Initial commit

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/kuka_kr300_r2500-Main.ini

@@ -0,0 +1,10 @@
+PMAC
+PGUD
+CHAN_DATA
+to_ini
+robotic_to_ini_Main
+
+##LANGUAGE AC
+//set robot external rotary offset for positioner
+SetRobotExtOffset();
+##LANGUAGE NATIVE

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/kuka_kr300_r2500.py

@@ -0,0 +1,237 @@
+# 
+# Copyright (c) 2020 Siemens Industry Software Inc. 
+# Unpublished - All rights reserved 
+#
+# 
+# 
+# ================================================================
+
+
+import CSEWrapper
+from CSEWrapper import ChannelState
+from CSEWrapper import NCExpressionSystem
+from CSEWrapper import VariableManager
+from CSEWrapper import NCValueFactory
+from CSEWrapper import NCBasicType
+import CseRobotBasic
+from CseRobotBasic import RobotMethods
+from CseRobotBasic import RobotControllerState
+from CseRobotBasic import RobotControllerCommands
+from CseRobotBasic import RobotControllerMethods
+from CseRobotBasic import RobotControllerMetacodes
+from CseRobotBasic import RobotCartType
+import CSES840D
+import CseS840D_Lex
+import CseS840D_Methods
+import CseS840D_Metacodes
+import CseS840D_Commands
+
+class S840D_KUKA_RMR_SINUMERIK_ControllerState(RobotControllerState):
+    def __init__(self):
+        super().__init__()
+        self.m_strState = "S840D_KUKA_RMR_SINUMERIK"
+
+    def InitializeChannel(self, channel : ChannelState):
+        super().InitializeChannel(channel)
+        exprSystem = channel.GetExprSystem()
+        valFactory = exprSystem.GetValueFactory()
+        varManager = exprSystem.GetVarManager()
+
+        #register robotic variables
+        intValue = valFactory.CreateIntegerValue(0)
+        varManager.RegisterVariable("$MC_ROBX_CC_TOA_START_NUM", varManager.GLOBAL_ONLY, NCBasicType.INTEGER, intValue)
+        intValue = valFactory.CreateIntegerValue(1)
+        varManager.RegisterVariable("$MC_ROBX_TOOL_DIR", varManager.GLOBAL_ONLY, NCBasicType.INTEGER, intValue)
+        doubleType = exprSystem.CreateBasicType(NCBasicType.DOUBLE)
+        arrayType = exprSystem.CreateArrayType(doubleType, [3], True)
+        varManager.RegisterArrayVariable("$MC_ROBX_TTCFL_POS", VariableManager.GLOBAL_ONLY, arrayType.CreateArray())
+        varManager.RegisterArrayVariable("$MC_ROBX_TTCFL_RPY", VariableManager.GLOBAL_ONLY, arrayType.CreateArray())
+        varManager.RegisterArrayVariable("$MC_ROBX_EXT_ROT_BASE_OFFSET", VariableManager.GLOBAL_ONLY, arrayType.CreateArray())
+        varManager.RegisterArrayVariable("$MC_ROBX_EXT_ROT_PART_OFFSET", VariableManager.GLOBAL_ONLY, arrayType.CreateArray())
+
+class S840D_KUKA_RMR_SINUMERIK_Methods(CseS840D_Methods.ControllerMethods, RobotControllerMethods):
+    def CSEInitializeChannel_py(channel: ChannelState):
+        RobotMethods.CSEInitializeRobotChannel(channel)
+        #create spindle axis
+        channel.CreateJoint("S", "S", "spindle", "no_axis", RobotMethods.FindFirstAvailableAxisNumber(channel))
+        channel.SetMainSpindle("S")
+        #set default robot interpolation mode
+        channel.CallMethod("SetRobotOriIpoMode", "oriwcs")
+        return True
+
+    def ActivateToolCorrection_RMR(channel: ChannelState, ToolNo : int, DNo : int):
+        cartType = channel.GetControllerState().m_cartType
+        channel.GetControllerState().m_cartType = RobotCartType.CART_TYPE_RPY
+
+        dToolOffsetZ = channel.GetLCorrection()
+        dToolOffsetY = channel.GetQCorrection()
+        dToolOffsetX = channel.GetZCorrection()
+
+        dToolOffsetC = channel.GetArrayElement("$TC_DPC1", [ToolNo, DNo])
+        dToolOffsetB = channel.GetArrayElement("$TC_DPC2", [ToolNo, DNo])
+        dToolOffsetA = channel.GetArrayElement("$TC_DPC3", [ToolNo, DNo])
+        matTool = RobotMethods.BuildMatrix(channel, dToolOffsetX, dToolOffsetY, dToolOffsetZ, dToolOffsetA, dToolOffsetB, dToolOffsetC)
+
+        dHeadOffsetX = channel.GetArrayElement("$MC_ROBX_TTCFL_POS", [0])
+        dHeadOffsetY = channel.GetArrayElement("$MC_ROBX_TTCFL_POS", [1])
+        dHeadOffsetZ = channel.GetArrayElement("$MC_ROBX_TTCFL_POS", [2])
+
+        dHeadOffsetA = channel.GetArrayElement("$MC_ROBX_TTCFL_RPY", [0])
+        dHeadOffsetB = channel.GetArrayElement("$MC_ROBX_TTCFL_RPY", [1])
+        dHeadOffsetC = channel.GetArrayElement("$MC_ROBX_TTCFL_RPY", [2])
+        matHead = RobotMethods.BuildMatrix(channel, dHeadOffsetX, dHeadOffsetY, dHeadOffsetZ, dHeadOffsetA, dHeadOffsetB, dHeadOffsetC)
+
+        matTool.Invert()
+        toolTrafo = matTool * matHead
+        vecGeo = toolTrafo.GetRowVec(3)
+        (A, B, C) = RobotMethods.MatToRPY(toolTrafo)
+        RobotMethods.SetToolTipTrafo(channel, vecGeo[0], vecGeo[1], vecGeo[2], A, B, C)
+
+        channel.GetControllerState().m_cartType = cartType
+        return True
+
+    def SetRobotOriIpoMode(channel: ChannelState, ipoMode: str) -> bool:
+        if (ipoMode == "orimcs"):
+            channel.CallMethod("GMe_SetOrientationInterpolation", 1)
+            if (channel.GetArrayElement("$P_GG", [25]) == 1):
+                channel.SetInterpolationMode("tcp_onlytarget")
+        if (ipoMode == "oriwcs"):
+            channel.CallMethod("GMe_SetOrientationInterpolation", 2)
+            if (channel.GetArrayElement("$P_GG", [25]) == 2):
+                channel.SetInterpolationMode("tcp_oriwcs_conormal")
+        return True
+
+    def RobotAdditiveActivateOn(channel: ChannelState) -> bool:
+        nCurrentIdx = channel.GetControllerState().m_currentToolCarrierIndex
+        channel.Assert(nCurrentIdx >= 0, "Fatal", "Invalid current tool carrier index " + str(nCurrentIdx) + ".")
+        sToolName = channel.GetControllerState().GetToolCarrierDataWithCheck(channel, nCurrentIdx).m_toolName
+        if channel.GetToolParameter(sToolName, "purpose") == "additive":
+            channel.SetToolMode(sToolName, "AddMaterial")
+        elif channel.GetToolParameter(sToolName, "purpose") == "coloring":
+            channel.SetToolMode(sToolName, "ColorMaterial")
+        return True
+
+    def RobotAdditiveActivateOff(channel: ChannelState) -> bool:
+        nCurrentIdx = channel.GetControllerState().m_currentToolCarrierIndex
+        channel.Assert(nCurrentIdx >= 0, "Fatal", "Invalid current tool carrier index " + str(nCurrentIdx) + ".")
+        sToolName = channel.GetControllerState().GetToolCarrierDataWithCheck(channel, nCurrentIdx).m_toolName
+        channel.SetToolMode(sToolName, "Off")
+        return True
+
+    def RobotHandleLineStartEvent(channel : ChannelState) -> bool:
+        channel.CallMethod("ResetCartesianData")
+        channel.CallMethod("GMe_HandleLineStartEvent")
+        return True
+
+    def RobotHandleLineEndEvent(channel : ChannelState) -> bool:
+        channel.CallMethod("PassCartesianData")
+        channel.CallMethod("GMe_HandleLineEndEvent")
+        return True
+
+    def InitializeAllRobotAxes(channel : ChannelState) -> bool:
+        RobotControllerMethods.InitializeAllRobotAxes(channel)
+        channel.Assert(CseRobotBasic.DebugRobot==0, "Warning", "GV_strSwivelingChainName=" + str(channel.GetControllerState().m_activeChain))
+        channel.SetStateAttribute("GV_strSwivelingChainName", channel.GetControllerState().m_activeChain)
+
+    def SetRobotContinuousPath(channel : ChannelState) -> bool:
+        channel.CallMethod("ActivateContinuousMotions")
+        return True
+
+class S840D_KUKA_RMR_SINUMERIK_Commands(CseS840D_Commands.ControllerCommands, RobotControllerCommands):
+    def RegisterRobotAxes(channel: ChannelState) -> bool:
+        channel.CallMethod("InitializeAllRobotAxes")
+        for axisName in channel.GetControllerState().m_internalAxesMap:
+            CseS840D_Lex.RegisterToken('ROBOT_AXIS_ADDRESS', axisName)
+        for axisName in channel.GetControllerState().m_externalAxesMap:
+            CseS840D_Lex.RegisterToken('ROBOT_AXIS_ADDRESS', axisName)
+        return True
+
+    def SetRobotExtOffset(channel: ChannelState) -> bool:
+        cartType = channel.GetControllerState().m_cartType
+        channel.GetControllerState().m_cartType = RobotCartType.CART_TYPE_RPY
+
+        dExtRotBaseOffsetX = channel.GetArrayElement("$MC_ROBX_EXT_ROT_BASE_OFFSET", [0])
+        dExtRotBaseOffsetY = channel.GetArrayElement("$MC_ROBX_EXT_ROT_BASE_OFFSET", [1])
+        dExtRotBaseOffsetZ = channel.GetArrayElement("$MC_ROBX_EXT_ROT_BASE_OFFSET", [2])
+        matExtRotBaseOffset = RobotMethods.BuildMatrix(channel, dExtRotBaseOffsetX, dExtRotBaseOffsetY, dExtRotBaseOffsetZ, .0, .0, .0)
+
+        dExtRotPartOffsetX = channel.GetArrayElement("$MC_ROBX_EXT_ROT_PART_OFFSET", [0])
+        dExtRotPartOffsetY = channel.GetArrayElement("$MC_ROBX_EXT_ROT_PART_OFFSET", [1])
+        dExtRotPartOffsetZ = channel.GetArrayElement("$MC_ROBX_EXT_ROT_PART_OFFSET", [2])
+        matExtRotPartOffset = RobotMethods.BuildMatrix(channel, dExtRotPartOffsetX, dExtRotPartOffsetY, dExtRotPartOffsetZ, .0, .0, .0)
+
+        matExtRotOffset = matExtRotPartOffset * matExtRotBaseOffset
+        RobotMethods.SetTransformationMatrix(channel, "EXTOFFSET", matExtRotOffset)
+
+        channel.GetControllerState().m_cartType = cartType
+        return True
+
+class S840D_KUKA_RMR_SINUMERIK_Metacodes(CseS840D_Metacodes.ControllerMetacodes, RobotControllerMetacodes):
+    # Use this class to add machine specific metacodes. 
+    # We do not output messages from the machine code, we just parse them.
+    def MSG(channel : ChannelState, value):
+        return True
+
+    # Robot configuration status bits
+    def STAT(channel : ChannelState, Value : int):
+        channel.CallMethod("SetCartesianComponent", "S", Value)
+        return True
+
+    # Robot configuration turn bits
+    def TU(channel : ChannelState, Value : int):
+        channel.CallMethod("SetCartesianComponent", "T", Value)
+        return True
+
+    # PTP motion with Cartesian target, configuration (STAT TU)
+    def PTP(channel : ChannelState, X : "MCParam" = None,
+                                    Y : "MCParam" = None, 
+                                    Z : "MCParam" = None, 
+                                    A : "MCParam" = None, 
+                                    B : "MCParam" = None, 
+                                    C : "MCParam" = None,
+                                    STAT : "MCParam" = None, 
+                                    TU : "MCParam" = None):
+        RobotMethods.Ptp(channel)
+        if X != None:
+            channel.CallMethod("SetCartesianComponent", "X", X)
+        if Y != None:
+            channel.CallMethod("SetCartesianComponent", "Y", Y)
+        if Z != None:
+            channel.CallMethod("SetCartesianComponent", "Z", Z)
+        if A != None:
+            channel.CallMethod("SetCartesianComponent", "A", A)
+        if B != None:
+            channel.CallMethod("SetCartesianComponent", "B", B)
+        if C != None:
+            channel.CallMethod("SetCartesianComponent", "C", C)
+        if STAT != None:
+            channel.CallMethod("SetCartesianComponent", "S", STAT)
+        if TU != None:
+            channel.CallMethod("SetCartesianComponent", "T", TU)
+        channel.CallMethod("SetRobotOriIpoMode", "orimcs")
+        channel.CallMethod("ActivateFineMotions")
+        return True
+
+class S840D_KUKA_RMR_SINUMERIK_Controller(CSES840D.Controller):
+    def GetMethod(self, strMethodName : str):
+        return getattr(S840D_KUKA_RMR_SINUMERIK_Methods, strMethodName, None)
+    def GetMetacode(self, strMetacodeName : str):
+        return getattr(S840D_KUKA_RMR_SINUMERIK_Metacodes, strMetacodeName, None)
+    def ExecuteCommand(self, strCommandName, listArgsNC, state):
+        if hasattr(S840D_KUKA_RMR_SINUMERIK_Commands, strCommandName):
+            command = getattr(S840D_KUKA_RMR_SINUMERIK_Commands, strCommandName)
+            listArgsNative = []
+            for arg in listArgsNC:
+                listArgsNative.append(None if arg == None else arg.GetNativeValue())
+            return command(state, *listArgsNative)
+        return super().ExecuteCommand(strCommandName, listArgsNC, state)
+    def InitializeChannel(self, state):
+        newCtrlState = S840D_KUKA_RMR_SINUMERIK_ControllerState()
+        newCtrlState.InitializeChannel(state)
+        return newCtrlState
+
+def CreateController():
+   return CSEWrapper.Controller(S840D_KUKA_RMR_SINUMERIK_Controller())
+
+if __name__ == '__main__':
+    ctrl = CreateController()

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/CHAN_DATA.DEF

@@ -0,0 +1,17 @@
+; 
+$MN_MM_NUM_TOOL_CARRIER=0                           ;number of available tool carriers
+$MN_G53_TOOLCORR='H0'                               ;consider tool length with G53 call
+$MC_ROBX_CC_TOA_START_NUM = 1
+$MC_ROBX_TTCFL_POS[0]=0.000000                      ; tool carrier (e.g. milling spindle) robot transformation
+$MC_ROBX_TTCFL_POS[1]=0.000000
+$MC_ROBX_TTCFL_POS[2]=0.000000
+$MC_ROBX_TTCFL_RPY[0]=0.000000
+$MC_ROBX_TTCFL_RPY[1]=0.000000
+$MC_ROBX_TTCFL_RPY[2]=0.000000
+$MC_ROBX_TOOL_DIR=1                                 ; tool direction according to the NC convention: positive tool lengths in the negative X, Y, Z axes
+$MC_ROBX_EXT_ROT_BASE_OFFSET[0]=0.000000            ; positioner robot data
+$MC_ROBX_EXT_ROT_BASE_OFFSET[1]=0.000000
+$MC_ROBX_EXT_ROT_BASE_OFFSET[2]=0.000000
+$MC_ROBX_EXT_ROT_PART_OFFSET[0]=0.000000
+$MC_ROBX_EXT_ROT_PART_OFFSET[1]=0.000000
+$MC_ROBX_EXT_ROT_PART_OFFSET[2]=0.000000

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/MOUNT_NEXT_HEAD.spf

@@ -0,0 +1,26 @@
+##LANGUAGE AC
+
+INT nNextIndex;
+nNextIndex = GetRobotNextToolCarrierIndex();
+
+STRING sHeadName;
+STRING sHeadTargetKinCarrier;
+
+sHeadName = GetRobotHead(nNextIndex);
+sHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nNextIndex);
+
+IF(sHeadName != "");
+    IF(getCurrentHead(sHeadTargetKinCarrier) != "");
+        visibility(getCurrentHead(sHeadTargetKinCarrier),OFF,TRUE);
+        unmountHead(sHeadTargetKinCarrier);
+    ENDIF;
+
+    mountHead  (sHeadName, sHeadTargetKinCarrier);
+    grasp      (sHeadName, sHeadTargetKinCarrier);
+    position   (sHeadName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+    visibility (sHeadName, ON, TRUE);
+ENDIF;
+
+##LANGUAGE NATIVE
+
+M17

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/MOUNT_NEXT_TOOL.spf

@@ -0,0 +1,29 @@
+##LANGUAGE AC
+
+INT nToolID;
+nToolID   = getVariable("$P_TOOLP");
+STRING sToolName;
+sToolName = getArrayElement("$TC_TP2",nToolID);
+
+INT nNextIndex;
+nNextIndex = GetRobotNextToolCarrierIndex();
+STRING sToolTargetKinCarrier;
+sToolTargetKinCarrier = GetRobotToolTargetKinCarrier(nNextIndex);
+
+generateTool (sToolName,sToolTargetKinCarrier);
+
+IF(exist (getCurrentTool(sToolTargetKinCarrier)));
+   visibility (getCurrentTool(sToolTargetKinCarrier),OFF,TRUE);
+   release    (getCurrentTool(sToolTargetKinCarrier));
+ENDIF;
+
+IF (exist  (getNextTool(sToolTargetKinCarrier)));
+   grasp      (getNextTool(sToolTargetKinCarrier), sToolTargetKinCarrier);
+   position   (getNextTool(sToolTargetKinCarrier), 0, 0, 0, 0, 0, 0);
+   visibility (getNextTool(sToolTargetKinCarrier), ON, TRUE);
+   activateNextTool (sToolTargetKinCarrier);
+ENDIF;
+
+##LANGUAGE NATIVE
+
+M17

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/ToolChange.spf

@@ -0,0 +1,13 @@
+UNMOUNT_CURRENT_TOOL()
+UNMOUNT_CURRENT_HEAD()
+IF ($P_TOOLP <> 0)
+    MOUNT_NEXT_HEAD()
+    MOUNT_NEXT_TOOL()
+ENDIF
+
+##LANGUAGE AC
+//activate the chain for the next tool carrier
+ActivateNextRobotToolCarrier();
+##LANGUAGE NATIVE
+
+M17

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/ToolChangeVNCK.spf

@@ -0,0 +1,40 @@
+PROGRAM Main(STRING strToolID);
+
+INT nToolID;
+STRING sToolName;
+STRING sToolMountPocket;
+STRING sPocketJct;
+STRING sHeadName;
+
+
+nToolID   = getVariable("$P_TOOLP");
+sToolName = getArrayElement("$TC_TP2",nToolID);
+
+sPocketJct = "POCKET_JCT";
+sHeadName = getHeadOfTool(sToolName);
+sToolMountPocket = getPocketOfTool(sToolName);
+
+
+IF(getCurrentHead(sPocketJct) != "");
+   unmountHead(sPocketJct);
+ENDIF;
+   
+mountHead  (sHeadName, sPocketJct);
+grasp      (sHeadName, sPocketJct);
+visibility (sHeadName, ON, TRUE);
+
+generateTool (sToolName,sHeadName);
+
+IF(exist (getCurrentTool(sHeadName)));
+   visibility (getCurrentTool(sHeadName),OFF,TRUE);
+   release    (getCurrentTool(sHeadName));
+ENDIF;
+   
+IF (exist  (getNextTool(sHeadName)));
+   grasp      (getNextTool(sHeadName),  sToolMountPocket);
+   position   (getNextTool (sHeadName), 0, 0, 0, 0, 0, 0);
+   visibility (getNextTool(sHeadName), ON, TRUE);
+ENDIF;
+
+ENDPROG;
+

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/UNMOUNT_CURRENT_HEAD.spf

@@ -0,0 +1,26 @@
+##LANGUAGE AC
+
+INT nCurrentIndex;
+nCurrentIndex = GetRobotCurrentToolCarrierIndex();
+
+IF(nCurrentIndex > 0);
+    STRING sHeadName;
+    STRING sHeadInitialKinCarrier;
+    STRING sHeadTargetKinCarrier;
+
+    sHeadName = GetRobotHead(nCurrentIndex);
+    sHeadInitialKinCarrier = GetRobotHeadInitialKinCarrier(nCurrentIndex);
+    sHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nCurrentIndex);
+
+    IF((sHeadName != "") AND exists(sHeadName));
+        IF ((sHeadInitialKinCarrier != ""));
+            release(sHeadName,sHeadInitialKinCarrier);
+        ELSE;
+            visibility(sHeadName,OFF,TRUE);
+            unmountHead(sHeadTargetKinCarrier);
+        ENDIF;
+    ENDIF;
+ENDIF;
+##LANGUAGE NATIVE
+
+M17

machine/installed_machines/kuka_kr300_r2500/cse_driver/RMR_SINUMERIK/subprog/UNMOUNT_CURRENT_TOOL.spf

@@ -0,0 +1,26 @@
+##LANGUAGE AC
+
+INT nCurrentIndex;
+nCurrentIndex = GetRobotCurrentToolCarrierIndex();
+
+IF(nCurrentIndex >= 0);
+    STRING sToolName;
+    STRING sToolInitialKinCarrier;
+
+    sToolName = GetRobotTool(nCurrentIndex);
+    sToolInitialKinCarrier = GetRobotToolInitialKinCarrier(nCurrentIndex);
+
+    IF((sToolName != "") AND exists(sToolName));
+        IF(sToolInitialKinCarrier == "");
+            visibility(sToolName,OFF,TRUE);
+            release(sToolName);
+        ELSE;
+            release(sToolName,sToolInitialKinCarrier);
+            position(sToolName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+        ENDIF;
+    ENDIF;
+ENDIF;
+
+##LANGUAGE NATIVE
+
+M17

machine/installed_machines/kuka_kr300_r2500/kuka_kr300_r2500.dat

@@ -0,0 +1,2 @@
+KUKA_KR300_R2500,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}KUKA_KR300_R2500\postprocessor\RMR_SINUMERIK\rmr_sinumerik_post.tcl,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}KUKA_KR300_R2500\postprocessor\RMR_SINUMERIK\rmr_sinumerik_post.def
+CSE_FILES, ${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}kuka_kr300_r2500\cse_driver\RMR_SINUMERIK\kuka_kr300_r2500.MCF

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_s840d_base.cdl

@@ -0,0 +1,75 @@
+
+MACHINE SIEMENS
+
+
+EVENT high_speed_setting
+{
+   UI_LABEL "Sinumerik CYCLE832"
+   CATEGORY MILL
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive"
+      UI_LABEL "Status"
+   }
+   PARAM ude_siemens_tolerance_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Tolerance"
+   }
+   PARAM siemens_tol
+   {
+      TYPE d
+      DEFVAL "0.01"
+      TOGGLE Off
+      UI_LABEL "User Defined Tolerance"
+   }
+   PARAM ude_siemens_tolerance_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_hsm
+   {
+      TYPE g
+      DEFVAL "start_open"
+      UI_LABEL "High Speed Machining"
+   }
+   PARAM siemens_compressor
+   {
+      TYPE o
+      DEFVAL "On"
+      OPTIONS "On","Off"
+      UI_LABEL "Compressor"
+   }
+   PARAM siemens_smoothing
+   {
+      TYPE o
+      DEFVAL "On"
+      OPTIONS "On","Off"
+      UI_LABEL "Smoothing"
+   }
+   PARAM siemens_feedforward
+   {
+      TYPE o
+      DEFVAL "On"
+      OPTIONS "On","Off"
+      UI_LABEL "Feed Forward"
+   }
+   PARAM siemens_method
+   {
+      TYPE o
+      DEFVAL "Auto"
+      OPTIONS "Auto","Rough","Semi","Finish"
+      UI_LABEL "Method"
+   }
+   PARAM ude_siemens_hsm_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_s840d_base.def

@@ -0,0 +1,5 @@
+
+MACHINE SIEMENS840D
+
+INCLUDE { $UGII_CAM_USER_DEF_EVENT_DIR/ude.cdl }
+

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_s840d_base.tbc

@@ -0,0 +1,535 @@
+if {[catch {package require tbcload 1.6} err] == 1} {
+    return -code error "[info script]: The TclPro ByteCode Loader is not available or does not support the correct version -- $err"
+}
+tbcload::bceval {
+TclPro ByteCode 2 0 1.7 8.4
+96 0 989 144 1 0 476 1 14 96 116 -1 -1
+989
+w0E<!(H&s!/lSs!.EW<!@Iy*'-W&=!@uW<!Ha++'1oJ=!DuW<!>,f=!?2o=!Ik^qv2&5pvV+
+uc/qdic&JjJE'ASo9v8D5>!U:@rvKSa<!Mk2-&V|C?)T9asvccn<vh:P3-Q-TlwAy25.g-^Z
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+}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_s840d_base_cycle.cdl

@@ -0,0 +1,726 @@
+
+MACHINE SIEMENS
+
+SYS_CYCLE Drill
+{
+   UI_LABEL "Drill"
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_drill_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle81"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+SYS_CYCLE Drill_Bore
+{
+   UI_LABEL "Drill,Bore"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_rff
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Retract Feed Rate"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_bore_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle85"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Bore_Back
+{
+   UI_LABEL "Drill,Bore,Back"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Retract Distance"
+   }
+   PARAM siemens_cycle_liftoff
+   {
+      TYPE o
+      DEFVAL "Yes"
+      OPTIONS "Yes","No"
+      UI_LABEL "Lift Off(Solution Line)"
+   }
+   PARAM siemens_cycle_rpa
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "X"
+   }
+   PARAM siemens_cycle_rpo
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "Y"
+   }
+   PARAM siemens_cycle_rpap
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "Z"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_bore_back_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle86"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Bore_Drag
+{
+   UI_LABEL "Drill,Bore,Drag"
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_bore_drag_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle89"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Bore_Manual
+{
+   UI_LABEL "Drill,Bore,Manual"
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_bore_manual
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle87"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Bore_Nodrag
+{
+   UI_LABEL "Drill,Bore,Nodrag"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Retract Distance"
+   }
+   PARAM siemens_cycle_rpa
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "X"
+   }
+   PARAM siemens_cycle_rpo
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "Y"
+   }
+   PARAM siemens_cycle_rpap
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "Z"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_bore_nodrag_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle86"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+SYS_CYCLE Drill_Csink
+{
+   UI_LABEL "Drill,Csink"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_gmode
+   {
+      TYPE o
+      DEFVAL "Depth"
+      OPTIONS "Depth","Diameter"
+      UI_LABEL "Geometrical Output Mode(Solution Line)"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_csink_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle82"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Deep
+{
+   UI_LABEL "Drill,Deep"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_dts_mode
+   {
+      TYPE o
+      DEFVAL "Off"
+      OPTIONS "Off","On","Seconds","Revolutions"
+      UI_LABEL "Top Dwell"
+   }
+   PARAM siemens_cycle_dts
+   {
+      TYPE i
+      DEFVAL "0"
+      UI_LABEL "Top Dwell Value"
+   }
+   PARAM siemens_cycle_o_dtd_mode
+   {
+      TYPE o
+      DEFVAL "Off"
+      OPTIONS "Off","On","Seconds","Revolutions"
+      UI_LABEL "Final Dwell"
+   }
+   PARAM siemens_cycle_o_dtd
+   {
+      TYPE i
+      DEFVAL "0"
+      UI_LABEL "Final Dwell Value"
+   }
+   PARAM siemens_cycle_frf
+   {
+      TYPE d
+      DEFVAL "1"
+      UI_LABEL "Feed Rate Factor"
+   }
+   PARAM siemens_cycle_o_dis1
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Step Clearance"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_drill_deep_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle83_deep"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Deep_Breakchip
+{
+   UI_LABEL "Drill,Deep,BreakChip"
+   PARAM ude_siemens_cycle_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_o_dtd_mode
+   {
+      TYPE o
+      DEFVAL "Off"
+      OPTIONS "Off","On","Seconds","Revolutions"
+      UI_LABEL "Final Dwell"
+   }
+   PARAM siemens_cycle_o_dtd
+   {
+      TYPE i
+      DEFVAL "0"
+      UI_LABEL "Final Dwell Value"
+   }
+   PARAM siemens_cycle_frf
+   {
+      TYPE d
+      DEFVAL "1"
+      UI_LABEL "Feed Rate Factor"
+   }
+   PARAM siemens_cycle_o_vrt
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Step Retract Value"
+   }
+   PARAM ude_siemens_cycle_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM legend_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_drill_breakchip_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle83_breakchip"
+   }
+   PARAM legend_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+SYS_CYCLE Drill_Tap
+{
+   UI_LABEL "Drill,Tap"
+   PARAM ude_siemens_thread_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Pitch"
+   }
+   PARAM siemens_cycle_mpit
+   {
+      TYPE i
+      DEFVAL "3"
+      TOGGLE Off
+      UI_LABEL "Thread Size"
+   }
+   PARAM siemens_cycle_o_ptab
+   {
+      TYPE o
+      DEFVAL "Post Defined"
+      OPTIONS "Post Defined","Millimeter","Groove per Inch","Inch per Revolution","Module(Solution Line)"
+      UI_LABEL "Pitch"
+   }
+   PARAM siemens_cycle_pit
+   {
+      TYPE d
+      DEFVAL "0.0"
+      UI_LABEL "Pitch Value"
+   }
+   PARAM ude_siemens_thread_group_end
+   {
+      TYPE g
+      DEFVAL "END"
+   }
+   PARAM ude_siemens_float_group
+   {
+      TYPE g
+      DEFVAL "START_CLOSED"
+      UI_LABEL "Float Tap Parameters"
+   }
+   PARAM siemens_cycle_sdr
+   {
+      TYPE o
+      DEFVAL "Reversal"
+      OPTIONS "CLW","CCLW","Reversal"
+      UI_LABEL "Spindle Retract Direction"
+   }
+   PARAM siemens_cycle_enc
+   {
+      TYPE o
+      DEFVAL "Use Encoder-Dwell Off"
+      OPTIONS "Use Encoder-Dwell Off","Use Encoder-Dwell On","No Encoder-Feed Rate before Cycle","No Encoder-Feed Rate in Cycle"
+      UI_LABEL "Encoder"
+   }
+   PARAM ude_siemens_float_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM legend_float_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_float_tap_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle840"
+   }
+   PARAM legend_float_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_rigid_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Rigid Tap Parameters"
+   }
+   PARAM siemens_cycle_o_var1
+   {
+      TYPE o
+      DEFVAL "Single Pass"
+      OPTIONS "Single Pass","Break Chip","Remove Chip"
+      UI_LABEL "Type"
+   }
+   PARAM siemens_cycle_poss
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Spindle Orient Angle"
+   }
+   PARAM siemens_cycle_sst1
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Spindle Retract Speed"
+   }
+   PARAM siemens_cycle_o_dam
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Deep Hole Incremental Depth"
+   }
+   PARAM siemens_cycle_o_vrt
+   {
+      TYPE d
+      DEFVAL "0.0"
+      TOGGLE Off
+      UI_LABEL "Break Chip Retract Value"
+   }
+   PARAM ude_siemens_rigid_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM legend_rigid_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Legend"
+   }
+   PARAM siemens_rigid_tap_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle84"
+   }
+   PARAM legend_rigid_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_other_group
+   {
+      TYPE g
+      DEFVAL "start_open"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_sdac
+   {
+      TYPE o
+      DEFVAL "CLW"
+      OPTIONS "CLW","CCLW","Off"
+      UI_LABEL "Spindle Direction After Cycle"
+   }
+   PARAM siemens_cycle_o_techno
+   {
+      TYPE i
+      DEFVAL "0"
+      TOGGLE Off
+      UI_LABEL "Technological Setting"
+   }
+   PARAM ude_siemens_other_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Tap_Breakchip
+{
+   UI_LABEL "Drill,Tap,Breakchip"
+   PARAM ude_siemens_rigid_group
+   {
+      TYPE g
+      DEFVAL "START_OPEN"
+      UI_LABEL "Rigid Tap Parameters"
+   }
+   PARAM cycle_step_clearance
+   {
+      TYPE d
+      DEFVAL "0.5"
+      UI_LABEL "Step Clearance"
+   }
+   PARAM ude_siemens_rigid_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM legend_rigid_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Rigid Tap Legend"
+   }
+   PARAM siemens_rigid_tap_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle84"
+   }
+   PARAM legend_rigid_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_other_group
+   {
+      TYPE g
+      DEFVAL "start_open"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_sdac
+   {
+      TYPE o
+      DEFVAL "CLW"
+      OPTIONS "CLW","CCLW","Off"
+      UI_LABEL "Spindle Direction After Cycle"
+   }
+   PARAM siemens_cycle_o_techno
+   {
+      TYPE i
+      DEFVAL "0"
+      TOGGLE Off
+      UI_LABEL "Technological Setting"
+   }
+   PARAM ude_siemens_other_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Tap_Deep
+{
+   UI_LABEL "Drill,Tap,Deep"
+   PARAM legend_rigid_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Rigid Tap Legend"
+   }
+   PARAM siemens_rigid_tap_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle84"
+   }
+   PARAM legend_rigid_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_other_group
+   {
+      TYPE g
+      DEFVAL "start_open"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_sdac
+   {
+      TYPE o
+      DEFVAL "CLW"
+      OPTIONS "CLW","CCLW","Off"
+      UI_LABEL "Spindle Direction After Cycle"
+   }
+   PARAM siemens_cycle_o_techno
+   {
+      TYPE i
+      DEFVAL "0"
+      TOGGLE Off
+      UI_LABEL "Technological Setting"
+   }
+   PARAM ude_siemens_other_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+
+
+SYS_CYCLE Drill_Tap_Float
+{
+   UI_LABEL "Drill,Tap,Float"
+   PARAM ude_siemens_float_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Float Tap Parameters"
+   }
+   PARAM siemens_cycle_enc
+   {
+      TYPE o
+      DEFVAL "Use Encoder-Dwell Off"
+      OPTIONS "Use Encoder-Dwell Off","Use Encoder-Dwell On","No Encoder-Feed Rate before Cycle","No Encoder-Feed Rate in Cycle"
+      UI_LABEL "Encoder"
+   }
+   PARAM ude_siemens_float_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM legend_float_group
+   {
+      TYPE g
+      DEFVAL "start_closed"
+      UI_LABEL "Float Tap Legend"
+   }
+   PARAM siemens_float_tap_map
+   {
+      TYPE l
+      DEFVAL "sinumerik_840d_cycle840"
+   }
+   PARAM legend_float_group_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+   PARAM ude_siemens_other_group
+   {
+      TYPE g
+      DEFVAL "start_open"
+      UI_LABEL "Other Parameters"
+   }
+   PARAM siemens_cycle_sdac
+   {
+      TYPE o
+      DEFVAL "CLW"
+      OPTIONS "CLW","CCLW","Off"
+      UI_LABEL "Spindle Direction After Cycle"
+   }
+   PARAM siemens_cycle_o_techno
+   {
+      TYPE i
+      DEFVAL "0"
+      TOGGLE Off
+      UI_LABEL "Technological Setting"
+   }
+   PARAM ude_siemens_other_end
+   {
+      TYPE g
+      DEFVAL "end"
+   }
+}
+

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_sinumerik_base.cdl

@@ -0,0 +1,501 @@
+
+MACHINE SINUMERIK
+
+EVENT auxfun
+{
+   UI_LABEL "Auxfun"
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM auxfun
+   {
+      TYPE   i
+      DEFVAL "0"
+      UI_LABEL "Auxfun Value"
+   }
+   PARAM auxfun_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT coolant_off
+{
+   UI_LABEL "Coolant Off"
+   CATEGORY MILL DRILL LATHE
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM coolant_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT set_pocket4_parameters
+{
+   UI_LABEL "Set POCKET4 Parameters"
+   CATEGORY MILL DRILL
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM pocket4_maximum_infeed_width
+   {
+      TYPE   d
+      DEFVAL "0.0000"
+      UI_LABEL "Maximum Infeed Width"
+   }
+   PARAM pocket4_helical_path_radius
+   {
+      TYPE   d
+      DEFVAL "2.0000"
+      UI_LABEL "Helical Path Radius"
+   }
+}
+
+EVENT dwell
+{
+   POST_EVENT "delay"
+   UI_LABEL "Dwell"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM delay_mode
+   {
+      TYPE o
+      DEFVAL "Seconds"
+      OPTIONS "Seconds","Revolutions"
+      UI_LABEL "Dwell Type"
+   }
+   PARAM delay_value
+   {
+      TYPE   d
+      DEFVAL "10.0000"
+      UI_LABEL "Dwell Value"
+   }
+   PARAM delay_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT insert
+{
+   UI_LABEL "Insert"
+
+   PARAM Instruction
+   {
+      TYPE    s
+   }
+}
+
+EVENT length_compensation
+{
+   UI_LABEL "Tool Length Compensation"
+   CATEGORY MILL DRILL LATHE
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM Overide_operation_param
+   {
+      TYPE   b
+      DEFVAL "TRUE"
+      UI_LABEL "Override Operation Parameter"
+   }
+   PARAM length_comp_register
+   {
+      TYPE   i
+      DEFVAL "2"
+      UI_LABEL "Adjust Register"
+   }
+   PARAM length_comp_register_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT opskip_on
+{
+   UI_LABEL "Optional Skip On"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM opskip_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT opskip_off
+{
+   UI_LABEL "Optional Skip Off"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM opskip_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT opstop
+{
+   UI_LABEL "Optional Stop"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM opstop_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT prefer_solution
+{
+	UI_LABEL "Preferred Solution"
+	PARAM command_status
+	{
+		TYPE o
+		DEFVAL "Active"
+		OPTIONS "Active","Inactive","User Defined"
+		UI_LABEL "Status"
+	}
+	PARAM prefer_axis
+	{
+		TYPE o
+		DEFVAL "OFF"
+		OPTIONS "OFF", "A", "B", "C"
+		UI_LABEL "Preferred Axis"
+	}
+	PARAM prefer_output_min
+	{
+		TYPE d
+		DEFVAL "0.000000"
+		TOGGLE Off
+		UI_LABEL "Preferred Range Minimum"
+	}
+	PARAM prefer_output_max
+	{
+		TYPE d
+		DEFVAL "0.000000"
+		TOGGLE Off
+		UI_LABEL "Preferred Range Maximum"
+	}
+}
+
+
+EVENT prefun
+{
+   UI_LABEL "Prefun"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM prefun
+   {
+      TYPE   i
+      DEFVAL "0"
+      UI_LABEL "Prefun Value"
+   }
+   PARAM prefun_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT rotate
+{
+   UI_LABEL "Rotate"
+   CATEGORY MILL DRILL LATHE
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL   "Active"
+      OPTIONS  "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM rotate_axis_type
+   {
+      TYPE o
+      DEFVAL   "Table"
+      OPTIONS  "Table","Head","Aaxis","Baxis","Caxis","Fourth_Axis","Fifth_Axis"
+      UI_LABEL "Rotation Axis"
+   }
+   PARAM rotation_mode
+   {
+      TYPE o
+      DEFVAL   "None"
+      OPTIONS  "None","Angle","Absolute","Incremental"
+      UI_LABEL "Type"
+   }
+   PARAM rotation_direction
+   {
+      TYPE   o
+      DEFVAL   "CLW"
+      OPTIONS  "CLW","CCLW","NONE"
+      UI_LABEL "Direction"
+   }
+   PARAM rotation_angle
+   {
+      TYPE   d
+      DEFVAL   "0.0000"
+      TOGGLE   On
+      UI_LABEL "Angle"
+   }
+   PARAM rotation_reference_mode
+   {
+      TYPE   b
+      DEFVAL "FALSE"
+      UI_LABEL "Reference Only - No Output"
+   }
+   PARAM rotation_text
+   {
+      TYPE   s
+      TOGGLE   Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT sequence_number
+{
+   UI_LABEL "Sequence Number"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM sequence_mode
+   {
+      TYPE o
+      DEFVAL "N"
+      OPTIONS "N","Off","On","Auto"
+      UI_LABEL "Number Type"
+   }
+   PARAM sequence_number
+   {
+      TYPE   i
+      DEFVAL "0"
+      UI_LABEL "Number"
+   }
+   PARAM sequence_increment
+   {
+      TYPE   i
+      DEFVAL "0"
+      UI_LABEL "Increment"
+   }
+   PARAM sequence_frequency
+   {
+      TYPE   i
+      DEFVAL "0"
+      UI_LABEL "Frequency"
+   }
+   PARAM sequence_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT stop
+{
+   UI_LABEL "Stop"
+
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM stop_text
+   {
+      TYPE   s
+      TOGGLE Off
+      UI_LABEL "Text"
+   }
+}
+
+EVENT text
+{
+   UI_LABEL "User Defined"
+
+   PARAM user_defined_text
+   {
+      TYPE   s
+      TOGGLE On
+      UI_LABEL "User Defined Command"
+   }
+}
+
+EVENT structure_representation_mode
+{
+   UI_LABEL "Operation representation in collpased mode"
+   PARAM output_status
+   {
+      TYPE o
+      DEFVAL "On"
+      OPTIONS "On","Off"
+      UI_LABEL "Output"
+   }
+   PARAM display_name
+   {
+      TYPE s
+      TOGGLE Off
+      UI_LABEL "Display name"
+   }
+   PARAM readonly_status
+   {
+      TYPE o
+      DEFVAL "Editable"
+      OPTIONS "Editable","Readonly"
+      UI_LABEL "Status"
+   }
+   PARAM type_status
+   {
+      TYPE o
+      DEFVAL "Operation"
+      OPTIONS "Header","Operation"
+      UI_LABEL "Status"
+   }
+}
+
+EVENT LIB_manual_CYCLE800_setting
+{
+   UI_LABEL "Manual CYCLE800 setting"
+   PARAM lib_cycle800_dir
+   {
+      TYPE o
+      DEFVAL "Auto"
+      OPTIONS "Auto","+1","-1"
+      UI_LABEL "Direction"
+   }
+}
+
+EVENT program_control
+{
+	UI_LABEL "Program Control"
+	CATEGORY MILL DRILL
+	PARAM ctrl_program_control
+	{
+		TYPE b
+		DEFVAL "FALSE"
+		UI_LABEL "Call External Subroutine for Each Operation"
+	}
+}
+
+EVENT dnc_header
+{
+   UI_LABEL "DNC Header"
+   CATEGORY MILL DRILL LATHE WEDM
+   PARAM command_status
+   {
+      TYPE o
+      DEFVAL "Active"
+      OPTIONS "Active","Inactive","User Defined"
+      UI_LABEL "Status"
+   }
+   PARAM dnc_machine_name
+   {
+      TYPE s
+      TOGGLE Off
+      UI_LABEL "Machine Name"
+   }
+   PARAM dnc_program_name
+   {
+      TYPE s
+      TOGGLE Off
+      UI_LABEL "Program Name"
+   }
+   PARAM dnc_data_type
+   {
+      TYPE s
+      DEFVAL "MPF"
+      TOGGLE On
+      UI_LABEL "Data Type"
+   }
+   PARAM dnc_version_number
+   {
+      TYPE i
+      DEFVAL "1"
+      TOGGLE On
+      UI_LABEL "Version Number"
+   }
+   PARAM dnc_release_number
+   {
+      TYPE i
+      DEFVAL "1"
+      TOGGLE On
+      UI_LABEL "Release Number"
+   }
+   PARAM dnc_user_name
+   {
+      TYPE s
+      TOGGLE Off
+      UI_LABEL "User Name"
+   }
+}
+

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Controller/ctrl_sinumerik_base_msg.tbc

@@ -0,0 +1,207 @@
+if {[catch {package require tbcload 1.6} err] == 1} {
+    return -code error "[info script]: The TclPro ByteCode Loader is not available or does not support the correct version -- $err"
+}
+tbcload::bceval {
+TclPro ByteCode 2 0 1.7 8.4
+29 0 397 62 0 0 120 0 7 29 29 -1 -1
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+}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Libraries/lib_pretreatment.def

@@ -0,0 +1,193 @@
+
+MACHINE PRETREATMENT
+
+FORMATTING
+{
+
+  WORD_SEPARATOR " "
+  END_OF_LINE "\135"
+  SEQUENCE sequence_number 10 10 1 99999
+
+  FORMAT AbsCoord "&__5.3_"
+  FORMAT Coordinate "&__5.3_"
+  FORMAT Digit_2 "&_02_00"
+  FORMAT Digit_4 "&_04_00"
+  FORMAT Digit_5 "&__5_00"
+  FORMAT Dwell_SECONDS "&__5.3_"
+  FORMAT EventNum "&+03_00"
+  FORMAT Feed "&__7.2_"
+  FORMAT Feed_DPM "&__5.2_"
+  FORMAT Feed_FRN "&__5.3_"
+  FORMAT Feed_INV "&__5.3_"
+  FORMAT Feed_IPM "&__4.1_"
+  FORMAT Feed_IPR "&__1.4_"
+  FORMAT Feed_MMPM "&__5.0_"
+  FORMAT Feed_MMPR "&__2.3_"
+  FORMAT Hcode "&_02_00"
+  FORMAT Rev "&__4_00"
+  FORMAT Rotary "&__5.5_"
+  FORMAT String "%s"
+  FORMAT Tcode "&_02_00"
+  FORMAT Zero_int "&_01_0_"
+  FORMAT Zero_real "&_01.10"
+
+  ADDRESS N
+  {
+      FORMAT      String
+      FORCE       always
+      LEADER      [$mom_sys_leader(N)]
+  }
+  ADDRESS G_motion
+  {
+      FORMAT      String
+      FORCE       off
+      LEADER      [$mom_sys_leader(G)]
+  }
+  ADDRESS X
+  {
+      FORMAT      Coordinate
+      FORCE       always
+      LEADER      [$mom_sys_leader(X)]
+      ZERO_FORMAT Zero_real
+  }
+  ADDRESS Y
+  {
+      FORMAT      Coordinate
+      FORCE       off
+      LEADER      [$mom_sys_leader(Y)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS Z
+  {
+      FORMAT      Coordinate
+      FORCE       off
+      LEADER      [$mom_sys_leader(Z)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS fourth_axis
+  {
+      FORMAT      Rotary
+      FORCE       off
+      LEADER      [$mom_sys_leader(fourth_axis)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS fifth_axis
+  {
+      FORMAT      Rotary
+      FORCE       off
+      LEADER      [$mom_sys_leader(fifth_axis)]
+      ZERO_FORMAT Zero_real
+  }
+  ADDRESS I
+  {
+      FORMAT      Coordinate
+      FORCE       always
+      LEADER      [$mom_sys_leader(I)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS J
+  {
+      FORMAT      Coordinate
+      FORCE       always
+      LEADER      [$mom_sys_leader(J)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS K
+  {
+      FORMAT      Coordinate
+      FORCE       always
+      LEADER      [$mom_sys_leader(K)]
+      ZERO_FORMAT Zero_real
+  }
+
+  ADDRESS S
+  {
+      FORMAT      Zero_int
+      FORCE       always
+      LEADER      "S"
+  }
+
+
+	BLOCK_TEMPLATE sequence_number
+	{
+		N[ ]
+	}
+	BLOCK_TEMPLATE sequence_number_turbo
+	{
+		N[ ]
+	}
+	BLOCK_TEMPLATE circular_move_turbo
+	{
+		G_motion[$mom_sys_circle_code(string)]
+		X[^POSX]
+		Y[^POSY]
+		Z[^POSZ]
+		fourth_axis[^POS4]
+		fifth_axis[^POS5]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE linear_move_turbo
+	{
+		G_motion[$mom_sys_linear_code]
+		X[^POSX]
+		Y[^POSY]
+		Z[^POSZ]
+		fourth_axis[^POS4]
+		fifth_axis[^POS5]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE rapid_move_turbo
+	{
+		G_motion[$mom_sys_rapid_code]
+		X[^POSX]
+		Y[^POSY]
+		Z[^POSZ]
+		fourth_axis[^POS4]
+		fifth_axis[^POS5]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE circular_move
+	{
+		G_motion[$mom_sys_circle_code(string)]
+		X[$mom_mcs_goto(0)]
+		Y[$mom_mcs_goto(1)]
+		Z[$mom_mcs_goto(2)]
+		fourth_axis[$mom_out_angle_pos(0)]
+		fifth_axis[$mom_out_angle_pos(1)]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE linear_move
+	{
+		G_motion[$mom_sys_linear_code]
+		X[$mom_mcs_goto(0)]
+		Y[$mom_mcs_goto(1)]
+		Z[$mom_mcs_goto(2)]
+		fourth_axis[$mom_out_angle_pos(0)]
+		fifth_axis[$mom_out_angle_pos(1)]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE rapid_move
+	{
+		G_motion[$mom_sys_rapid_code]
+		X[$mom_mcs_goto(0)]
+		Y[$mom_mcs_goto(1)]
+		Z[$mom_mcs_goto(2)]
+		fourth_axis[$mom_out_angle_pos(0)]
+		fifth_axis[$mom_out_angle_pos(1)]
+		S[$mom_spindle_speed]
+	}
+	BLOCK_TEMPLATE rapid_move_drill
+	{
+		G_motion[$mom_sys_rapid_code]
+		X[$mom_cycle_feed_to_pos(0)]
+		Y[$mom_cycle_feed_to_pos(1)]
+		Z[$mom_cycle_feed_to_pos(2)]
+		S[$mom_spindle_speed]
+	}
+}
+

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/Libraries/lib_pretreatment.tcl

@@ -0,0 +1,535 @@
+####C#U#S#T#O#M##M#E#T#A##I#N#F#O#R#M#A#T#I#O#N##############################################
+#
+#	Customer Data
+#
+#	Company         :
+#	Address         :
+#	Contact person  :
+#	Phone           :
+#	Fax             :
+#	Mail            :
+#
+####S#T#A#R#T##C#H#A#N#G#E##H#I#S#T#O#R#Y####################################################
+#
+#	Last changes:	01.02.2011 - UR  001 Initial Release and Installation
+#			23.08.2013 - UR  002 Add keywords for comment lines (important, because automation respond)
+#			03.09.2013 - UR  003 Releaseversion 1.0
+#			09.10.2013 - COE 004 Changed setting of lib_ge_env(tmp_dir)
+#			10.12.2013 - UR  005 Decomposing the basic functions
+#			10.02.2014 - COE 006 Releaseversion 2.0
+#			17.02.2014 - COE 007 Releaseversion 2.1
+#			13.03.2014 - UR  008 Releaseversion 2.2
+#			31.03.2014 - UR  009 Add lib_flag(PB_decontamination) to switch of PB support
+#			31.03.2014 - UR  010 Releaseversion 2.3
+#			11.04.2014 - UR  011 Releaseversion 2.3.1
+#			12.05.2014 - UR  012 Releaseversion 2.3.2
+#			18.05.2014 - UR  013 Add sourcing with the possibility of nesting folders
+#			19.05.2014 - UR  014 Releaseversion 2.3.3
+#			26.05.2014 - UR  015 Revision of the LIB_Shell_search_path_recursively routines when a blank is included in the path
+#			16.06.2014 - COE 016 Releaseversion 2.3.4
+#			16.06.2014 - UR  017 Add recursively sourcing for the pretreatment files
+#			24.06.2014 - UR  018 Releaseversion 2.3.5
+#			24.06.2014 - UR  019 Releaseversion 2.4
+#			07.07.2014 - UR  020 Releaseversion 2.4.1
+#			16.07.2014 - UR  021 Releaseversion 3.0
+#			29.07.2014 - COE 022 LIB_Shell_environment_handling: lib_ge_env(installed_machines_dir,recursively)
+#					     LIB_Shell_main: no longer call LIB_Shell_search_path_recursively
+#			30.07.2014 - COE 023 Releaseversion 3.1
+#			12.08.2014 - UR  024 Releaseversion 3.1.1
+#			13.08.2014 - UR  025 Adopted revised texts from SPLM
+#			13.08.2014 - UR  026 Releaseversion 3.2
+#			13.08.2014 - UR  027 Releaseversion 3.2.1
+#			15.08.2014 - COE 028 Adopt modifications SPLM
+#			15.08.2014 - COE 029 Releaseversion 3.2.2
+#			25.08.2014 - UR  030 Releaseversion 3.2.3
+#			10.09.2014 - UR  031 Releaseversion 3.2.4
+#			11.09.2014 - UR  032 Releaseversion 3.2.5
+#			22.09.2014 - UR  033 Add property for "show where output comes from" and delete flag(show_where_output_comes_from)
+#			29.09.2014 - COE 034 Releaseversion 3.2.6
+#			13.10.2014 - COE 035 Releaseversion 3.2.7
+#			21.10.2014 - COE 036 Releaseversion 3.2.8
+#			04.11.2014 - COE 037 Releaseversion 3.2.9
+#			11.11.2014 - UR  038 Modification of the complete post speed
+#			13.11.2014 - UR  039 Modification of the complete post speed
+#			21.11.2014 - COE 040 LIB_Shell_environment_handling: changde setting of lib_ge_env(installed_machines_dir,recursively)
+#			28.11.2014 - COE 041 Releaseversion 3.2.10
+#			22.12.2014 - UR  042 Releaseversion 3.3
+#			22.12.2014 - UR  043 Releaseversion 3.3.1
+#			05.01.2015 - UR  044 Releaseversion 3.3.2 and changed the Copyright
+#			06.01.2015 - UR  045 Releaseversion 3.3.3
+#			06.01.2015 - UR  046 Releaseversion 3.3.4
+#			07.01.2015 - UR  047 Releaseversion 3.3.5
+#			11.01.2015 - UR  048 Releaseversion 3.3.6
+#			11.01.2015 - COE 049 Bugfix if the current directory has spaces
+#			13.01.2015 - COE 050 Releaseversion 3.3.7
+#			20.01.2015 - UR  051 Change file nativename and join to LIB_Shell_format_path_names to save runtime
+#			25.01.2015 - UR  052 Releaseversion 3.3.8
+#			28.01.2015 - UR  053 Bugfix at LIB_Shell_environment_handling to defined the base folder
+#			03.02.2015 - UR  054 Correction if the PostConfigurator structure is used
+#			09.02.2015 - UR  055 Releaseversion 3.3.9
+#			02.03.2015 - COE 056 Releaseversion 3.4
+#			12.03.2015 - UR  057 Releaseversion 3.4.1
+#			16.03.2015 - UR  058 Releaseversion 3.4.2
+#			30.03.2015 - UR  059 Releaseversion 3.4.3
+#			20.04.2015 - COE 060 Releaseversion 3.4.4
+#			28.04.2015 - COE 061 Releaseversion 3.4.5
+#			15.06.2015 - UR  062 Releaseversion 3.4.6
+#			15.06.2015 - UR  063 Change abort handling
+#			16.06.2015 - UR  064 Releaseversion 3.4.7
+#			22.06.2015 - UR  065 Releaseversion 3.4.8
+#			21.07.2015 - UR  066 Releaseversion 3.4.9
+#			28.07.2015 - COE 067 Releaseversion 3.4.10
+#			11.08.2015 - COE 068 Releaseversion 3.4.11
+#			16.08.2015 - UR  069 Save Time with Extended foreach Syntax e.g. foreach {a b c d e} [cmdReturningList] {break}
+#						Side note: accelerated runtime after the first index, for one index no improvement
+#					     Comparing if Command exists now with LIB_GE_check_commands to wrote the values to an list once
+#					     Modifications of the memory handling with Procedures K SK D unset! clear and set!, see http://wiki.tcl.tk/1923
+#					     Removing unneeded characters and partially reformat
+#			20.08.2015 - UR  070 Changed misspelling from adress to address (Bug #784)
+#			20.08.2015 - UR  071 Releaseversion 3.4.12
+#			21.08.2015 - UR  072 Releaseversion 3.4.13
+#			24.08.2015 - COE 073 Releaseversion 3.5
+#			04.09.2015 - COE 074 Releaseversion 3.5.1
+#			07.09.2015 - COE 075 Releaseversion 3.5.2
+#			08.09.2015 - COE 076 Releaseversion 3.5.3
+#			13.09.2015 - UR  077 Performance improvement when examining whether a procedure exists and also to loading files
+#			15.09.2015 - UR  078 Releaseversion 3.5.4
+#			17.09.2015 - UR  079 Change the filename for the lib_ge_dll_version to lower case
+#			21.09.2015 - UR  080 Releaseversion 3.6
+#			29.09.2015 - UR  081 Releaseversion 3.6.1
+#			30.09.2015 - UR  082 Releaseversion 3.6.2
+#			05.10.2015 - UR  083 Releaseversion 3.6.3
+#			26.10.2015 - UR  084 Releaseversion 3.6.4
+#			27.10.2015 - UR  085 Releaseversion 3.6.5
+#			18.12.2015 - COE 086 Releaseversion 3.6.6
+#			13.01.2016 - UR  087 Releaseversion 3.6.7
+#			25.02.2016 - UR  088 Releaseversion 3.6.8
+#			07.03.2016 - UR  089 Releaseversion 3.6.9
+#			24.03.2016 - COE 090 Releaseversion 3.6.10
+#			13.04.2016 - UR  091 Releaseversion 3.6.11
+#			20.04.2016 - UR  092 Releaseversion 3.6.12
+#			28.04.2016 - UR  093 Releaseversion 3.7
+#			29.04.2016 - UR  094 Releaseversion 3.7.1
+#			15.05.2016 - COE 095 Releaseversion 3.7.2
+#			15.05.2016 - COE 096 Releaseversion 3.7.3
+#			17.05.2016 - COE 097 Releaseversion 3.7.4
+#			23.05.2016 - COE 098 Releaseversion 3.7.5
+#			27.06.2016 - MAN 099 Update internal documentation
+#			15.08.2016 - UR  100 Releaseversion 4.0
+#			24.08.2016 - UR  101 Releaseversion 4.0.1
+#			04.09.2016 - COE 102 Releaseversion 4.0.2
+#			05.09.2016 - COE 103 LIB_Shell_environment_handling: 'libraries', 'controller' and 'bin'
+#						all lowercase (we check it against the result of 'string tolower')
+#						(back to status of version 100)
+#			05.09.2016 - COE 104 Releaseversion 4.0.3
+#			08.09.2016 - UR  105 Releaseversion 4.0.4
+#			22.09.2016 - UR  106 HISTORY-> Modifications to support now also Linux <-
+#			24.09.2016 - UR  107 Releaseversion 4.0.5
+#			25.09.2016 - UR  108 Releaseversion 4.1
+#			27.09.2016 - UR  109 Releaseversion 4.1.1
+#			04.10.2016 - UR  110 Releaseversion 4.1.2
+#			24.10.2016 - UR  111 Releaseversion 4.1.3
+#			17.11.2016 - MAN 112 Source also from UGII_POST_POOL_DIR_NG_CUSTOM
+#			19.11.2016 - UR  113 Releaseversion 4.1.4
+#			21.11.2016 - MAN 114 Remove again sourcing from UGII_POST_POOL_DIR_NG_CUSTOM
+#			07.12.2016 - UR  115 Releaseversion 4.1.5
+#			11.01.2017 - COE 116 Releaseversion 4.1.6
+#			21.02.2017 - UR  117 Releaseversion 4.1.7
+#			24.02.2017 - UR  118 Releaseversion 4.1.8
+#			13.03.2017 - COE 119 Releaseversion 4.2
+#			05.04.2017 - COE 120 Releaseversion 4.2.1
+#			06.04.2017 - COE 121 Releaseversion 4.2.2
+#			07.04.2017 - COE 122 Releaseversion 4.2.3
+#			24.04.2017 - UR  123 Remove PUI settings and procedures
+#			28.04.2017 - COE 124 Releaseversion 4.2.4
+#			19.05.2017 - UR  125 Releaseversion 4.2.5
+#			18.06.2017 - COE 126 Releaseversion 4.2.6
+#			27.06.2017 - COE 127 Releaseversion 4.2.7
+#			06.07.2017 - UR  128 Extension for the layer editor
+#			31.07.2017 - UR  129 Releaseversion 4.2.8
+#			01.08.2017 - UR  130 Bugfix if variable TEMP not exists within LINUX systems
+#			02.08.2017 - UR  131 Releaseversion 4.2.9
+#			31.08.2017 - UR  132 Add support for *.pcf
+#			01.09.2017 - UR  133 Releaseversion 4.2.10
+#			11.09.2017 - COE 134 Releaseversion 4.2.11
+#			25.09.2017 - COE 135 Releaseversion 4.3
+#			12.11.2017 - COE 136 Releaseversion 4.3.1
+#			28.11.2017 - UR  137 Releaseversion 4.3.2
+#			04.12.2017 - UR  138 Adding the process ID to all files that are traded through the preparation process
+#			21.02.2018 - COE 139 Releaseversion 4.3.3
+#			12.03.2018 - UR  140 File contents revised for TCL8.6 and converted to UTF-8
+#			14.03.2018 - UR  141 Releaseversion 4.4
+#			20.03.2018 - UR  142 Releaseversion 4.4.1
+#			12.04.2018 - UR  143 Releaseversion 4.4.2
+#			04.05.2018 - UR  144 Releaseversion 4.4.3
+#			14.05.2018 - UR  145 Releaseversion 4.4.4
+#			02.07.2018 - UR  146 Releaseversion 4.4.5
+#			20.07.2018 - COE 147 Releaseversion 4.4.6
+#			10.09.2018 - UR  148 Releaseversion 4.4.7
+#			24.09.2018 - UR  149 Releaseversion 4.4.8
+#			08.10.2018 - UR  150 Releaseversion 4.4.9
+#			18.10.2018 - COE 151 Releaseversion 4.5
+#			11.01.2019 - UR  152 Releaseversion 4.6.1
+#			08.02.2019 - UR  153 Releaseversion 4.6.2
+#			16.03.2019 - UR  154 Releaseversion 4.6.3
+#			21.03.2019 - UR  155 Function revision so that the MOM Execute can also be loaded in versions >= 1847
+#			28.03.2019 - COE 156 Releaseversion 4.7
+#			11.04.2019 - UR  157 Releaseversion 4.7.1
+#			18.04.2019 - UR  158 Releaseversion 4.7.2
+#			07.05.2019 - UR  159 Releaseversion 5.0
+#			08.07.2019 - UR  160 Releaseversion 5.0.1
+#			31.07.2019 - UR  161 Releaseversion 5.0.2
+#			16.08.2019 - COE 162 Releaseversion 5.0.3
+#			21.08.2019 - COE 163 Releaseversion 5.1.0
+#			20.09.2019 - COE 164 Releaseversion 5.2.0
+#			06.11.2019 - UR  165 Releaseversion 5.2.3
+#			27.12.2019 - UR  166 Releaseversion 5.2.4
+#			31.01.2020 - COE 167 Releaseversion 5.2.5
+#			02.03.2020 - UR  168 Releaseversion 5.2.6
+#			19.03.2020 - COE 169 Releaseversion 5.2.7
+#			25.03.2020 - COE 170 Releaseversion 5.3.0
+#			23.04.2020 - UR  171 Bugfix set lib_ge_dll_version instead of dotnet_version
+#			01.07.2020 - COE 172 Releaseversion 5.3.1
+#			09.07.2020 - COE 173 Releaseversion 5.3.2
+#			06.09.2020 - COE 174 Releaseversion 5.3.3
+#			15.09.2020 - COE 175 Releaseversion 5.3.4
+#			26.09.2020 - COE 176 Releaseversion 5.3.5
+#			26.11.2020 - COE 177 Releaseversion 5.3.6
+#			24.01.2021 - COE 178 Releaseversion 5.3.7
+#			06.02.2021 - COE 179 Releaseversion 5.3.8
+#			15.03.2021 - COE 180 Releaseversion 5.3.9
+#			13.04.2021 - COE 181 Releaseversion 5.4.0
+#			16.05.2021 - COE 182 Bug#2260: check UGII_TMP_DIR first, use system-env only as fallback
+#			02.06.2021 - COE 183 Releaseversion 5.4.1
+#			11.06.2021 - COE 184 Linux compatibility
+#			21.07.2021 - COE 185 Releaseversion 5.4.2
+#			03.09.2021 - COE 186 Releaseversion 5.4.3
+#			07.09.2021 - COE 187 Releaseversion 5.4.4
+#			29.09.2021 - COE 188 Releaseversion 5.5.0
+#			25.10.2021 - COE 189 Releaseversion 5.5.1
+#			24.11.2021 - COE 190 Releaseversion 5.5.2
+#			19.02.2022 - COE 191 Releaseversion 5.5.3
+#			06.03.2022 - COE 192 Releaseversion 5.5.4
+#			08.04.2022 - COE 193 Releaseversion 5.5.5
+#			13.07.2022 - COE 194 Releaseversion 5.5.6
+#			07.09.2022 - COE 195 Releaseversion 5.5.7
+#			24.09.2022 - COE 196 Releaseversion 5.5.8
+#			15.01.2023 - COE 197 Releaseversion 23.01.0
+#			14.03.2023 - COE 198 Releaseversion 23.03.0
+#			07.04.2023 - COE 199 Releaseversion 23.04.0
+#			14.07.2023 - COE 200 Releaseversion 23.07.0
+#			14.09.2023 - COE 201 Releaseversion 23.09.0
+#			09.10.2023 - ET  202 Releaseversion 23.10.0
+#			10.12.2023 - COE 203 Releaseversion 23.12.0
+#			19.01.2024 - COE 204 Releaseversion 24.01.0
+#			21.03.2024 - COE 205 Releaseversion 24.03.0
+#			13.08.2024 - COE 206 Releaseversion 24.08.0
+#			22.08.2024 - COE 207 Releaseversion 24.08.1
+#			16.09.2024 - COE 208 Releaseversion 24.09.0
+#			24.09.2024 - ET  209 Releaseversion 24.09.1
+#			27.12.2024 - COE 210 Releaseversion 24.12.0
+#			02.04.2025 - COE 211 Releaseversion 25.04.0
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#############################################################################################
+#	Copyright 2014-2024 Siemens Product Lifecycle Management Software Inc.
+#				All Rights Reserved.
+
+#
+####S#T#A#N#D#A#R#D##S#O#U#R#C#I#N#G#########################################################
+
+#____________________________________________________________________________________________
+#
+# Procedure debugger
+#____________________________________________________________________________________________
+#
+
+set lib_ge_debug(on) 0
+set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
+set lib_ge_debug(var_write_trace_list) "mom_group_name"
+set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
+#____________________________________________________________________________________________
+set lib_debug_source_of_proc_list 		""
+set lib_fh_do_after_output			0	;#if set to 0 the posttreatment loop is suppressed
+
+if {![info exists lib_ge_platform]} {
+	set lib_ge_temppath ""
+	if {[info commands MOM_ask_env_var] != ""} {
+		set lib_ge_temppath [MOM_ask_env_var UGII_TMP_DIR]
+	}
+	
+	if {[string match "*windows*" $tcl_platform(platform)]} {
+		set lib_ge_platform 1
+		set lib_ge_slash "\\"
+		if {$lib_ge_temppath == ""} {
+			if {[info exists env(TEMP)]} {
+				set lib_ge_temppath $env(TEMP)
+			} elseif {[info exists env(TMP)]} {
+				set lib_ge_temppath $env(TMP)
+			}
+		}
+	} else {
+		set lib_ge_platform 0
+		set lib_ge_slash "/"
+		if {$lib_ge_temppath == ""} {
+			if {[info exists env(TMPDIR)]} {
+				set lib_ge_temppath $env(TMPDIR)
+			}
+			if {![string length $lib_ge_temppath]} {
+				set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
+			}
+		}
+	}
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# Handling for the default environment variables
+#
+# <Internal Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_environment_handling {} {
+
+ 	global lib_ge_env lib_ge_slash lib_ge_installed_machines
+
+	set lib_ge_env(post_pool_dir) 		[LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
+	set lib_ge_env(cam_post_dir) 		[LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
+	set lib_ge_env(tmp_dir)                 [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
+	if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $::lib_ge_temppath}
+
+	if {[string match [string tolower [file tail [file dirname [info script]]]] "libraries"]} {
+		set lib_ge_installed_machines	[file dirname [info script]]
+	} else {
+		set lib_ge_installed_machines	[info script]
+	}
+
+	set lib_ge_env(installed_machines_dir) 	[LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
+	# Needed is searchpath activ, therefore info script is wrong
+	if {[file exists [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]]} {source [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]}
+
+	set lib_ge_env(installed_machines_dir,recursively) ""
+	lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
+
+	set current_dir [pwd]
+	if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
+		if {![catch {set dir [string tolower [glob *]]}]} {
+			foreach e {libraries controller bin} {
+				set index [lsearch -exact $dir $e]
+				if {$index > -1} {
+					set directory [lindex $dir $index]
+					set directory [string toupper [string index $directory 0]][string range $directory 1 end]
+					lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
+				}
+			}
+		}
+	}
+	cd $current_dir
+
+	if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
+
+	set lib_ge_env(version_bit)  			[MOM_ask_env_var "UGII_VERSION_BIT"]
+	set lib_ge_env(base_dir)     			[MOM_ask_env_var "UGII_BASE_DIR"]
+
+	set lib_ge_env(compatible_base_release_version)	[MOM_ask_env_var "NX_COMPATIBLE_BASE_RELEASE_VERSION"]
+	set lib_ge_env(major_version)  			[MOM_ask_env_var "UGII_MAJOR_VERSION"]
+	set lib_ge_env(minor_version)     		[MOM_ask_env_var "UGII_MINOR_VERSION"]
+	set lib_ge_env(subminor_version)     		[MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
+
+	if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
+	if {$lib_ge_env(minor_version) > 0} {
+		set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
+	} else {
+		set lib_ge_dll_version "nx$lib_ge_env(major_version)"
+	}
+	if {[llength $lib_ge_env(compatible_base_release_version)] > 0} {set lib_ge_dll_version "nx$lib_ge_env(compatible_base_release_version)"}
+
+	if {[string match "*windows*" $::tcl_platform(platform)]} {
+		regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
+	}
+
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# This procedure may be used to format pathnames from unix format in windows
+# format and delete double backslash
+#
+# Output:
+# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
+#
+# e.g.
+# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
+#
+# <Example>
+# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
+#____________________________________________________________________________________________
+proc LIB_Shell_format_path_names {pathname} {
+
+	global lib_ge_slash lib_ge lib_ge_platform
+
+	regsub -all "/" $pathname "\\" pathname
+	binary scan $pathname H* pathbin
+	if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
+		return $lib_ge(format_path,$pathbin,0,0,0)
+	}
+
+	if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
+		regsub -all "/" $pathname "\\" pathname
+	}
+
+	if {$lib_ge_platform} {
+		regsub -all "/" $pathname "\\" pathname
+		if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
+			 while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
+		if {$unc} {set pathname "\\$pathname"}
+	} elseif {!$lib_ge_platform} {
+		regsub -all "\\\\" $pathname "/" pathname
+		if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
+		while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
+		if {$unc} {set pathname "/$pathname"}
+	}
+
+	set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
+	return $lib_ge(format_path,$pathbin,0,0,0)
+
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# Abort postrun
+#
+# <Internal Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_abort {message} {
+
+	MOM_output_to_listing_device $message
+	MOM_log_message $message
+
+	MOM_abort $message
+
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# Handling for the main shell
+#
+# <Internal Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_main {} {
+
+	global lib_ge_env lib_ge_slash
+	global lib_cycle_path sourcefile
+
+	LIB_Shell_environment_handling
+
+	lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
+
+	if {[info commands LIB_GE_source] == ""} {
+		set lib_cycle_path 0
+		set searchpath $lib_ge_env(installed_machines_dir,recursively)
+		lappend searchpath $lib_ge_env(post_pool_dir)
+		foreach path $searchpath {
+			if {$lib_cycle_path} {break}
+			foreach ext {.tcl .tbc .pcf} {
+				set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
+				if {[file exists $sourcefile]} {
+					if {[string match ".tbc" $ext]} {
+						LIB_Shell_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext"
+					}
+					uplevel #0 {
+
+						set err ""
+						if {$tcl_version >= 8.6 && [catch {source -encoding utf-8 $sourcefile} err]} {
+							if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
+							LIB_Shell_abort "File lib_sourcing $err not loadable"
+						}
+						if {$tcl_version < 8.6 && [catch {source $sourcefile} err]} {
+							if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
+							LIB_Shell_abort "File lib_sourcing $err not loadable"
+						}
+						if {[string length $err] > 0} {
+							set lib_ge_debug(lib_sourcing) "$sourcefile"
+							lappend lib_ge_monitored_files "$sourcefile"
+							lappend lib_ge_log_message "\n--> $sourcefile loaded"
+							set lib_cycle_path 1 ; break
+						}
+
+					}
+				}
+			}
+		}
+		if {!$lib_cycle_path} {
+			LIB_Shell_abort "File lib_sourcing not found"
+		}
+	}
+
+	LIB_Shell_init
+
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# Handling for the default environment variables
+#
+# <Internal Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_defined_post_environment {} {
+
+	global lib_ge_env lib_ge_slash lib_pp_source_file
+
+	#____________________________________________________________________________________________
+	#
+	# NX Post, load files
+	#____________________________________________________________________________________________
+	#
+
+	# There are different ways to source each files
+	#
+	# e.g. Befor LIB_GE_source call
+	# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
+	#
+	# e.g. After LIB_GE_source call
+	# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
+	#
+	# e.g. To define a searchpath
+	# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
+	# Allowed is the direct path and/or variable
+
+	# This is the call the PB post LIB_GE files
+	# ** internal funktion / Don't remove this line **
+
+	if {[file exists "$lib_ge_env(tmp_dir)${lib_ge_slash}pt_source_list_[pid].tcl"]} {
+		LIB_GE_source pt_source_list_[pid] "$lib_ge_env(tmp_dir)${lib_ge_slash}" ".tcl" 0 0 "RUNTIME"
+		LIB_GE_source lib_pretreatment_post
+	} else {
+		lappend lib_pp_source_file "ugpost_base" "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document" "lib_pretreatment_post"
+		LIB_GE_source
+	}
+}
+
+LIB_Shell_main
+
+####S#T#A#R#T##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S########################################
+
+####E#N#D##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S############################################
+
+#############################################################################################
+# This is to debug
+#############################################################################################
+if {[info commands LIB_GE_debug] != ""} {LIB_GE_debug}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/machine_ootb_5ax_sinumerik.pce

@@ -0,0 +1 @@
+]ÄÅ à˜Ø½hSGÍwçϯe‚‹/ND²#£•3˱

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_ctrl.def

@@ -0,0 +1,440 @@
+#
+
+MACHINE Default
+
+FORMATTING
+{
+WORD_SEPARATOR " "
+END_OF_LINE ""
+FORMAT  Vector     "%-.7f"
+FORMAT  Real       "%-.6f"
+FORMAT  Real_x     "%-.4f"
+FORMAT  Real_y     "%-.4f"
+FORMAT  Real_z     "%-.4f"    
+FORMAT  Int        "%d"
+FORMAT  String     "%s"
+
+# Following adresses are required by Post Configurator infrastructure
+FORMAT Feed        "&__7.2_"
+FORMAT Feed_DPM "&__5.2_"
+FORMAT Feed_FRN "&__5.3_"
+FORMAT Feed_INV "&__5.3_"
+FORMAT Feed_IPM "&__4.1_"
+FORMAT Feed_IPR "&__1.4_"
+FORMAT Feed_MMPM "&__5.0_"
+FORMAT Feed_MMPR "&__2.3_"
+FORMAT Zero_real   "&_01.10"
+
+# Override addresses required by Post Configurator infrastructure
+# ===================================================================
+# Address to output a plain string 
+ADDRESS robot_string 
+{
+    LEADER ""
+    FORMAT String
+    FORCE always
+}
+ADDRESS A
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "A="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS B
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "B="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS C
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "C="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS F {
+      FORMAT      Feed
+      FORCE       off
+      MAX         999999.9 Warning
+      MIN         .0001 Warning
+      LEADER      "F"
+      ZERO_FORMAT Zero_real
+}	
+
+ADDRESS I1
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "I1="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS J1
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "J1="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS K1
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "K1="
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E1
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(0)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E2
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(1)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E3
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(2)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E4
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(3)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E5
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(4)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS E6
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_external_name(5)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF1
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(0)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF2
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(1)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF3
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(2)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF4
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(3)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF5
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(4)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS FGREF6
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      [$RMR_fgref_external_name(5)=]
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS Motion_type
+{
+        LEADER ""
+        FORMAT      String
+        FORCE       off
+}
+
+ADDRESS X
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "X"
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS Y
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "Y"
+        ZERO_FORMAT Zero_real
+}
+
+ADDRESS Z
+{
+        FORMAT      Coordinate
+        FORCE       always
+        MAX         99999.999 Truncate
+        MIN         -99999.999 Truncate
+        LEADER      "Z"
+        ZERO_FORMAT Zero_real
+}
+
+BLOCK_TEMPLATE linear_move
+{
+        G_cutcom[$mom_sys_cutcom_code($mom_cutcom_status)]\opt
+        G_plane[$mom_sys_cutcom_plane_code($mom_cutcom_plane)]\opt
+        G_feed[$mom_sys_feed_rate_mode_code($feed_mode)]
+        G_motion[$mom_sys_linear_code]
+        G_mode[$mom_sys_output_code($mom_output_mode)]
+        Motion_type[$RMR_motion_type(1)]        
+        X[$mom_rob_pos(0)]
+        Y[$mom_rob_pos(1)]
+        Z[$mom_rob_pos(2)]
+        A[$mom_rob_pos(3)]
+        B[$mom_rob_pos(4)]
+        C[$mom_rob_pos(5)]
+        E1[$mom_rob_ext(0)]
+        E2[$mom_rob_ext(1)]
+        E3[$mom_rob_ext(2)]
+        E4[$mom_rob_ext(3)]
+        E5[$mom_rob_ext(4)]
+        E6[$mom_rob_ext(5)]
+        S[$mom_spindle_rpm]
+        D[$mom_tool_adjust_register]\opt
+        M_spindle[$mom_sys_spindle_direction_code($mom_spindle_direction)]\opt
+        M_coolant[$mom_sys_coolant_code($mom_coolant_mode)]\opt
+        F[$mom_feed_rate]
+        FGREF1[$mom_rob_fgref_ext(0)]
+        FGREF2[$mom_rob_fgref_ext(1)]
+        FGREF3[$mom_rob_fgref_ext(2)]
+        FGREF4[$mom_rob_fgref_ext(3)]
+        FGREF5[$mom_rob_fgref_ext(4)]
+        FGREF6[$mom_rob_fgref_ext(5)]
+}
+
+BLOCK_TEMPLATE circular_move_cip
+{
+       G_cutcom[$mom_sys_cutcom_code($mom_cutcom_status)]\opt
+       G_plane[$mom_sys_cutcom_plane_code($mom_cutcom_plane)]\opt
+       G_feed[$mom_sys_feed_rate_mode_code($feed_mode)]
+       "CIP"
+       G_mode[$mom_sys_output_code($mom_output_mode)]
+       X[$mom_rob_pos(0)]
+       Y[$mom_rob_pos(1)]
+       Z[$mom_rob_pos(2)]
+       I1[$mom_rob_circ_via_pos(0)]
+       J1[$mom_rob_circ_via_pos(1)]
+       K1[$mom_rob_circ_via_pos(2)]
+       E1[$mom_rob_ext(0)]
+       E2[$mom_rob_ext(1)]
+       E3[$mom_rob_ext(2)]
+       E4[$mom_rob_ext(3)]
+       E5[$mom_rob_ext(4)]
+       E6[$mom_rob_ext(5)]
+       helix_turn[$mom_helix_turn_number]\opt
+       R[$mom_arc_radius]
+       S[$mom_spindle_rpm]
+       D[$mom_tool_adjust_register]
+       M_spindle[$mom_sys_spindle_direction_code($mom_spindle_direction)]\opt
+       M_coolant[$mom_sys_coolant_code($mom_coolant_mode)]\opt
+       F[$mom_feed_rate]
+       FGREF1[$mom_rob_fgref_ext(0)]
+       FGREF2[$mom_rob_fgref_ext(1)]
+       FGREF3[$mom_rob_fgref_ext(2)]
+       FGREF4[$mom_rob_fgref_ext(3)]
+       FGREF5[$mom_rob_fgref_ext(4)]
+       FGREF6[$mom_rob_fgref_ext(5)]
+}
+
+BLOCK_TEMPLATE circular_move
+{
+       G_cutcom[$mom_sys_cutcom_code($mom_cutcom_status)]\opt
+       G_plane[$mom_sys_cutcom_plane_code($mom_cutcom_plane)]\opt
+       G_feed[$mom_sys_feed_rate_mode_code($feed_mode)]
+       G_motion[$mom_sys_circle_code($mom_arc_direction)]\opt
+       G_mode[$mom_sys_output_code($mom_output_mode)]
+       Motion_type[$RMR_motion_type(1)]      
+       X[$mom_rob_pos(0)]
+       Y[$mom_rob_pos(1)]
+       Z[$mom_rob_pos(2)]
+       I[$mom_pos_arc_center(0) - $mom_prev_pos(0)]
+       J[$mom_pos_arc_center(1) - $mom_prev_pos(1)]
+       K[$mom_pos_arc_center(2) - $mom_prev_pos(2)]
+       E1[$mom_rob_ext(0)]
+       E2[$mom_rob_ext(1)]
+       E3[$mom_rob_ext(2)]
+       E4[$mom_rob_ext(3)]
+       E5[$mom_rob_ext(4)]
+       E6[$mom_rob_ext(5)]
+       helix_turn[$mom_helix_turn_number]\opt
+       R[$mom_arc_radius]
+       S[$mom_spindle_rpm]
+       D[$mom_tool_adjust_register]
+       M_spindle[$mom_sys_spindle_direction_code($mom_spindle_direction)]\opt
+       M_coolant[$mom_sys_coolant_code($mom_coolant_mode)]\opt
+       F[$mom_feed_rate]
+       FGREF1[$mom_rob_fgref_ext(0)]
+       FGREF2[$mom_rob_fgref_ext(1)]
+       FGREF3[$mom_rob_fgref_ext(2)]
+       FGREF4[$mom_rob_fgref_ext(3)]
+       FGREF5[$mom_rob_fgref_ext(4)]
+       FGREF6[$mom_rob_fgref_ext(5)]
+}
+
+BLOCK_TEMPLATE rapid_move
+{
+        G_cutcom[$mom_sys_cutcom_code($mom_cutcom_status)]\opt
+        G_motion[$mom_sys_rapid_code]
+        Motion_type[$RMR_motion_type(0)]
+        X[$mom_rob_pos(0)]
+        Y[$mom_rob_pos(1)]
+        Z[$mom_rob_pos(2)]
+        A[$mom_rob_pos(3)]
+        B[$mom_rob_pos(4)]
+        C[$mom_rob_pos(5)]
+        robot_string[$mom_rob_config]
+        E1[$mom_rob_ext(0)]
+        E2[$mom_rob_ext(1)]
+        E3[$mom_rob_ext(2)]
+        E4[$mom_rob_ext(3)]
+        E5[$mom_rob_ext(4)]
+        E6[$mom_rob_ext(5)]
+        S[$mom_spindle_rpm]
+        D[$mom_tool_adjust_register]
+        M_spindle[$mom_sys_spindle_direction_code($mom_spindle_direction)]\opt
+}
+
+BLOCK_TEMPLATE robot_axis_motion 
+{
+        G_cutcom[$mom_sys_cutcom_code($mom_cutcom_status)]\opt
+        G_motion[$mom_sys_rapid_code]
+        robot_string[$RMR_axis_coord]
+        E1[$mom_rob_ext(0)]
+        E2[$mom_rob_ext(1)]
+        E3[$mom_rob_ext(2)]
+        E4[$mom_rob_ext(3)]
+        E5[$mom_rob_ext(4)]
+        E6[$mom_rob_ext(5)]
+}
+
+BLOCK_TEMPLATE rob_frame_trans
+{
+        Text[TRANS]
+        X[$mom_trans_x]
+        Y[$mom_trans_y]
+        Z[$mom_trans_z]
+}
+  
+BLOCK_TEMPLATE rob_frame_arot_x
+{
+        rot_x[$mom_arot_x]\opt
+}
+  
+BLOCK_TEMPLATE rob_frame_arot_y
+{
+        rot_y[$mom_arot_y]\opt
+}
+ 
+BLOCK_TEMPLATE rob_frame_arot_z
+{
+        rot_z[$mom_arot_z]\opt
+}
+  
+BLOCK_TEMPLATE rob_frame_trans_cancel
+{
+        Text[TRANS]
+}
+  
+BLOCK_TEMPLATE rob_frame_rot_cancel
+{
+        Text[ROT]
+}
+
+BLOCK_TEMPLATE rob_traori
+{
+        Text[TRAORI]
+}
+}
+  
+  

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_ctrl_msg.tcl

@@ -0,0 +1,64 @@
+lappend lib_config_data		[list "rmr_sinumerik_ctrl_msg" "Ctrl_Template_Base-MSG-Version 001"]
+#############################################################################################
+#
+#	Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
+#				All Rights Reserved.
+#
+#############################################################################################
+#
+#       Last changes:
+#       11.05.2016 - UR  001 Initial Release and Installation 
+#
+#
+#
+####G#E#N#E#R#A#L##D#E#S#C#R#I#P#T#I#O#N#####################################################
+#
+# In this function, the text in the appropriate language UGII_LANG is translated.
+# Optional wildcards can be used in the example.
+#
+# Permitted languages:  braz_portuguese / french / german / italian / japanese /
+#			korean / russian / simpl_chinese / spanish / trad_chinese...
+#
+# e.g.
+# set message [LIB_GE_MSG "Configuration file does not exist"]
+# set message [LIB_GE_MSG "File can not be copied from INS->xxx<- to INS->zzz<-"]
+# set message [LIB_GE_MSG "File INS->C:\\Temp\\xxx.txt<- not found"]
+#
+# set message [LIB_GE_MSG "SURFACE COORDINATE" "core"]
+#
+# (It's for development only)
+# set message [LIB_GE_MSG 0001] <-- Please, don't work with this solution
+#
+#############################################################################################
+
+##############################################################################################
+###  controller/machine/customer... translations
+###  between the commas the text is selectable e.g. 0000,$lib_controller_message,xxx,english
+##############################################################################################
+set lib_msg(0000,$lib_controller_message,core)          "Please contact Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,czech)         "Kontaktujte společnost Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,danish)        "Kontakt Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,dutch)         "Neem contact op met Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,english)       "Please contact Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,finnish)       "Ota yhteyttä Siemens PLM -ohjelmistoon"
+set lib_msg(0000,$lib_controller_message,french)        "S'il vous plaît contactez Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,german)        "Bitte Siemens PLM Software kontaktieren"
+set lib_msg(0000,$lib_controller_message,hungarian)     "Kérjük, lépjen kapcsolatba a Siemens PLM szoftverrel"
+set lib_msg(0000,$lib_controller_message,italian)       "Contattare Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,japanese)      "お問い合わせください Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,korean)        "문의하시기 바랍니다 Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,norwegian)     "Ta kontakt med Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,polish)        "Prosze o kontakt Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,portuguese)    "Entre em contato com a Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,russian)       "пожалуйста свяжитесь Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,simpl_chinese) "请联系 Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,slovak)        "Obráťte sa na spoločnosť Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,slovenian)     "Prosimo, pokličite programsko opremo Siemens PLM"
+set lib_msg(0000,$lib_controller_message,spanish)       "Por favor, póngase en contacto con Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,swedish)       "Vänligen kontakta Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,trad_chinese)  "請聯繫 Siemens PLM Software"
+set lib_msg(0000,$lib_controller_message,turkish)       "Lütfen Siemens PLM Yazılımına başvurun."
+
+if {$tcl_version < 8.4} {
+	array set lib_msg [LIB_GE_replace_special_characters [array get lib_msg] 4 0]
+}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_post.cdl

@@ -0,0 +1 @@
+MACHINE Default

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_post.def

@@ -0,0 +1,13 @@
+
+MACHINE Default
+
+INCLUDE {
+	$POST_LIB_CURRENT_MACH_DIR/Controller/ctrl_s840d_base.def
+    $POST_LIB_CURRENT_MACH_DIR/../../robots/Robotics.cdl
+	$POST_LIB_CURRENT_MACH_DIR/Controller/ctrl_sinumerik_base.cdl
+	$POST_LIB_CURRENT_MACH_DIR/Controller/ctrl_sinumerik_base.def
+	$POST_LIB_CURRENT_MACH_DIR/Controller/ctrl_s840d_base.cdl
+	$POST_LIB_CURRENT_MACH_DIR/Controller/ctrl_s840d_base_cycle$POST_SYS_CYCL_VERS.cdl
+	$POST_LIB_CURRENT_MACH_DIR/rmr_sinumerik_post.cdl
+	$POST_LIB_CURRENT_MACH_DIR/rmr_sinumerik_ctrl.def
+}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_post.psc

@@ -0,0 +1,211 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<Configuration>
+  <Copyright>Siemens Digital Industry Software</Copyright>
+  <Version>2.0</Version>
+  <MachineName>RMR_SINUMERIK</MachineName>
+  <Sourcing>
+    <Sequence>
+		<Layer Name="Libraries" ReadOnly="true" SubFolder="Libraries">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/libraries/libraries.psl</Template>
+			<Version>1.00</Version>
+			<Order>1001</Order>
+			<Scripts>
+				<Filename Name="lib_sourcing" Processing="auto"/>
+				<Filename Name="lib_general" Processing="auto"/>
+				<Filename Name="lib_xml_handling" Processing="auto"/>
+				<Filename Name="lib_msg" Processing="true"/>
+				<Filename Name="lib_file_handling" Processing="true"/>
+				<Filename Name="lib_standard_post_func" Processing="true"/>
+				<Filename Name="lib_document" Processing="true"/>
+				<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
+				<Filename Include="pretreatment" Name="lib_pretreatment_post" Processing="auto"/>
+			</Scripts>
+			<DefinedEvents>
+				<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
+			</DefinedEvents>
+			<CustomerDialogs>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+    	<Layer Name="Robotic Standard Layer" ReadOnly="false">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/nx_olp_util/RMR_SINUMERIK_standard_layer.psl</Template>
+			<Version>1.00</Version>
+			<Order>1999</Order>
+			<Scripts>
+				<Filename Name="nx_olp_util_init" Processing="true"/>
+				<Filename Name="nx_olp_util_maths" Processing="true"/>
+				<Filename Name="nx_olp_util_robotics" Processing="true"/>
+	            <Filename Name="nx_olp_util_cse_simulation_ini" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+				<Filename Include="true" Name="nx_olp_util_base" Processing="true"/>
+			</DefinedEvents>
+			<CustomerDialogs>
+				<Filename Name="Robotics" Processing="true"/>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+		<Layer Name="Sinumerik 840D" ReadOnly="true" SubFolder="Controller">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/controller/sinumerik/base/ctrl_s840d_base.psl</Template>
+			<Version>1.00</Version>
+			<Order>2001</Order>
+			<Scripts>
+				<Filename Name="ctrl_sinumerik_base" Processing="true"/>
+				<Filename Name="ctrl_s840d_base" Processing="true"/>
+				<Filename Name="ctrl_sinumerik_base_msg" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+				<Filename Include="true" Name="ctrl_sinumerik_base" Processing="auto"/>
+				<Filename Include="true" Name="ctrl_s840d_base" Processing="auto"/>
+			</DefinedEvents>
+			<CustomerDialogs>
+				<Filename Include="true" Name="ctrl_sinumerik_base" Processing="auto"/>
+				<Filename Include="true" Name="ctrl_s840d_base" Processing="auto"/>
+				<Filename Include="true" Name="ctrl_s840d_base_cycle" Processing="auto"/>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+		<Layer Name="Sinumerik Sample Machine Level" ReadOnly="false">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/controller/sinumerik/machine/machine_ootb_5ax_sinumerik.psl</Template>
+			<Version>1.00</Version>
+			<Order>5001</Order>
+			<Scripts>
+				<Filename Name="machine_ootb_5ax_sinumerik" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+			</DefinedEvents>
+			<CustomerDialogs>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+		<Layer Name="Service" ReadOnly="false">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Version>1.00</Version>
+			<Order>8001</Order>
+			<Scripts>
+				<Filename Name="rmr_sinumerik_post_service_s840d" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+			</DefinedEvents>
+			<CustomerDialogs>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+		<Layer Name="RMR Sinumerik Layer" ReadOnly="false">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/controller/RMR_SINUMERIK/base/RMR_SINUMERIK_base.psl</Template>
+			<Version>1.00</Version>
+			<Order>8002</Order>
+			<Scripts>
+				<Filename Name="rmr_sinumerik_ctrl" Processing="true"/>
+				<Filename Name="rmr_sinumerik_ctrl_msg" Processing="true"/>
+				<Filename Name="rmr_sinumerik_user_custom" Processing="true"/>
+	            <Filename Name="rmr_sinumerik_cse_simulation_ini" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+				<Filename Name="rmr_sinumerik_ctrl" Processing="true"/>
+			</DefinedEvents>
+			<CustomerDialogs>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+		<Layer Name="Customer" ReadOnly="true">
+			<Copyright>Siemens Digital Industry Software</Copyright>
+			<Version>1.00</Version>
+			<Order>9001</Order>
+			<Scripts>
+				<Filename Name="rmr_sinumerik_post_custom" Processing="true"/>
+			</Scripts>
+			<DefinedEvents>
+			</DefinedEvents>
+			<CustomerDialogs>
+			</CustomerDialogs>
+			<Functions>
+			</Functions>
+			<Comments>
+				<Comment>
+					<User>Siemens Digital Industry Software</User>
+					<Date>01.01.2019 12:00:00</Date>
+					<Text>Initial generated by Post Configurator</Text>
+				</Comment>
+			</Comments>
+		</Layer>
+	</Sequence>
+  </Sourcing>
+  <History>
+	<Comments>
+		<Comment>
+		  <User>xd2oht</User>
+		  <Date>21.07.2020 11:55:25</Date>
+		  <Text>Initial generated by Post Configurator</Text>
+		</Comment>
+		<Comment>
+		  <User>xd2oht</User>
+		  <Date>21.07.2020 11:55:25</Date>
+		  <Text>Postprocessor successfully upgraded from version 4.7.1 to version 5.3.0</Text>
+		</Comment>
+	</Comments>
+    <Customer>
+      <Company/>
+      <Address/>
+      <Contact/>
+      <Phone/>
+      <Fax/>
+      <Mail/>
+    </Customer>
+  </History>
+<Units>Millimeters and Inches</Units>
+</Configuration>

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_post.pui

@@ -0,0 +1 @@
+# this file is intentionally left empty

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_post.tcl

@@ -0,0 +1,299 @@
+#############################################################################################
+#
+#	Customer Data
+#
+#	Company         :
+#	Address         :
+#	Contact person  :
+#	Phone           :
+#	Fax             :
+#	Mail            :
+#
+#############################################################################################
+#
+#	Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
+#				All Rights Reserved.
+#
+#############################################################################################
+#____________________________________________________________________________________________
+#
+# Procedure debugger
+#____________________________________________________________________________________________
+#
+
+set lib_ge_debug(on) 0
+set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
+set lib_ge_debug(var_write_trace_list) "mom_group_name"
+set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
+#____________________________________________________________________________________________
+set lib_debug_source_of_proc_list 		""
+
+if {![info exists lib_ge_platform]} {
+	if {[string match "*windows*" $tcl_platform(platform)]} {
+		set lib_ge_platform 1
+		set lib_ge_slash "\\"
+		if {[info exists env(TEMP)]} {
+			set lib_ge_temppath $env(TEMP)
+		} elseif {[info exists env(TMP)]} {
+			set lib_ge_temppath $env(TMP)
+		}
+	} else {
+		set lib_ge_platform 0
+		set lib_ge_slash "/"
+		if {[info exists env(TMPDIR)]} {
+			set lib_ge_temppath $env(TMPDIR)
+		}
+		if {![string length $lib_ge_temppath]} {
+			set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
+		}
+	}
+}
+if {![info exists lib_ge_env(tmp_dir)]} {
+	set lib_ge_env(tmp_dir)		[MOM_ask_env_var "UGII_TMP_DIR"]
+}
+if {![string length $lib_ge_env(tmp_dir)]} {
+	set lib_ge_env(tmp_dir) $lib_ge_temppath
+}
+
+#____________________________________________________________________________________________
+# <Documentation>
+#
+# Handling for the default environment variables
+#
+# <Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_environment_handling {} {
+
+	eval global [uplevel #0 info vars]
+
+	# Language file and OS specific values
+	if {![info exists lib_ge_slash]} {global lib_ge_slash}
+	if {![info exists lib_ge_env]} {global lib_ge_env}
+
+	set lib_ge_env(post_pool_dir) 		[LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
+	set lib_ge_env(cam_post_dir) 		[LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
+	set lib_ge_env(tmp_dir)                 [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
+	if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $lib_ge_temppath}
+
+	global lib_ge_installed_machines
+	set lib_ge_installed_machines		[info script]
+	set lib_ge_env(installed_machines_dir) 	[LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
+
+	set lib_ge_env(installed_machines_dir,recursively) ""
+	lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
+
+	set current_dir [pwd]
+	if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
+		if {![catch {set dir [string tolower [glob *]]}]} {
+			foreach e {libraries controller bin} {
+				set index [lsearch -exact $dir $e]
+				if {$index > -1} {
+					set directory [lindex $dir $index]
+					set directory [string toupper [string index $directory 0]][string range $directory 1 end]
+					lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
+			        }
+			}
+		}
+	}
+	cd $current_dir
+
+	if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
+
+	set lib_ge_env(version_bit)  		[MOM_ask_env_var "UGII_VERSION_BIT"]
+	set lib_ge_env(base_dir)     		[MOM_ask_env_var "UGII_BASE_DIR"]
+
+	set lib_ge_env(major_version)  		[MOM_ask_env_var "UGII_MAJOR_VERSION"]
+	set lib_ge_env(minor_version)     	[MOM_ask_env_var "UGII_MINOR_VERSION"]
+	set lib_ge_env(subminor_version)     	[MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
+
+	if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
+	if {$lib_ge_env(minor_version) > 0} {
+		set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
+	} else {
+		set lib_ge_dll_version "nx$lib_ge_env(major_version)"
+	}
+
+	regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
+
+}
+
+#____________________________________________________________________________________________
+# <Internal Documentation>
+#
+# This procedure may be used to format pathnames from unix format in windows
+# format and delete double backslash
+#
+# Output:
+# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
+#
+# e.g.
+# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
+#
+# <Example>
+# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
+#____________________________________________________________________________________________
+proc LIB_Shell_format_path_names {pathname} {
+
+	global lib_ge lib_ge_platform
+
+	binary scan $pathname H* pathbin
+	if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
+		return $lib_ge(format_path,$pathbin,0,0,0)
+	}
+
+	if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
+		regsub -all "/" $pathname "\\" pathname
+	}
+
+	if {$lib_ge_platform} {
+		regsub -all "/" $pathname "\\" pathname
+		if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
+			 while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
+		if {$unc} {set pathname "\\$pathname"}
+	} elseif {!$lib_ge_platform} {
+		regsub -all "\\\\" $pathname "/" pathname
+		if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
+		while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
+		if {$unc} {set pathname "/$pathname"}
+	}
+
+	set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
+	return $lib_ge(format_path,$pathbin,0,0,0)
+
+}
+
+#____________________________________________________________________________________________
+# <Documentation>
+#
+# Handling for the main shell
+#
+# <Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_main {} {
+
+	global lib_ge_env lib_ge_slash
+	global lib_cycle_path sourcefile
+
+	LIB_Shell_environment_handling
+
+	lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
+
+	if {[info commands LIB_GE_source] != "LIB_GE_source"} {
+		set lib_cycle_path 0
+		set searchpath $lib_ge_env(installed_machines_dir,recursively)
+		lappend searchpath $lib_ge_env(post_pool_dir)
+		foreach path $searchpath {
+			if {$lib_cycle_path} {break}
+			foreach ext {.tcl .tbc} {
+				set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
+				if {[file exists $sourcefile]} {
+					if {[string match ".tbc" $ext]} {
+						MOM_output_to_listing_device "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
+						MOM_log_message "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
+						MOM_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
+					}
+					uplevel #0 {
+
+						if {$::tcl_version >= 8.6} {
+							if {[catch {source -encoding utf-8 $sourcefile} err]} {
+								set lib_source_error 1
+							}
+						} else {
+							if {[catch {source $sourcefile} err]} {
+								set lib_source_error 1
+							}
+						}
+
+						if {[info exists lib_source_error] && $lib_source_error == 1} {
+							if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $errorInfo"}
+							MOM_output_to_listing_device "File lib_sourcing $err not loadable"
+							MOM_log_message "File lib_sourcing $err not loadable"
+							MOM_abort "File lib_sourcing not loadable"
+						} else {
+							set lib_ge_debug(lib_sourcing) "$sourcefile"
+							lappend lib_ge_monitored_files "$sourcefile"
+							lappend lib_ge_log_message "\n--> $sourcefile loaded"
+							set lib_cycle_path 1 ; break
+						}
+
+					}
+				}
+			}
+		}
+		if {!$lib_cycle_path} {
+			MOM_output_to_listing_device "File lib_sourcing not found"
+			MOM_log_message "File lib_sourcing not found"
+			MOM_abort "File lib_sourcing not found"
+		}
+	}
+
+	LIB_Shell_init
+
+}
+
+#____________________________________________________________________________________________
+# <Documentation>
+#
+# Handling for the default environment variables
+#
+# <Example>
+#
+#____________________________________________________________________________________________
+proc LIB_Shell_defined_post_environment {} {
+
+	global lib_pp_source_file lib_shell
+
+	#____________________________________________________________________________________________
+	#
+	# NX Post, load files
+	#____________________________________________________________________________________________
+	#
+
+	# There are different ways to source each files
+	#
+	# e.g. Befor LIB_GE_source call
+	# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
+	#
+	# e.g. After LIB_GE_source call
+	# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
+	#
+	# e.g. To define a searchpath
+	# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
+	# Allowed is the direct path and/or variable
+
+	# This is the call for PB post files
+	# ** internal funktion / Don't remove this line **
+	set lib_pp_source_file ""
+
+	# This is the call the PB post LIB_GE files
+	# ** internal funktion / Don't remove this line **
+	lappend lib_pp_source_file "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document"
+
+	# If a XML-file with the same file name found, the referenced files will also loaded
+	LIB_Shell_external_source
+
+	if {![info exists lib_shell(load_loader)] || $lib_shell(load_loader)} {
+		lappend lib_pp_source_file "[file tail [file rootname $::lib_ge_installed_machines]]_custom"
+	} else {
+		MOM_log_message "Custom level isn't loaded"
+	}
+
+
+	#############################################################################################
+
+}
+
+LIB_Shell_main
+
+#############################################################################################
+
+
+
+#############################################################################################
+
+#############################################################################################
+# This is to debug
+#############################################################################################
+if {[llength [info commands LIB_GE_debug]]} {LIB_GE_debug}

machine/installed_machines/kuka_kr300_r2500/postprocessor/RMR_SINUMERIK/rmr_sinumerik_user_custom.tcl

@@ -0,0 +1,137 @@
+
+#set ::mom_kin_linearization_tol                 "0.0001"
+#set ::mom_kin_machine_resolution                "0.00000001"
+
+# Numerical precisions overrides
+set RMR_PRECISION_FRAME_DEG    6
+set RMR_PRECISION_FRAME_MM     6
+set RMR_PRECISION_JOINT_DEG    6
+set RMR_PRECISION_EXTERNAL     6
+set RMR_PRECISION_MASS_KG      3
+set RMR_PRECISION_INERTIA      3
+set ::mom_kin_read_ahead_next_motion FALSE
+
+# Unused function declarations can be removed from this file. They are all here for the example.
+#----------------------------------------------------------------------
+# Triggered on start of program
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_start_of_program {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered on end of program before/after @END_OF_PROG
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_end_of_program {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered MOM_start_of_program_LIB writing output header
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_write_output_header {position} {
+}
+#----------------------------------------------------------------------
+# Triggered MOM_start_of_program_LIB writing output header
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_write_output_header {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered during MOM_rapid_move
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_rapid_move {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered during MOM_linear_move
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_linear_move {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered during MOM_circular_move
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_circular_move {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered during MOM_robot_pose_move
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_robot_pose_move {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered on each TRAORI
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_traori {position} {
+}
+
+#----------------------------------------------------------------------
+# Triggered on each TRAFOOF
+#   position: start, end
+#----------------------------------------------------------------------
+proc RMR_trafoof {position} {
+}
+
+#----------------------------------------------------------------------
+# Create a formatted string with the selected external axis of the robot
+# if defined in the switch instruction
+# INPUTS:
+#    sCoordName = Name of the external axis. Ex: E1 or E2
+#    dValue     = Value of the external axis
+# OUTPUTS:
+#    Return     external format string            Ex: E2=DC(25.255544)
+#               Default:  <sCoordName>=<dValue>   Ex: E1=12.22333
+#----------------------------------------------------------------------
+proc RMR_external_format_string {sCoordName dValue} {   
+
+    return "$sCoordName=$dValue"
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

machine/installed_machines/kuka_kr300_r2500/robots/RoboticRulesUserDefinitions.py

@@ -0,0 +1,163 @@
+############################################################################## 
+# File: RoboticRulesUserDefinitions.py
+# Description
+#     This file contains the machine or controller specific code for the tool path processing 
+#     12-Nov-2020 Support Tape Layup device
+#
+# 
+# ================================================================
+
+import sys
+import math
+import os
+import NXOpen
+import NXOpen.CAM
+
+
+# This script assumes that all symbols from RoboticRulesSystemDefinitions.py have been imported already
+# This is usually achieved by loading both RoboticRulesSystemDefinitions.py and this file using special code
+# from RoboticToolpathProcessor import *
+
+
+# Define a new simple robotic calculator that computes some process parameters 
+class SampleProcessParameterRoboticDataCalculator(SingleUdeRoboticDataCalculator):
+    """ Just a sample calculator to set process parameters. 
+     It sets a value of 1 to all toolpath locations that are close to a specified point. 
+    """
+    def __init__(self):
+        # name of the input UDE 
+        SingleUdeRoboticDataCalculator.__init__(self, "robot_mark_point_sample")   
+        # input parameter names 
+        self.paramName_Point = "point"
+        self.paramName_Distance = "distance"
+        # output parameter name 
+        self.paramNameLocationData_SampleParameter = "sample_processparameter"
+
+        # strings to show to the user 
+        uiLabels = {
+            self.inputUdeName: "Robot Mark Point Sample", 
+            self.paramName_Point: "Point",
+            self.paramName_Distance: "Distance",
+            self.paramNameLocationData_SampleParameter: "Sample Motion Data Param"}
+
+        # Input UDE definition 
+        self.inputUdeDefinition = UdeDefinition(self.inputUdeName, uiLabels)
+        self.inputUdeDefinition.AddUdeParameter(UdeParameterPoint(self.paramName_Point, uiLabels))
+        self.inputUdeDefinition.AddUdeParameter(UdeParameterDouble(self.paramName_Distance,uiLabels, 0.0))
+
+        # Output UDE definition 
+        self.locationDataUdeDefinition = UdeDefinition("", "")
+        self.locationDataUdeDefinition.AddUdeParameter(UdeParameterInt(self.paramNameLocationData_SampleParameter, uiLabels, 0))
+
+    def HandleSingleInputUde(self, ude):
+        # Read the parameters of the input ude 
+        p = ude.GetParameter(self.paramName_Point).Point
+        if p == None: 
+            raise ToolPathProcessingException("Parameter " + self.paramName_Point + " is not defined")
+        self.point = p.Coordinates
+        self.distance = ude.GetParameter(self.paramName_Distance).DoubleValue
+        
+    def ProcessLocationDataUde(self, input, ude):
+        if self.HasInputUde():   # do only something if the operation has the input ude 
+            inputPos = input.CurrentLocation.Position
+            curDistance = RobotMath_Distance(inputPos,self.point)
+            # calculate the output ude parameter 
+            if curDistance < self.distance:
+                ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 1
+            else:
+                ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 0
+
+
+def RoboticRulesScript_GetCalculators(addAll: bool) -> tuple:
+    """Compute the calculators for the current cell. 
+     param addAll: If true all calculators are added, even those that do not work for the current kinematic.
+     returns: a tuple of (calculator, externalAxisList) """
+
+    # define the list of external axes
+    railAxisName = "RAIL"
+    railAxisName2 = "Z_RAIL"
+    positionerAxisName = "POSITIONER"
+    drillingAxisName = "QUILL"
+    tapeAxisName = "TAPE_ROTARY"
+    extruder1AxisName = "EXTRUDER1_LINEAR"
+    extruder2AxisName = "EXTRUDER2_LINEAR"
+    allExternalAxes = [positionerAxisName, railAxisName, railAxisName2, drillingAxisName, tapeAxisName, extruder1AxisName, extruder2AxisName]
+
+    validExternalAxes = []
+    for i in range(len(allExternalAxes)):
+        if KinUtils_HasAxis(allExternalAxes[i]):
+            validExternalAxes.append(allExternalAxes[i])
+
+    externalAxes = []
+    if addAll:
+        externalAxes = allExternalAxes
+    else:
+        externalAxes = validExternalAxes
+
+    # Define which calculators should be used 
+    calc = CompoundRoboticDataCalculator()
+
+    calc.ChildCalculators.append(ConfigurationRoboticDataCalculator()) 
+    calc.ChildCalculators.append(ParkingPositionRoboticDataCalculator(externalAxes))
+    calc.ChildCalculators.append(ParkingPositionReuseRoboticDataCalculator(externalAxes))
+    calc.ChildCalculators.append(SampleProcessParameterRoboticDataCalculator())
+
+    positionerAxisData = []
+
+    if KinUtils_HasAxis(positionerAxisName):
+        axisData = KinUtils_GetAxisData(positionerAxisName)
+        positionerAxisData.append(axisData)
+        calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
+    elif addAll:
+        axisData = AxisData(positionerAxisName, NXOpen.Vector3d(1.0,0.0,0.0), True)
+        calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
+
+    calc.ChildCalculators.append(ToolOrientationRoboticDataCalculator(positionerAxisData))
+    calc.ChildCalculators.append(RobotFindingResolver(validExternalAxes))
+
+    calc.ChildCalculators.append(TapeLayingRoboticDataCalculator([tapeAxisName, extruder1AxisName, extruder2AxisName]))
+ 
+    calc.ChildCalculators.append(DrillingDeviceRoboticDataCalculator(drillingAxisName))
+
+    if KinUtils_HasAxis(railAxisName):
+        railAxisDir = KinUtils_GetAxisDirection(railAxisName)
+        railAxisPos = KinUtils_GetPointOnAxis(railAxisName)
+        railAxisLimits = KinUtils_GetAxisLimits(railAxisName)
+        calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, railAxisPos, railAxisDir, railAxisLimits))
+    elif addAll:
+        calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
+
+    if KinUtils_HasAxis(railAxisName2):
+        railAxisDir = KinUtils_GetAxisDirection(railAxisName2)
+        railAxisPos = KinUtils_GetPointOnAxis(railAxisName2)
+        railAxisLimits = KinUtils_GetAxisLimits(railAxisName2)
+        calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, railAxisPos, railAxisDir, railAxisLimits))
+    elif addAll:
+        calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
+
+    if addAll:
+        # add the calculators that exist only to write CDL file text  
+        calc.ChildCalculators.append(RobotZonesDefineUdeCalculator())
+        calc.ChildCalculators.append(OlpCommandDefineUdeCalculator())
+        calc.ChildCalculators.append(OlpCommandMultiLineDefineUdeCalculator(10))
+        calc.ChildCalculators.append(PayloadDataDefineUdeCalculator())
+        calc.ChildCalculators.append(ToolPathOlpCommandsDefineUdeCalculator())    
+        calc.ChildCalculators.append(RobotMountComponentDefineUdeCalculator())            
+
+
+    return (calc, externalAxes)
+
+# Uncomment this function to implement your own main function 
+# The function should parse the argument list and return with true if it 
+# handled the call. If it returns false the caller will try to parse the arguments.  
+# def RoboticRulesScript_Main2(args): 
+#    NXOpen.Session.GetSession().LogFile.WriteLine("Main called")
+#    return True 
+                 
+
+
+        
+        
+        
+        
+        

machine/installed_machines/kuka_kr300_r2500/robots/motionparameters.e

@@ -0,0 +1,59 @@
+
+*   CONFIGURATION
+
+default_config	dont_care			;
+use_config	dont_use			;
+config_family	cf_over_head_pos		; 
+joint_config_family j3	joint_cf_elbow_up	;
+joint_default_config j3	dont_care		;
+joint_config_family j5	joint_cf_pos		;
+joint_default_config j5	dont_care		;
+
+*   TURNS
+
+* Changes for axis 1 +/- 185 deg
+* Volker Miegel Dec 1997
+default_turns j1 0 0.0, j4 0 0.0, j6 0 0.0;
+joint_default_turn  all 0;
+joint_default_turn  j1 5;
+
+*   ZONES
+*   FINE		
+
+zone_define fine no_smooth;		
+
+*   MEDIUM		
+
+*   $APO.CPTP = 3 		
+*   Only realistic if angles > 6 deg		
+zone_joint_type medium	dist	;
+zone_joints_param medium	0.052 0.052 0.052 0.052 0.052 0.052	;
+
+*  $APO.CDIS = 20 		
+*  Only realistic if distance > 40 mm		
+zone_type medium	dist	;
+zone_cart_param medium	20	;
+
+*  COARSE		
+
+*  $APO.CPTP = 9 		
+*  Only realistic if angles > 18 degrees		
+zone_joint_type coarse	dist	;
+zone_joints_param coarse	0.157 0.157 0.157 0.157 0.157 0.157	;
+
+*  $APO.CDIS = 50 mm		
+*  Only realistic if distance > 100 mm		
+zone_type coarse	dist	;
+zone_cart_param coarse	50	;
+
+*  NODECEL		
+
+*  PTP: workaround to emulate way smaller than $APO.CPTP/2		
+zone_joint_type nodecel	speed	;
+zone_joints_param nodecel	99.0 99.0 99.0 99.0 99.0 99.0	;
+
+*  $APO.CVEL 99% 		
+*  (workaround to emulate way smaller than $APO.CDIS/2)		
+zone_type nodecel	speed	;
+zone_cart_param nodecel	99	;
+