.E1) > R_offset) THEN
       b_Pok=FALSE
    ELSE
       b_Pok=TRUE 
-   ENDIF      
-   IF NOT b_Pok THEN      
-      MsgNotify("CheckInPosError", "OutArea", , , 1) 
-      ;HALT
-   ENDIF
-   
+   ENDIF         
    RETURN b_Pok 
 ENDFCT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
index fa632ed..0f1e2c2 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
@@ -1,4 +1,6 @@
-&ACCESS RVO
+&ACCESS RVP
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT1PICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -11,14 +13,14 @@ DECL INT SUCCESS
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
 
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=  "}
-DECL FDAT FPickH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL LDAT LCPDAT1={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FPick={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPick={X 1797.49475,Y 1360.66516,Z 667.609802,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=  "}
+DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPickH={X -371.799255,Y 3335.85059,Z 535.821533,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPick={X -371.799255,Y 3335.85059,Z 35.8215332,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 
-DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
index e780315..3bc5dd5 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
@@ -1,4 +1,6 @@
-&ACCESS RVO
+&ACCESS RVP
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt1Pick ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
index 8f63ae4..1bad698 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
@@ -1,5 +1,5 @@
-&ACCESS RV
-DEFDAT FeedBelt2Pick
+&ACCESS RVP
+DEFDAT  FEEDBELT2PICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
 EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
@@ -10,13 +10,13 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL LDAT LCPDAT2={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPick_1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
-DECL LDAT LCPDAT1={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FPickH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=  "}
-DECL E6POS XPickH = {A -165.39949,B -1.87913013,C 179.43277,S 2,T 43,X 1797.49475,Y 1360.66516,Z 1167.60986,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL E6POS XPick = {A -165.39949,B -1.87913013,C 179.43277,S 2,T 43,X 1797.49475,Y 1360.66516,Z 667.609802,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL FDAT FPick = {BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FPickH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pick; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=  "}
+DECL E6POS XPickH={X 1797.49475,Y 1360.66516,Z 1167.60986,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPick={X -513.757690,Y 3336.04053,Z 35.8174858,A -167.311752,B 0.414277077,C 179.724655,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL FDAT FPick={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
index 63c28f3..a432b0f 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RVP
 DEF  FeedBelt2Pick ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
index bbbc569..2c19fd4 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
@@ -1,4 +1,6 @@
 &ACCESS RV
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET1PLACE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -13,14 +15,14 @@ DECL INT SUCCESS
 
 
 
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
-DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
+DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL LDAT LCPDAT1={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FPlace={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL E6POS XPlace={X 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL LDAT LCPDAT2={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FHOME1 = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT2 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.src b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
index d7094e8..3e34f3f 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
@@ -1,4 +1,6 @@
 &ACCESS RV
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet1Place ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
@@ -14,8 +16,8 @@ DEF  Pallet1Place ( )
   
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)  
    XPlace=XPallet1PlaceB
-   XPlace.X=XPallet1PlaceB.X - CountY_Save*OffsetY_Save
-   XPlace.Y=XPallet1PlaceB.Y - CountX_Save*OffsetX_Save    
+   XPlace.X=XPallet1PlaceB.X - CountX_Save*OffsetX_Save
+   XPlace.Y=XPallet1PlaceB.Y - CountY_Save*OffsetY_Save    
    XPlaceH=XPlace
    XPlaceH.Z=XPlace.Z+500
 ;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
index a0d6353..624629a 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
@@ -1,5 +1,7 @@
-&ACCESS RV
-DEFDAT Pallet2Place
+&ACCESS RVO
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
+DEFDAT  PALLET2PLACE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
 EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
@@ -10,14 +12,14 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
-DECL FDAT FPlaceH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlaceH={X 1800.64709,Y -146.362045,Z 1228.85449,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL LDAT LCPDAT1={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FPlace={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlace={X 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Place; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT1; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT1; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
+DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPlaceH={X 1501.64038,Y 2642.32153,Z 665.978271,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPlace={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
-DECL PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FHOME1 = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT2 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.src b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
index 959ccdb..74bb71d 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
@@ -1,4 +1,6 @@
-&ACCESS RV
+&ACCESS RVO
+&REL 1
+&PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet2Place ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
@@ -12,11 +14,11 @@ DEF  Pallet2Place ( )
   ;ENDFOLD (USER INI)
 ;ENDFOLD (INI)
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
-   XPlace=XPallet1PlaceB
-   XPlace.X=XPallet1PlaceB.X - CountY_Save*OffsetY_Save
-   XPlace.Y=XPallet1PlaceB.Y - CountX_Save*OffsetX_Save    
+   XPlace=XPallet2PlaceB
+   XPlace.X=XPallet2PlaceB.X - CountX_Save*OffsetX_Save
+   XPlace.Y=XPallet2PlaceB.Y - CountY_Save*OffsetY_Save    
    XPlaceH=XPlace
-   XPlaceH.Z=XPlace.Z+500
+   XPlaceH.Z=XPlace.Z+400
 ;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
diff --git a/KUKA/KRC/R1/Program/PL/PosBase.dat b/KUKA/KRC/R1/Program/PosBase.dat
similarity index 75%
rename from KUKA/KRC/R1/Program/PL/PosBase.dat
rename to KUKA/KRC/R1/Program/PosBase.dat
index 3ba055a..99ab02b 100644
--- a/KUKA/KRC/R1/Program/PL/PosBase.dat
+++ b/KUKA/KRC/R1/Program/PosBase.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEFDAT  POSBASE PUBLIC
@@ -6,8 +6,8 @@ DEFDAT  POSBASE PUBLIC
 ;***************************************************
 ;                      *
 ;***************************************************
-DECL GLOBAL E6POS XPallet1PlaceB={X 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL GLOBAL E6POS XPallet2PlaceB={X 1800.64709,Y -146.362045,Z 728.854492,A -165.397675,B -1.88142359,C 179.427,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS XPallet1PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS XPallet2PlaceB={X 1501.64038,Y 2642.32153,Z 265.978241,A -164.789139,B 0.414351225,C 179.724762,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XFeedBelt1Pick={X 1797.49475,Y 1360.66516,Z 667.609802,A -165.399490,B -1.87913013,C 179.432770,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XFeedBelt2Pick={X 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL GLOBAL E6POS XNgBeltPlace={X 1797.49353,Y 1360.66553,Z 667.598755,A -165.400482,B -1.87961507,C 179.432861,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
diff --git a/KUKA/KRC/R1/Program/TP/TestModule.dat b/KUKA/KRC/R1/Program/TP/TestModule.dat
index 7191773..7c43640 100644
--- a/KUKA/KRC/R1/Program/TP/TestModule.dat
+++ b/KUKA/KRC/R1/Program/TP/TestModule.dat
@@ -1,5 +1,5 @@
 &ACCESS RVO
-&REL 18
+&REL 20
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEFDAT  TESTMODULE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
@@ -12,10 +12,10 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
-DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=False; Kuka.ColDetectFieldEnabled=False; Kuka.MovementParameterFieldEnabled=False; Kuka.IsAngleEnabled=False; Kuka.PointName=ReFeedBeltPick; Kuka.FrameData.base_no=0; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT10; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0"}
-DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=Pallet2PlaceB; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT2; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=100; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=False; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.FrameData.point2="}
+DECL FDAT FPallet2PlaceB={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT2={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL FDAT FFeedBelt1Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT3={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
diff --git a/KUKA/KRC/R1/Program/TP/TestModule.src b/KUKA/KRC/R1/Program/TP/TestModule.src
index fbfa09e..eba6aa2 100644
--- a/KUKA/KRC/R1/Program/TP/TestModule.src
+++ b/KUKA/KRC/R1/Program/TP/TestModule.src
@@ -1,5 +1,5 @@
 &ACCESS RVO
-&REL 18
+&REL 20
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEF  TestModule ( )
 ;FOLD INI;%{PE}
@@ -12,50 +12,7 @@ DEF  TestModule ( )
     ;Make your modifications here
 
   ;ENDFOLD (USER INI)
-;ENDFOLD (INI)
-;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XPallet1PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet1PlaceB), $BASE = SBASE(FPallet1PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet1PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet1PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XPallet2PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet2PlaceB), $BASE = SBASE(FPallet2PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet2PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet2PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP FeedBelt1Pick Vel=100 % PDAT3 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt1Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT3; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XFeedBelt1Pick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FFeedBelt1Pick), $BASE = SBASE(FFeedBelt1Pick.BASE_NO), $IPO_MODE = SIPO_MODE(FFeedBelt1Pick.IPO_FRAME), $LOAD = SLOAD(FFeedBelt1Pick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT3), $APO = SAPO_PTP(PPDAT3), $GEAR_JERK[1] = SGEAR_JERK(PPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP FeedBelt2Pick Vel=100 % PDAT4 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=FeedBelt2Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XFeedBelt2Pick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FFeedBelt2Pick), $BASE = SBASE(FFeedBelt2Pick.BASE_NO), $IPO_MODE = SIPO_MODE(FFeedBelt2Pick.IPO_FRAME), $LOAD = SLOAD(FFeedBelt2Pick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP NgBeltPlace Vel=100 % PDAT5 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=NgBeltPlace; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT5; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XNgBeltPlace WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FNgBeltPlace), $BASE = SBASE(FNgBeltPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FNgBeltPlace.IPO_FRAME), $LOAD = SLOAD(FNgBeltPlace.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT5), $APO = SAPO_PTP(PPDAT5), $GEAR_JERK[1] = SGEAR_JERK(PPDAT5), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP WaterBeltPick Vel=100 % PDAT6 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=WaterBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT6; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XWaterBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FWaterBeltPick), $BASE = SBASE(FWaterBeltPick.BASE_NO), $IPO_MODE = SIPO_MODE(FWaterBeltPick.IPO_FRAME), $LOAD = SLOAD(FWaterBeltPick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT6), $APO = SAPO_PTP(PPDAT6), $GEAR_JERK[1] = SGEAR_JERK(PPDAT6), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-;FOLD SPTP ReFeedBeltPick Vel=100 % PDAT7 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=ReFeedBeltPick; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT7; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
-;ENDFOLD
-SPTP XReFeedBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FReFeedBeltPick), $BASE = SBASE(FReFeedBeltPick.BASE_NO), $IPO_MODE = SIPO_MODE(FReFeedBeltPick.IPO_FRAME), $LOAD = SLOAD(FReFeedBeltPick.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT7), $APO = SAPO_PTP(PPDAT7), $GEAR_JERK[1] = SGEAR_JERK(PPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD
-
+  ;ENDFOLD (INI)
 ;FOLD SPTP HOME Vel=100 % PDAT10 ;%{PE}
 ;FOLD Parameters ;%{h}
 ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT10; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
@@ -74,4 +31,18 @@ SPTP XHOME2 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME2), $BASE
 ;ENDFOLD
 SPTP XHOME1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME1), $BASE = SBASE(FHOME1.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME1.IPO_FRAME), $LOAD = SLOAD(FHOME1.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT8), $APO = SAPO_PTP(PPDAT8), $GEAR_JERK[1] = SGEAR_JERK(PPDAT8), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
+;FOLD SPTP Pallet1PlaceB Vel=100 % PDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet1PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;ENDFOLD
+SPTP XPallet1PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet1PlaceB), $BASE = SBASE(FPallet1PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet1PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet1PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
+;FOLD SPTP Pallet2PlaceB Vel=100 % PDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pallet2PlaceB; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;ENDFOLD
+SPTP XPallet2PlaceB WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FPallet2PlaceB), $BASE = SBASE(FPallet2PlaceB.BASE_NO), $IPO_MODE = SIPO_MODE(FPallet2PlaceB.IPO_FRAME), $LOAD = SLOAD(FPallet2PlaceB.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT2), $APO = SAPO_PTP(PPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
+
+
 END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat
index f5a87ba..6206aa5 100644
--- a/KUKA/KRC/R1/System/$config.dat
+++ b/KUKA/KRC/R1/System/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$2
+&ACCESS RV$4
 DEFDAT  $CONFIG
 ;FOLD BASISTECH GLOBALS
 ;==================================
@@ -352,7 +352,7 @@ DECL LOAD LOAD_A3_DATA={M 50.0000,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X
 
 INT MAX_BASE=32
 DECL FRAME BASE_DATA[32]
-BASE_DATA[1]={X 2350.27319,Y 1357.61987,Z 628.256104,A -90.2072,B 0.0586867109,C -179.962265}
+BASE_DATA[1]={X 823.726135,Y -1331.62146,Z 626.088379,A -0.308851,B 0.00167013647,C -0.0266715586}
 BASE_DATA[2]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
 BASE_DATA[3]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
 BASE_DATA[4]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
diff --git a/KUKA/KRC/R1/System/MqttConfig.dat b/KUKA/KRC/R1/System/MqttConfig.dat
index 9ddf9a2..abfcfa3 100644
--- a/KUKA/KRC/R1/System/MqttConfig.dat
+++ b/KUKA/KRC/R1/System/MqttConfig.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 DEFDAT  MqttConfig PUBLIC
 
 ; Publisher IP address for KukaConnect data-set configuration.
diff --git a/KUKA/KRC/R1/System/MsgLib.dat b/KUKA/KRC/R1/System/MsgLib.dat
index 845922f..d8aa177 100644
--- a/KUKA/KRC/R1/System/MsgLib.dat
+++ b/KUKA/KRC/R1/System/MsgLib.dat
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT Message library
 DEFDAT  MsgLib PUBLIC
 
diff --git a/KUKA/KRC/R1/System/MsgLib.src b/KUKA/KRC/R1/System/MsgLib.src
index 999fbb8..9f0ce5b 100644
--- a/KUKA/KRC/R1/System/MsgLib.src
+++ b/KUKA/KRC/R1/System/MsgLib.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT Message library
 DEF  MsgLib ( )
 ;**************************************************
diff --git a/KUKA/KRC/R1/System/bas.src b/KUKA/KRC/R1/System/bas.src
index 86b050e..bc3aec6 100644
--- a/KUKA/KRC/R1/System/bas.src
+++ b/KUKA/KRC/R1/System/bas.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &REL 1
 &COMMENT BASIS package
 DEF  BAS (COMMAND :IN,REAL_PAR :IN )
diff --git a/KUKA/KRC/R1/System/collmonlib.dat b/KUKA/KRC/R1/System/collmonlib.dat
index 41ed38d..078fec0 100644
--- a/KUKA/KRC/R1/System/collmonlib.dat
+++ b/KUKA/KRC/R1/System/collmonlib.dat
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT Collision monitoring library
 DEFDAT  COLLMONLIB PUBLIC
 ;DO NOT MODIFY THIS FILE
diff --git a/KUKA/KRC/R1/System/collmonlib.src b/KUKA/KRC/R1/System/collmonlib.src
index a1d099c..5cffcdb 100644
--- a/KUKA/KRC/R1/System/collmonlib.src
+++ b/KUKA/KRC/R1/System/collmonlib.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT Collision monitoring library
 DEF CollMonLib( )
 
diff --git a/KUKA/KRC/R1/System/ir_stopm.src b/KUKA/KRC/R1/System/ir_stopm.src
index a720129..bd78af4 100644
--- a/KUKA/KRC/R1/System/ir_stopm.src
+++ b/KUKA/KRC/R1/System/ir_stopm.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT HandlerOnRobotFault
 DEF  IR_STOPM ( )
 ;-----------------------------------
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
index 5133721..a63a9c7 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
index 5035564..0f11a17 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
index bbd1771..80d9715 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
index d502051..6eb4f60 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
index 7d24433..5320079 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO2
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
index 81f1c7b..66cbaf3 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO2
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
index 9946763..278d11d 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
index 0fe0872..e8c41c0 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV2
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
index 6cc0297..786b6a3 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
@@ -1,4 +1,4 @@
-&ACCESS RO
+&ACCESS RO2
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEFDAT  EthernetKRL PUBLIC
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
index a730daf..06ae15b 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
@@ -1,4 +1,4 @@
-&ACCESS RO
+&ACCESS RO2
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEF EthernetKRL( )
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
index f2c0721..0608a95 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
@@ -1,4 +1,4 @@
-&ACCESS RO
+&ACCESS RO2
 &REL 2314
 &PARAM DISKPATH = TP/EthernetKRL
 DEF EthernetKRL_USER( )
diff --git a/KUKA/KRC/R1/TP/p00.dat b/KUKA/KRC/R1/TP/p00.dat
index 1644eae..ed6c061 100644
--- a/KUKA/KRC/R1/TP/p00.dat
+++ b/KUKA/KRC/R1/TP/p00.dat
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT EXTERNAL package
 DEFDAT  P00
 
diff --git a/KUKA/KRC/R1/TP/p00.src b/KUKA/KRC/R1/TP/p00.src
index 45503ee..94d8626 100644
--- a/KUKA/KRC/R1/TP/p00.src
+++ b/KUKA/KRC/R1/TP/p00.src
@@ -1,4 +1,4 @@
-&ACCESS R1
+&ACCESS R3
 &COMMENT EXTERNAL package
 DEF  P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
   DECL P00_COMMAND COMMAND
diff --git a/KUKA/KRC/STEU/$config.dat b/KUKA/KRC/STEU/$config.dat
index 9280c1c..43e4b73 100644
--- a/KUKA/KRC/STEU/$config.dat
+++ b/KUKA/KRC/STEU/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$2
+&ACCESS RV$4
 DEFDAT $CONFIG
 
 ENDDAT
\ No newline at end of file