; ####    Initialisierungen   #### 
;FOLD INI;%%{PE}%%V3.2.0,%%MKUKATPBASIS,%%CINIT,%%VCOMMON,%%P
;FOLD BAS INI;%%{E}%%V3.2.0,%%MKUKATPBASIS,%%CINIT,%%VINIT,%%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3 
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;FOLD A20 INI;%%{E}%%V3.2.0,%%MKUKATPA20,%%CINIT,%%VINIT,%%P
IF ARC20==TRUE THEN
A20 (ARC_INI)
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2)
ENDIF
;ENDFOLD (A20 INI)
;FOLD A10 INI;%%{E}%%V3.2.0,%%MKUKATPARC,%%CINIT,%%VINIT,%%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT  ON 5
A10_INI ( )
ENDIF
;ENDFOLD (A10 INI)
;FOLD GRIPPER INI;%%{E}%%V3.2.0,%%MKUKATPGRIPPER,%%CINIT,%%VINIT,%%P
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPER INI)
;FOLD SPOT INI;%%{E}%%V3.2.0,%%MKUKATPSPOT,%%CINIT,%%VINIT,%%P
USERSPOT(#INIT)
;ENDFOLD (SPOT INI)
;FOLD TOUCHSENSE INI;%%{E}%%V3.2.0,%%MKUKATPTS,%%CINIT,%%VINIT,%%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0)
H70 (1,CD0 )
ENDIF
;ENDFOLD (TOUCHSENSE INI)
;FOLD USER INI;%%{E}%%V3.2.0,%%MKUKATPUSER,%%CINIT,%%VINIT,%%P
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
; #### Ende Initialisierungen ####
