Set Tool #2 (force sensor) in krl script

ISIR-SYROCO · Feb 12, 2014 · 4a84f4a · 4a84f4a
1 parent e0a7387
commit 4a84f4a
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/script/friISIR.dat b/script/friISIR.dat
@@ -1,5 +1,5 @@
-&ACCESS RVO
-&REL 94
+&ACCESS RVP
+&REL 96
 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
 &PARAM EDITMASK = *
 DEFDAT friISIR

diff --git a/script/friISIR.src b/script/friISIR.src
@@ -1,5 +1,5 @@
-&ACCESS RVO
-&REL 94
+&ACCESS RVP
+&REL 96
 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
 &PARAM EDITMASK = *
 DEF friISIR( )
@@ -33,6 +33,7 @@ DEF friISIR( )
  resetSTIFFNESS()
  $FRI_TO_INT[2] = 10 
 
+ BAS(#TOOL,2)
  ;Force to be in T1 mode
  IF $MODE_OP<>#t1 then
   REPEAT