From 64f5fb38cf7f8dcae0f5dbf3d0cc7a87ba9adde7 Mon Sep 17 00:00:00 2001
From: zhusenlin <Zhu584066*>
Date: Fri, 6 Feb 2026 20:19:20 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0kuka=E7=A8=8B=E5=BA=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 KUKA/KRC/R1/Mada/$machine.dat             |  6 ++--
 KUKA/KRC/R1/Program/Config.dat            |  2 +-
 KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat  | 12 +++----
 KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src  | 16 ++++-----
 KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat  |  6 ++--
 KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src  |  6 ++--
 KUKA/KRC/R1/Program/PL/NgBeltPlace.dat    | 10 +++---
 KUKA/KRC/R1/Program/PL/NgBeltPlace.src    |  6 ++--
 KUKA/KRC/R1/Program/PL/Pallet1Place.dat   | 10 +++---
 KUKA/KRC/R1/Program/PL/Pallet1Place.src   |  6 ++--
 KUKA/KRC/R1/Program/PL/Pallet2Place.dat   | 10 +++---
 KUKA/KRC/R1/Program/PL/Pallet2Place.src   |  6 ++--
 KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat | 10 +++---
 KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src |  6 ++--
 KUKA/KRC/R1/Program/PL/WaterBeltPick.dat  | 10 +++---
 KUKA/KRC/R1/Program/PL/WaterBeltPick.src  |  6 ++--
 KUKA/KRC/R1/Program/PLC.sub               |  4 +--
 KUKA/KRC/R1/Program/TP/TestModule.dat     | 40 +++++++++++++----------
 KUKA/KRC/R1/Program/TP/TestModule.src     | 21 +++++++++++-
 KUKA/KRC/R1/System/$config.dat            | 18 +++++-----
 KUKA/KRC/STEU/$config.dat                 |  2 +-
 KUKA/KRC/STEU/Mada/$custom.dat            |  4 +--
 22 files changed, 120 insertions(+), 97 deletions(-)

diff --git a/KUKA/KRC/R1/Mada/$machine.dat b/KUKA/KRC/R1/Mada/$machine.dat
index cbbbcba..e0ba0ab 100644
--- a/KUKA/KRC/R1/Mada/$machine.dat
+++ b/KUKA/KRC/R1/Mada/$machine.dat
@@ -612,10 +612,10 @@ FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
 FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
 FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
 FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
-E6AXIS $H_POS={A1 -21.6021271,A2 -99.3227234,A3 104.274384,A4 -0.793297172,A5 86.8444748,A6 -6.95475197,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS $H_POS={A1 -40.6010590,A2 -89.9439621,A3 107.739754,A4 -0.0583330207,A5 71.7248154,A6 -24.9933281,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS $AXIS_HOME[5]
-$AXIS_HOME[1]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-$AXIS_HOME[2]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$AXIS_HOME[1]={A1 -54.9559364,A2 -61.7260933,A3 72.9432526,A4 0.0665770397,A5 78.3046722,A6 -39.3794899,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+$AXIS_HOME[2]={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[3]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[4]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 $AXIS_HOME[5]={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,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/Config.dat b/KUKA/KRC/R1/Program/Config.dat
index 69d594f..d3b399a 100644
--- a/KUKA/KRC/R1/Program/Config.dat
+++ b/KUKA/KRC/R1/Program/Config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV1
 DEFDAT  CONFIG PUBLIC
 
 GLOBAL INT PdtTypeLast=0
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
index 6b21df3..fa632ed 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RVO
 DEFDAT  FEEDBELT1PICK
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
@@ -11,14 +11,14 @@ 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=PickH; Kuka.FrameData.base_no=0; 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=CPDAT2; 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 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=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={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 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 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 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 PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,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 31681d8..e780315 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RVO
 DEF  FeedBelt1Pick ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
@@ -15,7 +15,7 @@ DEF  FeedBelt1Pick ( )
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
-;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1] Base[0] ;%{PE}
+;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
    ;ENDFOLD
@@ -25,14 +25,14 @@ DEF  FeedBelt1Pick ( )
    WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter1=TRUE
-;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1] Base[0] ;%{PE}
-;FOLD Parameters ;%{h}
-;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
+;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
+   ;FOLD Parameters ;%{h}
+      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
+   ;ENDFOLD
+   SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
-SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
-;ENDFOLD   
   GripClose()  
-;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1] Base[0] ;%{PE}
+;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
index 4886a02..8f63ae4 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
@@ -14,9 +14,9 @@ DECL LDAT LCPDAT2={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSI
 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 0,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=PickH; Kuka.FrameData.base_no=0; 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=CPDAT2; 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 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 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FPick = {BASE_NO 1,TOOL_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 2fd2cb0..63c28f3 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
@@ -15,7 +15,7 @@ DEF  FeedBelt2Pick ( )
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
-;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
    ;ENDFOLD
@@ -25,14 +25,14 @@ DEF  FeedBelt2Pick ( )
    WAIT FOR I_GripOpen AND I_Signal2 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter1=TRUE
-;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
   GripClose()  
-;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
index c5ba9f6..89df0b4 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
@@ -10,14 +10,14 @@ 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=PlaceH; Kuka.FrameData.base_no=0; 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=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT2; 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 0,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={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={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 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 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 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={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,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}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
index 1e69694..606fe27 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
@@ -15,7 +15,7 @@ DEF  NgBeltPlace ( )
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPlaceH=XPlace
    XPlaceH.Z=XPlace.Z+500
-;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{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
    ;ENDFOLD
@@ -25,14 +25,14 @@ DEF  NgBeltPlace ( )
    WAIT FOR I_AreaReady4 AND NOT I_Signal5 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter2=TRUE
-;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
    GripOpen()  
-;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
index bc74519..bbbc569 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
@@ -13,14 +13,14 @@ DECL INT SUCCESS
 
 
 
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceH; Kuka.FrameData.base_no=0; 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.MoveDataName=CPDAT2; 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 0,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={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={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 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 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 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={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,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}
 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 8ee7e0b..d7094e8 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
@@ -18,7 +18,7 @@ DEF  Pallet1Place ( )
    XPlace.Y=XPallet1PlaceB.Y - CountX_Save*OffsetX_Save    
    XPlaceH=XPlace
    XPlaceH.Z=XPlace.Z+500
-;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1] Base[0] ;%{PE}
+;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[1] ;%{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
    ;ENDFOLD
@@ -28,14 +28,14 @@ DEF  Pallet1Place ( )
    WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter2=TRUE
-;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1] Base[0] ;%{PE}
+;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
    GripOpen()  
-;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PlaceH CONT Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PlaceH; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
index 775aa78..a0d6353 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
@@ -10,14 +10,14 @@ 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=PlaceH; Kuka.FrameData.base_no=0; 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.MoveDataName=CPDAT2; 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 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=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={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 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 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 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 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}
 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 0d38712..959ccdb 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
@@ -17,7 +17,7 @@ DEF  Pallet2Place ( )
    XPlace.Y=XPallet1PlaceB.Y - CountX_Save*OffsetX_Save    
    XPlaceH=XPlace
    XPlaceH.Z=XPlace.Z+500
-;FOLD SPTP PlaceH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;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
    ;ENDFOLD
@@ -27,14 +27,14 @@ DEF  Pallet2Place ( )
    WAIT FOR I_AreaReady2 AND NOT I_GripBelowExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter2=TRUE
-;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN Place Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Place; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPlace WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPlace), $BASE = SBASE(FPlace.BASE_NO), $IPO_MODE = SIPO_MODE(FPlace.IPO_FRAME), $LOAD = SLOAD(FPlace.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
    GripOpen()  
-;FOLD SLIN PlaceH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PlaceH Vel=2 m/s CPDAT2 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=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
index aa51342..84cfc14 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
@@ -10,14 +10,14 @@ 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=PickH; Kuka.FrameData.base_no=0; 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=CPDAT2; 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 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=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={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 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 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 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 PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
 
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
index ea87c24..bbcacba 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
@@ -15,7 +15,7 @@ DEF  ReFeedBeltPick ( )
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
-;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SPTP PickH 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=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
    ;ENDFOLD
@@ -25,14 +25,14 @@ DEF  ReFeedBeltPick ( )
    WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter1=TRUE
-;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
   GripClose()  
-;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
index 063eacd..30f339d 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
@@ -10,14 +10,14 @@ 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=PickH; Kuka.FrameData.base_no=0; 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=CPDAT2; 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 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=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={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 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 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 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 PDAT PPDAT1={APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
 
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
index 558f79f..3e800b5 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
@@ -15,7 +15,7 @@ DEF  WaterBeltPick ( )
    WAIT FOR $IN_HOME OR $IN_HOME1 OR $IN_HOME2 OR CheckInPos(20.0, END_POS)
    XPickH=XPick
    XPickH.Z=XPick.Z+500   
-;FOLD SPTP PickH CONT Vel=100 % PDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SPTP PickH 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=PickH; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
    ;ENDFOLD
@@ -25,14 +25,14 @@ DEF  WaterBeltPick ( )
    WAIT FOR I_GripOpen AND I_Signal1 AND I_AreaReady1 AND I_AreaReady4 AND NOT I_GripExist AND I_GripSafty1 AND I_GripSafty2
    CONTINUE
    Q_AreaEnter1=TRUE
-;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN Pick Vel=2 m/s CPDAT1 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=Pick; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
    SLIN XPick WITH $VEL = SVEL_CP(2.0, , LCPDAT1), $TOOL = STOOL2(FPick), $BASE = SBASE(FPick.BASE_NO), $IPO_MODE = SIPO_MODE(FPick.IPO_FRAME), $LOAD = SLOAD(FPick.TOOL_NO), $ACC = SACC_CP(LCPDAT1), $ORI_TYPE = SORI_TYP(LCPDAT1), $APO = SAPO(LCPDAT1), $JERK = SJERK(LCPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
 ;ENDFOLD
   GripClose()  
-;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[0] ;%{PE}
+;FOLD SLIN PickH Vel=2 m/s CPDAT2 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
    ;FOLD Parameters ;%{h}
       ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PickH; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
    ;ENDFOLD
diff --git a/KUKA/KRC/R1/Program/PLC.sub b/KUKA/KRC/R1/Program/PLC.sub
index d411411..bc5d374 100644
--- a/KUKA/KRC/R1/Program/PLC.sub
+++ b/KUKA/KRC/R1/Program/PLC.sub
@@ -1,5 +1,3 @@
-&ACCESS  RVO
-&COMMENT USER specified PLC program
 &ACCESS RVP
 &COMMENT USER specified PLC program
 DEF  PLC ( )
@@ -41,4 +39,4 @@ DEF  PLC ( )
       ConfMessSave=$CONF_MESS
       ON_ERROR_PROCEED      
    ENDLOOP
-END
+END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/TP/TestModule.dat b/KUKA/KRC/R1/Program/TP/TestModule.dat
index 63a6106..7191773 100644
--- a/KUKA/KRC/R1/Program/TP/TestModule.dat
+++ b/KUKA/KRC/R1/Program/TP/TestModule.dat
@@ -1,6 +1,7 @@
 &ACCESS RVO
-&REL 14
-DEFDAT TestModule
+&REL 18
+&PARAM DISKPATH = KRC:\R1\Program\TP
+DEFDAT  TESTMODULE
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
 ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
 EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
@@ -11,19 +12,24 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL FDAT FPallet1PlaceB = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT1 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,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=PDAT7; 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 = {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 FDAT FFeedBelt1Pick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT3 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FFeedBelt2Pick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT4 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL PDAT PPDAT5 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FNgBeltPlace = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT6 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FWaterBeltPick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL PDAT PPDAT7 = {APO_MODE #CDIS,APO_DIST 500,VEL 100,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL FDAT FReFeedBeltPick = {BASE_NO 0,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FPallet1PlaceB={TOOL_NO 1,BASE_NO 0,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 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}
+DECL FDAT FFeedBelt2Pick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT4={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT5={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FNgBeltPlace={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT6={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FWaterBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT7={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FReFeedBeltPick={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT8={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL FDAT FHOME2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
+DECL PDAT PPDAT9={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
+DECL PDAT PPDAT10={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/TP/TestModule.src b/KUKA/KRC/R1/Program/TP/TestModule.src
index 0ea9e95..fbfa09e 100644
--- a/KUKA/KRC/R1/Program/TP/TestModule.src
+++ b/KUKA/KRC/R1/Program/TP/TestModule.src
@@ -1,5 +1,6 @@
 &ACCESS RVO
-&REL 14
+&REL 18
+&PARAM DISKPATH = KRC:\R1\Program\TP
 DEF  TestModule ( )
 ;FOLD INI;%{PE}
   ;FOLD BASISTECH INI
@@ -55,4 +56,22 @@ SPTP XWaterBeltPick WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FWater
 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
 
+;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
+;ENDFOLD
+SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT10), $APO = SAPO_PTP(PPDAT10), $GEAR_JERK[1] = SGEAR_JERK(PPDAT10), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
+;FOLD SPTP HOME2 Vel=100 % PDAT9 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME2; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT9; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;ENDFOLD
+SPTP XHOME2 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME2), $BASE = SBASE(FHOME2.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME2.IPO_FRAME), $LOAD = SLOAD(FHOME2.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT9), $APO = SAPO_PTP(PPDAT9), $GEAR_JERK[1] = SGEAR_JERK(PPDAT9), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
+;FOLD SPTP HOME1 Vel=100 % PDAT8 ;%{PE}
+;FOLD Parameters ;%{h}
+;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT8; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
+;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), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
+;ENDFOLD
 END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat
index f9fedcf..f5a87ba 100644
--- a/KUKA/KRC/R1/System/$config.dat
+++ b/KUKA/KRC/R1/System/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$1
+&ACCESS RV$2
 DEFDAT  $CONFIG
 ;FOLD BASISTECH GLOBALS
 ;==================================
@@ -136,7 +136,7 @@ DECL PDAT PDEFAULT={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 100.000,E
 DECL LDAT LDEFAULT={VEL 2.00000,ACC 100.000,APO_DIST 100.000,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}
 DECL LDAT CDEFAULT={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 FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
-DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
+DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
 DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}
 DECL HDAT HDEFAULT={HT_START 250.000,HT_DEST 250.000,APO_START 200.000,APO_DEST 200.000,ACC_START 100.000,ACC_DEST 100.000,VEL_START 2.00000,VEL_DEST 2.00000}
 
@@ -175,9 +175,9 @@ INT $ACT_GROUP='B0001'
 
 ; HOME POSITION
 ;----------------------------------
-E6AXIS XHOME={A1 -21.6021271,A2 -99.3227234,A3 104.274384,A4 -0.793297172,A5 86.8444748,A6 -6.95475197,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-E6AXIS XHOME1={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-E6AXIS XHOME2={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME={A1 -40.6010590,A2 -89.9439621,A3 107.739754,A4 -0.0583330207,A5 71.7248154,A6 -24.9933281,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME1={A1 -54.9559364,A2 -61.7260933,A3 72.9432526,A4 0.0665770397,A5 78.3046722,A6 -39.3794899,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+E6AXIS XHOME2={A1 -20.1579895,A2 -101.293922,A3 118.012291,A4 -0.229550526,A5 72.8518906,A6 -4.50146055,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME3={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME4={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 E6AXIS XHOME5={A1 0.0,A2 -90.0000,A3 90.0000,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
@@ -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 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
+BASE_DATA[1]={X 2350.27319,Y 1357.61987,Z 628.256104,A -90.2072,B 0.0586867109,C -179.962265}
 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}
@@ -386,7 +386,7 @@ BASE_DATA[31]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
 BASE_DATA[32]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
 
 DECL CHAR BASE_NAME[32,24]
-BASE_NAME[1,]=" "
+BASE_NAME[1,]="Base1"
 BASE_NAME[2,]=" "
 BASE_NAME[3,]=" "
 BASE_NAME[4,]=" "
@@ -420,7 +420,7 @@ BASE_NAME[31,]=" "
 BASE_NAME[32,]=" "
 
 DECL IPO_M_T BASE_TYPE[32]
-BASE_TYPE[1]=#NONE
+BASE_TYPE[1]=#BASE
 BASE_TYPE[2]=#NONE
 BASE_TYPE[3]=#NONE
 BASE_TYPE[4]=#NONE
@@ -495,7 +495,7 @@ MACHINE_TOOL_DAT[15]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
 MACHINE_TOOL_DAT[16]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
 
 DECL MACHINE_FRAME_T MACHINE_FRAME_DAT[32]
-MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
+MACHINE_FRAME_DAT[1]={MACH_DEF_INDEX 0,PARENT[] "WORLD",GEOMETRY[] " "}
 MACHINE_FRAME_DAT[2]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
 MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
 MACHINE_FRAME_DAT[4]={MACH_DEF_INDEX 0,PARENT[] " ",GEOMETRY[] " "}
diff --git a/KUKA/KRC/STEU/$config.dat b/KUKA/KRC/STEU/$config.dat
index de20b1b..9280c1c 100644
--- a/KUKA/KRC/STEU/$config.dat
+++ b/KUKA/KRC/STEU/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$1
+&ACCESS RV$2
 DEFDAT $CONFIG
 
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/STEU/Mada/$custom.dat b/KUKA/KRC/STEU/Mada/$custom.dat
index 223e3f8..dcde8a2 100644
--- a/KUKA/KRC/STEU/Mada/$custom.dat
+++ b/KUKA/KRC/STEU/Mada/$custom.dat
@@ -43,7 +43,7 @@ $SPTP_EXAX_PARA[6]=#DEFAULT_PARA
 DECL STRIKE_OUT_COMPONENTS $MAX_ABS_STRIKE_OUT={ORIENTATION 20.0000,ROT_EXT_AXES 20.0000,LIN_EXT_AXES 100.000} ;maximaler Wert der ABSOLUTE-Komponenten von $STRIKE_OUT_DEFAULT oder $STRIKE_OUT
 DECL STRIKE_OUT_STRUC $STRIKE_OUT_DEFAULT={MODE #ON,ABSOLUTE {ORIENTATION 7.50000,ROT_EXT_AXES 7.50000,LIN_EXT_AXES 50.0000},RELATIVE {ORIENTATION 40.0000,ROT_EXT_AXES 40.0000,LIN_EXT_AXES 40.0000}} ;Standardkonfiguration der Ausholstrategie fuer SPL-Segmente im Spline-Block
 DECL PRO_IO_T $PRO_I_O_SYS={MODULE[] "/R1/SPS()",COLD_BOOT_RUN #ON}
-DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] " ",COLD_BOOT_RUN #ON}
+DECL PRO_IO_T $PRO_I_O_PROC_ID3={MODULE[] "/R1/PLC()",COLD_BOOT_RUN #ON}
 DECL PRO_IO_T $PRO_I_O_PROC_ID4={MODULE[] " ",COLD_BOOT_RUN #ON}
 DECL PRO_IO_T $PRO_I_O_PROC_ID5={MODULE[] " ",COLD_BOOT_RUN #ON}
 DECL PRO_IO_T $PRO_I_O_PROC_ID6={MODULE[] " ",COLD_BOOT_RUN #ON}
@@ -69,7 +69,7 @@ CHANNEL :LD_EXT_OBJ2 :LD_EXT_OBJ2 $EXT_MOD_2 ;external module 2
 CHANNEL :LD_EXT_FCT1 :LD_EXT_FCT1 $EXT_MOD_3 ;external module 3
 CHANNEL :LD_EXT_FCT2 :LD_EXT_FCT2 $EXT_MOD_4 ;external module 4
 INT $IBUS_ON=0 ;EINSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
-INT $EDIT_MODE=0 ;KOMMUNIKATION TP - XEDIT
+INT $EDIT_MODE=1 ;KOMMUNIKATION TP - XEDIT
 INT $IBUS_OFF=0 ;ABSCHALTEN ALTERNATIVER INTERBUSGRUPPEN
 DECL BOX $WORKSPACE[8] ;UEBERWACHT ARBEITSRAEUME
 $WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}