...
Here are some example of output generated by Robotmaster.
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
/PROG PLATE
/ATTR
OWNER = MNEDITOR;
COMMENT = "BY ROBOTMASTER";
PROG_SIZE = 0;
CREATE = DATE 19-02-18 TIME 16:43:29;
MODIFIED = DATE 19-02-18 TIME 16:43:29;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 120;
MEMORY_SIZE = 0;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/MN
1: UFRAME_NUM = 1 ;
2: UTOOL_NUM = 1 ;
3:J P[1] 50% FINE ;
4:J P[2] 50% FINE ;
5:J P[3] 50% FINE ;
6:J P[4] 50% FINE ;
7:L P[5] 10 mm/sec FINE ;
8:L P[6] 20 mm/sec CNT80 ACC65 ;
9:C P[7]
P[8] 20 mm/sec CNT80 ACC65 ;
10:L P[9] 20 mm/sec CNT80 ACC65 ;
11:C P[10]
P[11] 20 mm/sec CNT80 ACC65 ;
12:L P[12] 20 mm/sec CNT80 ACC65 ;
13:C P[13]
P[14] 20 mm/sec CNT80 ACC65 ;
14:L P[15] 20 mm/sec CNT80 ACC65 ;
15:C P[16]
P[17] 20 mm/sec CNT80 ACC65 ;
16:L P[18] 20 mm/sec CNT80 ACC65 ;
17:C P[19]
P[20] 20 mm/sec CNT80 ACC65 ;
18:L P[21] 20 mm/sec CNT80 ACC65 ;
19:C P[22]
P[23] 20 mm/sec CNT80 ACC65 ;
20:L P[24] 20 mm/sec FINE ;
21:L P[25] 20 mm/sec FINE ;
22:J P[26] 50% FINE ;
23:J P[27] 50% FINE ;
24:J P[28] 50% FINE ;
25:J P[29] 50% FINE ;
26:L P[30] 10 mm/sec FINE ;
27:L P[31] 20 mm/sec CNT80 ACC65 ;
28:C P[32]
P[33] 20 mm/sec CNT80 ACC65 ;
29:L P[34] 20 mm/sec CNT80 ACC65 ;
30:C P[35]
P[36] 20 mm/sec CNT80 ACC65 ;
31:C P[37]
P[38] 20 mm/sec CNT80 ACC65 ;
32:C P[39]
P[40] 20 mm/sec CNT80 ACC65 ;
33:L P[41] 20 mm/sec CNT80 ACC65 ;
34:C P[42]
P[43] 20 mm/sec CNT80 ACC65 ;
35:L P[44] 20 mm/sec CNT80 ACC65 ;
36:C P[45]
P[46] 20 mm/sec CNT80 ACC65 ;
37:C P[47]
P[48] 20 mm/sec CNT80 ACC65 ;
38:C P[49]
P[50] 20 mm/sec CNT80 ACC65 ;
39:L P[51] 20 mm/sec CNT80 ACC65 ;
40:C P[52]
P[53] 20 mm/sec CNT80 ACC65 ;
41:L P[54] 20 mm/sec CNT80 ACC65 ;
42:C P[55]
P[56] 20 mm/sec CNT80 ACC65 ;
43:L P[57] 20 mm/sec FINE ;
44:L P[58] 20 mm/sec FINE ;
45:J P[59] 50% FINE ;
46:J P[60] 50% FINE ;
47:J P[61] 50% FINE ;
48:J P[62] 50% FINE ;
49:L P[63] 10 mm/sec FINE ;
50:L P[64] 20 mm/sec CNT80 ACC65 ;
51:C P[65]
P[66] 20 mm/sec CNT80 ACC65 ;
52:L P[67] 20 mm/sec CNT80 ACC65 ;
53:C P[68]
P[69] 20 mm/sec CNT80 ACC65 ;
54:L P[70] 20 mm/sec CNT80 ACC65 ;
55:C P[71]
P[72] 20 mm/sec CNT80 ACC65 ;
56:L P[73] 20 mm/sec CNT80 ACC65 ;
57:C P[74]
P[75] 20 mm/sec CNT80 ACC65 ;
58:C P[76]
P[77] 20 mm/sec CNT80 ACC65 ;
59:C P[78]
P[79] 20 mm/sec CNT80 ACC65 ;
60:L P[80] 20 mm/sec CNT80 ACC65 ;
61:C P[81]
P[82] 20 mm/sec CNT80 ACC65 ;
62:L P[83] 20 mm/sec FINE ;
63:L P[84] 20 mm/sec FINE ;
64:J P[85] 50% FINE ;
65:J P[86] 50% FINE ;
66:J P[87] 50% FINE ;
67:J P[88] 50% FINE ;
68:L P[89] 10 mm/sec FINE ;
69:L P[90] 20 mm/sec CNT80 ACC65 ;
70:C P[91]
P[92] 20 mm/sec CNT80 ACC65 ;
71:L P[93] 20 mm/sec CNT80 ACC65 ;
72:C P[94]
P[95] 20 mm/sec CNT80 ACC65 ;
73:C P[96]
P[97] 20 mm/sec CNT80 ACC65 ;
74:C P[98]
P[99] 20 mm/sec CNT80 ACC65 ;
75:L P[100] 20 mm/sec CNT80 ACC65 ;
76:C P[101]
P[102] 20 mm/sec CNT80 ACC65 ;
77:L P[103] 20 mm/sec CNT80 ACC65 ;
78:C P[104]
P[105] 20 mm/sec CNT80 ACC65 ;
79:C P[106]
P[107] 20 mm/sec CNT80 ACC65 ;
80:C P[108]
P[109] 20 mm/sec CNT80 ACC65 ;
81:L P[110] 20 mm/sec CNT80 ACC65 ;
82:C P[111]
P[112] 20 mm/sec CNT80 ACC65 ;
83:L P[113] 20 mm/sec CNT80 ACC65 ;
84:C P[114]
P[115] 20 mm/sec CNT80 ACC65 ;
85:L P[116] 20 mm/sec FINE ;
86:L P[117] 20 mm/sec FINE ;
87:J P[118] 50% FINE ;
88:J P[119] 50% FINE ;
89:J P[120] 50% FINE ;
90:J P[121] 50% FINE ;
91:L P[122] 10 mm/sec FINE ;
92:L P[123] 20 mm/sec CNT80 ACC65 ;
93:C P[124]
P[125] 20 mm/sec CNT80 ACC65 ;
94:C P[126]
P[127] 20 mm/sec CNT80 ACC65 ;
95:C P[128]
P[129] 20 mm/sec CNT80 ACC65 ;
96:C P[130]
P[131] 20 mm/sec CNT80 ACC65 ;
97:L P[132] 20 mm/sec FINE ;
98:L P[133] 20 mm/sec FINE ;
99:J P[134] 50% FINE ;
100:J P[135] 50% FINE ;
101:J P[136] 50% FINE ;
102:J P[137] 50% FINE ;
103:L P[138] 10 mm/sec FINE ;
104:L P[139] 20 mm/sec CNT80 ACC65 ;
105:C P[140]
P[141] 20 mm/sec CNT80 ACC65 ;
106:L P[142] 20 mm/sec CNT80 ACC65 ;
107:C P[143]
P[144] 20 mm/sec CNT80 ACC65 ;
108:L P[145] 20 mm/sec CNT80 ACC65 ;
109:C P[146]
P[147] 20 mm/sec CNT80 ACC65 ;
110:L P[148] 20 mm/sec CNT80 ACC65 ;
111:C P[149]
P[150] 20 mm/sec CNT80 ACC65 ;
112:C P[151]
P[152] 20 mm/sec CNT80 ACC65 ;
113:C P[153]
P[154] 20 mm/sec CNT80 ACC65 ;
114:L P[155] 20 mm/sec CNT80 ACC65 ;
115:C P[156]
P[157] 20 mm/sec CNT80 ACC65 ;
116:L P[158] 20 mm/sec FINE ;
117:L P[159] 20 mm/sec FINE ;
118:J P[160] 50% FINE ;
119:J P[161] 50% FINE ;
120:J P[162] 50% FINE ;
/POS
P[1]{
GP1:
UF : 1, UT : 1,
J1= 90.00 deg, J2= -45.00 deg, J3= -45.00 deg,
J4= 0.00 deg, J5= -90.00 deg, J6= 0.00 deg
};
P[2]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 295.00 mm, Y = -15.00 mm, Z = 250.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[3]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 295.00 mm, Y = -15.00 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[4]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 295.00 mm, Y = -15.00 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[5]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 295.00 mm, Y = -15.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[6]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 295.00 mm, Y = -10.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[7]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 296.46 mm, Y = -6.46 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[8]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 300.00 mm, Y = -5.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[9]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 580.00 mm, Y = -5.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[10]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 597.68 mm, Y = 2.32 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[11]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 605.00 mm, Y = 20.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[12]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 605.00 mm, Y = 480.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[13]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 597.68 mm, Y = 497.68 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[14]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 580.00 mm, Y = 505.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[15]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 20.00 mm, Y = 505.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[16]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 2.32 mm, Y = 497.68 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[17]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = -5.00 mm, Y = 480.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[18]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -5.00 mm, Y = 20.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[19]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 2.32 mm, Y = 2.32 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[20]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 20.00 mm, Y = -5.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[21]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 300.00 mm, Y = -5.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[22]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 303.54 mm, Y = -6.46 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[23]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 305.00 mm, Y = -10.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[24]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 305.00 mm, Y = -15.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[25]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 305.00 mm, Y = -15.00 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[26]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 305.00 mm, Y = -15.00 mm, Z = 70.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[27]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 305.00 mm, Y = -15.00 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[28]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 205.59 mm, Y = 106.84 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[29]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 205.59 mm, Y = 106.84 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[30]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 205.59 mm, Y = 106.84 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[31]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 202.46 mm, Y = 110.75 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[32]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 201.40 mm, Y = 114.42 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[33]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 203.24 mm, Y = 117.77 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[34]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 235.82 mm, Y = 143.83 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[35]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 243.40 mm, Y = 147.01 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[36]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 251.51 mm, Y = 145.72 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[37]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 300.00 mm, Y = 135.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[38]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 348.49 mm, Y = 145.72 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[39]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 356.60 mm, Y = 147.01 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[40]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 364.18 mm, Y = 143.83 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[41]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 429.33 mm, Y = 91.71 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[42]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 434.12 mm, Y = 75.03 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[43]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 419.96 mm, Y = 65.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[44]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 344.72 mm, Y = 65.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[45]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 338.60 mm, Y = 66.31 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[46]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 333.54 mm, Y = 70.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[47]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 300.00 mm, Y = 85.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[48]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 266.46 mm, Y = 70.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[49]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 261.40 mm, Y = 66.31 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[50]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 255.28 mm, Y = 65.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[51]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 180.04 mm, Y = 65.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[52]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 165.88 mm, Y = 75.03 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[53]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 170.67 mm, Y = 91.71 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[54]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 203.24 mm, Y = 117.77 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[55]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 206.92 mm, Y = 118.84 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[56]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 210.27 mm, Y = 116.99 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[57]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 213.39 mm, Y = 113.09 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[58]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 213.39 mm, Y = 113.09 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[59]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 213.39 mm, Y = 113.09 mm, Z = 70.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[60]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 213.39 mm, Y = 113.09 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[61]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 464.16 mm, Y = 333.70 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[62]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 464.16 mm, Y = 333.70 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[63]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 464.16 mm, Y = 333.70 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[64]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 461.04 mm, Y = 337.60 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[65]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 459.97 mm, Y = 341.28 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[66]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 461.82 mm, Y = 344.63 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[67]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 510.63 mm, Y = 383.68 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[68]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 526.50 mm, Y = 385.49 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[69]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 535.00 mm, Y = 371.97 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[70]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 535.00 mm, Y = 128.03 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[71]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 526.50 mm, Y = 114.51 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[72]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 510.63 mm, Y = 116.32 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[73]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 413.00 mm, Y = 194.42 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[74]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 407.94 mm, Y = 202.04 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[75]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 408.25 mm, Y = 211.19 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[76]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 415.00 mm, Y = 250.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[77]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 408.25 mm, Y = 288.81 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[78]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 407.94 mm, Y = 297.96 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[79]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 413.00 mm, Y = 305.58 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[80]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 461.82 mm, Y = 344.63 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[81]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 465.49 mm, Y = 345.70 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[82]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 468.84 mm, Y = 343.85 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[83]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 471.97 mm, Y = 339.95 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[84]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 471.97 mm, Y = 339.95 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[85]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 471.97 mm, Y = 339.95 mm, Z = 70.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[86]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 471.97 mm, Y = 339.95 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[87]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 394.41 mm, Y = 393.16 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[88]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 394.41 mm, Y = 393.16 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[89]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 394.41 mm, Y = 393.16 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[90]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 397.54 mm, Y = 389.25 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[91]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 398.60 mm, Y = 385.58 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[92]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 396.76 mm, Y = 382.23 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[93]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 364.18 mm, Y = 356.17 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[94]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 356.60 mm, Y = 352.99 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[95]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 348.49 mm, Y = 354.28 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[96]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 300.00 mm, Y = 365.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[97]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 251.51 mm, Y = 354.28 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[98]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 243.40 mm, Y = 352.99 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[99]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 235.82 mm, Y = 356.17 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[100]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 170.67 mm, Y = 408.29 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[101]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 165.88 mm, Y = 424.97 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[102]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 180.04 mm, Y = 435.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[103]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 255.28 mm, Y = 435.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[104]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 261.40 mm, Y = 433.69 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[105]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 266.46 mm, Y = 430.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[106]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 300.00 mm, Y = 415.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[107]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 333.54 mm, Y = 430.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[108]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 338.60 mm, Y = 433.69 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[109]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 344.72 mm, Y = 435.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[110]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 419.96 mm, Y = 435.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[111]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 434.12 mm, Y = 424.97 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[112]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 429.33 mm, Y = 408.29 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[113]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 396.76 mm, Y = 382.23 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[114]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 393.08 mm, Y = 381.16 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[115]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 389.73 mm, Y = 383.01 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[116]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 386.61 mm, Y = 386.91 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[117]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 386.61 mm, Y = 386.91 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[118]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 386.61 mm, Y = 386.91 mm, Z = 70.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[119]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 386.61 mm, Y = 386.91 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[120]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 225.00 mm, Y = 245.00 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[121]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 225.00 mm, Y = 245.00 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[122]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 225.00 mm, Y = 245.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[123]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 220.00 mm, Y = 245.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[124]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 216.46 mm, Y = 246.46 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[125]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 215.00 mm, Y = 250.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[126]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 300.00 mm, Y = 335.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[127]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 385.00 mm, Y = 250.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[128]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 300.00 mm, Y = 165.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[129]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 215.00 mm, Y = 250.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[130]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 216.46 mm, Y = 253.54 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[131]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 220.00 mm, Y = 255.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[132]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 225.00 mm, Y = 255.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[133]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 225.00 mm, Y = 255.00 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[134]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 225.00 mm, Y = 255.00 mm, Z = 70.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[135]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 225.00 mm, Y = 255.00 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[136]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 135.84 mm, Y = 166.30 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[137]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 135.84 mm, Y = 166.30 mm, Z = 25.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[138]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 135.84 mm, Y = 166.30 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[139]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 138.96 mm, Y = 162.40 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[140]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 140.03 mm, Y = 158.72 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[141]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 138.18 mm, Y = 155.37 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[142]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 89.37 mm, Y = 116.32 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[143]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 73.50 mm, Y = 114.51 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[144]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 65.00 mm, Y = 128.03 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[145]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 65.00 mm, Y = 371.97 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[146]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 73.50 mm, Y = 385.49 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[147]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 89.37 mm, Y = 383.68 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[148]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 187.00 mm, Y = 305.58 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[149]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 192.06 mm, Y = 297.96 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[150]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 191.75 mm, Y = 288.81 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[151]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 1, -1',
X = 185.00 mm, Y = 250.00 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[152]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 191.75 mm, Y = 211.19 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[153]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 192.06 mm, Y = 202.04 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[154]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 187.00 mm, Y = 194.42 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[155]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 138.18 mm, Y = 155.37 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[156]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 134.51 mm, Y = 154.30 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[157]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 131.16 mm, Y = 156.15 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[158]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 128.03 mm, Y = 160.05 mm, Z = -30.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[159]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 128.03 mm, Y = 160.05 mm, Z = -5.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[160]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 128.03 mm, Y = 160.05 mm, Z = 100.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[161]{
GP1:
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = 128.03 mm, Y = 160.05 mm, Z = 250.00 mm,
W = 180.00 deg, P = 0.00 deg, R = 0.00 deg
};
P[162]{
GP1:
UF : 1, UT : 1,
J1= 90.00 deg, J2= -45.00 deg, J3= -45.00 deg,
J4= 0.00 deg, J5= -90.00 deg, J6= 0.00 deg
};
/END
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
%%%
VERSION:1
LANGUAGE:ENGLISH
%%%
MODULE PLATE
!GENERATED BY ROBOTMASTER
PERS wobjdata wob1:=[FALSE,TRUE,"",[[1750.00,-250.00,250.00],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PERS tooldata tl_:=[TRUE,[[-352.64,0.00,469.28],[0.8660231,0,-0.500004,0]],[20,[0,0,220],[1,0,0,0],0,0,0]];
PROC PLATE_MAIN()
AccSet 10, 10;
ConfL\On;
SingArea\Wrist;
MoveAbsJ [[90.00,-45.00,-45.00,0.00,-90.00,0.00],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v500,fine,tl_;
MoveJ [[295.00,-15.00,250.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[295.00,-15.00,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[295.00,-15.00,25.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[295.00,-15.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[295.00,-10.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[296.46,-6.46,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[300.00,-5.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[580.00,-5.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[597.68,2.32,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[605.00,20.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[605.00,480.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[597.68,497.68,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[580.00,505.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[20.00,505.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[2.32,497.68,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-5.00,480.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[-5.00,20.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[2.32,2.32,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[20.00,-5.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[300.00,-5.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[303.54,-6.46,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[305.00,-10.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[305.00,-15.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[305.00,-15.00,-5.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[305.00,-15.00,70.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[305.00,-15.00,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[205.59,106.84,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[205.59,106.84,25.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[205.59,106.84,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[202.46,110.75,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[201.40,114.42,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[203.24,117.77,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[235.82,143.83,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[243.40,147.01,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[251.51,145.72,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,135.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[348.49,145.72,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[356.60,147.01,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[364.18,143.83,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[429.33,91.71,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[434.12,75.03,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[419.96,65.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[344.72,65.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[338.60,66.31,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[333.54,70.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,85.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[266.46,70.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[261.40,66.31,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[255.28,65.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[180.04,65.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[165.88,75.03,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[170.67,91.71,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[203.24,117.77,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[206.92,118.84,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[210.27,116.99,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[213.39,113.09,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[213.39,113.09,-5.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[213.39,113.09,70.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[213.39,113.09,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[464.16,333.70,100.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[464.16,333.70,25.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[464.16,333.70,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[461.04,337.60,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[459.97,341.28,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[461.82,344.63,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[510.63,383.68,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[526.50,385.49,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[535.00,371.97,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[535.00,128.03,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[526.50,114.51,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[510.63,116.32,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[413.00,194.42,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[407.94,202.04,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[408.25,211.19,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[415.00,250.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[408.25,288.81,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[407.94,297.96,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[413.00,305.58,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[461.82,344.63,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[465.49,345.70,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[468.84,343.85,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[471.97,339.95,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[471.97,339.95,-5.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[471.97,339.95,70.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[471.97,339.95,100.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[394.41,393.16,100.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[394.41,393.16,25.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[394.41,393.16,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[397.54,389.25,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[398.60,385.58,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[396.76,382.23,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[364.18,356.17,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[356.60,352.99,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[348.49,354.28,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,365.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[251.51,354.28,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[243.40,352.99,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[235.82,356.17,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[170.67,408.29,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[165.88,424.97,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[180.04,435.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[255.28,435.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[261.40,433.69,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[266.46,430.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,415.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[333.54,430.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[338.60,433.69,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[344.72,435.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[419.96,435.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[434.12,424.97,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[429.33,408.29,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[396.76,382.23,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[393.08,381.16,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[389.73,383.01,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[386.61,386.91,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[386.61,386.91,-5.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[386.61,386.91,70.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[386.61,386.91,100.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[225.00,245.00,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[225.00,245.00,25.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[225.00,245.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[220.00,245.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[216.46,246.46,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[215.00,250.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,335.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[385.00,250.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[300.00,165.00,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[215.00,250.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[216.46,253.54,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[220.00,255.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[225.00,255.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[225.00,255.00,-5.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[225.00,255.00,70.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[225.00,255.00,100.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[135.84,166.30,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[135.84,166.30,25.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[135.84,166.30,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[10.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[138.96,162.40,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[140.03,158.72,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[138.18,155.37,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[89.37,116.32,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[73.50,114.51,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[65.00,128.03,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[65.00,371.97,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[73.50,385.49,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[89.37,383.68,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[187.00,305.58,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[192.06,297.96,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[191.75,288.81,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[185.00,250.00,-30.00],[0,1,0,0],[0,2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[191.75,211.19,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[192.06,202.04,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[187.00,194.42,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[138.18,155.37,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveC [[134.51,154.30,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[131.16,156.15,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[128.03,160.05,-30.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveL [[128.03,160.05,-5.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[20.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[128.03,160.05,100.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveJ [[128.03,160.05,250.00],[0,1,0,0],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[1000.00,500,5000,1000],fine,tl_\Wobj:=wob1;
MoveAbsJ [[90.00,-45.00,-45.00,0.00,-90.00,0.00],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v500,fine,tl_;
ConfL\Off;
ENDPROC
ENDMODULE
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
&ACCESS RVP
&REL 1
&COMMENT GENERATED BY ROBOTMASTER
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF KUKA()
testmode = TRUE
; TO DRILL A PART OR RUN VISION WITHOUT STOPPING, EITHER SET TESTMODE TO FALSE OR DELETE THE PREVIOUS LINE!
; AT LEAST 80 PSI AIR MUST BE SUPPLIED AND NOOK JACKS MUST BE POWERED DOWN FOR ROBOT TO RUN!
;FOLD WAIT FOR ( IN 34 'Air supplied' AND NOT IN 35 'Jacks powered on' );%{PE}%R 8.3.31,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:34, 7:Air supplied, 8:AND, 9:NOT, 10:$IN, 11:35, 12:Jacks powered on, 14:
WAIT FOR ( $IN[34] AND NOT $IN[35] )
;ENDFOLD
home_ini()
; NOTE TO PROGRAMMER: DELETE EITHER VISION OR DRILL HEADER BELOW AS NEEDED
; ******* VISION HEADER *******
IF NOT vision_ready THEN
vtcom_setup(20,21)
ENDIF
$out[33]=true
$out[37]=true
IF (testmode) THEN
HALT
; NOTE THAT PROGRAM WILL STOP AFTER TAKING EACH VISION POINT FOR TESTING. TO CONTINUE WITHOUT HALTING, TESTMODE MUST BE SET TO FALSE
ENDIF
IF ( $IN[26] ) AND NOT (testmode) THEN
HALT
; DO NOT RUN VISION PROGRAMS WITH END EFFECTOR ATTACHED!
WAIT FOR (FALSE)
ENDIF
; *******
EXT BAS (BAS_COMMAND :IN,REAL :IN )
INT I
BAS (#INITMOV,0 )
;******SETTINGS FOR PTP MOTION***********************
;FOLD
;SET PTP $VEL_AXIS AND $ACC_AXIS
FOR I=1 TO 6
$VEL_AXIS[I]=50
$ACC_AXIS[I]=100
ENDFOR
;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS)
;******SETTINGS FOR LIN AND ARC MOTION***************
;FOLD
;SET LIN AND ARC MOTION VARIABLES
$VEL.CP=0.02
$VEL.ORI1=200
$VEL.ORI2=200
$ACC.ORI1=100
$ACC.ORI2=100
;ENDFOLD (SET LIN AND ARC MOTION VARIABLES)
;******SETTINGS FOR POSITIONING CRITERIA*************
;FOLD
;SET POSITIONING CRITERIA
$ORI_TYPE = #VAR
;ENDFOLD (SET POSITIONING CRITERIA)
Tool_Data[5]={X -352.6447,Y 0.0000,Z 469.2759,A 0.0000,B -60.0005,C 0.0000}
$TOOL=Tool_Data[5]
$ADVANCE = 5
PTP {A1 90.0000,A2 -45.0000,A3 -45.0000,A4 0.0000,A5 -90.0000,A6 0.0000}
BASE_Data[3]={X 0.0000,Y 0.0000,Z 0.0000,A 0.0000,B 0.0000,C 0.0000}
$BASE=BASE_Data[3]
PTP {X 295.0000,Y -15.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 39}
$VEL.CP=0.01 ;10mm/s
LIN {X 295.0000,Y -15.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 295.0000,Y -10.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 296.4645,Y -6.4645,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 300.0000,Y -5.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 580.0000,Y -5.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 597.6777,Y 2.3223,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 605.0000,Y 20.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 605.0000,Y 480.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 597.6777,Y 497.6777,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 580.0000,Y 505.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 20.0000,Y 505.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 2.3223,Y 497.6777,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X -5.0000,Y 480.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X -5.0000,Y 20.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 2.3223,Y 2.3223,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 20.0000,Y -5.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 300.0000,Y -5.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 303.5355,Y -6.4645,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 305.0000,Y -10.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 305.0000,Y -15.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 305.0000,Y -15.0000,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.01 ;10mm/s
LIN {X 205.5861,Y 106.8408,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 202.4626,Y 110.7451,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 201.3976,Y 114.4208,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 203.2435,Y 117.7729,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 235.8184,Y 143.8329,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 243.3968,Y 147.0124,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 251.5132,Y 145.7214,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 135.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 348.4868,Y 145.7214,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 356.6032,Y 147.0124,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 364.1816,Y 143.8329,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 429.3314,Y 91.7130,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 434.1154,Y 75.0349,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 419.9609,Y 65.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 344.7214,Y 65.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 338.5976,Y 66.3069,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 333.5410,Y 70.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 85.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 266.4590,Y 70.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 261.4024,Y 66.3069,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 255.2786,Y 65.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 180.0391,Y 65.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 165.8846,Y 75.0349,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 170.6686,Y 91.7130,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 203.2435,Y 117.7729,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 206.9192,Y 118.8380,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 210.2713,Y 116.9921,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 213.3948,Y 113.0877,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 213.3948,Y 113.0877,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.01 ;10mm/s
LIN {X 464.1595,Y 333.6995,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 461.0360,Y 337.6038,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 459.9710,Y 341.2795,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 461.8169,Y 344.6317,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 510.6296,Y 383.6818,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 526.4978,Y 385.4883,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 535.0000,Y 371.9688,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 535.0000,Y 128.0312,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 526.4978,Y 114.5117,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 510.6296,Y 116.3182,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 413.0042,Y 194.4185,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 407.9420,Y 202.0450,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 408.2545,Y 211.1933,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 415.0000,Y 250.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 408.2545,Y 288.8067,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 407.9420,Y 297.9550,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 413.0042,Y 305.5815,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 461.8169,Y 344.6317,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 465.4925,Y 345.6967,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 468.8447,Y 343.8508,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 471.9682,Y 339.9464,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 471.9682,Y 339.9464,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.01 ;10mm/s
LIN {X 394.4139,Y 393.1592,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 397.5374,Y 389.2549,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 398.6024,Y 385.5792,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 396.7565,Y 382.2271,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 364.1816,Y 356.1671,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 356.6032,Y 352.9876,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 348.4868,Y 354.2786,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 365.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 251.5132,Y 354.2786,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 243.3968,Y 352.9876,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 235.8184,Y 356.1671,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 170.6686,Y 408.2870,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 165.8846,Y 424.9651,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 180.0391,Y 435.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 255.2786,Y 435.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 261.4024,Y 433.6931,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 266.4590,Y 430.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 415.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 333.5410,Y 430.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 338.5976,Y 433.6931,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 344.7214,Y 435.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 419.9609,Y 435.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 434.1154,Y 424.9651,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 429.3314,Y 408.2870,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 396.7565,Y 382.2271,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 393.0808,Y 381.1620,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 389.7287,Y 383.0079,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 386.6052,Y 386.9123,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 386.6052,Y 386.9123,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.01 ;10mm/s
LIN {X 225.0000,Y 245.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 220.0000,Y 245.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 216.4645,Y 246.4645,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 215.0000,Y 250.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 335.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 385.0000,Y 250.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 300.0000,Y 165.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 215.0000,Y 250.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 216.4645,Y 253.5355,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 220.0000,Y 255.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 225.0000,Y 255.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 225.0000,Y 255.0000,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.01 ;10mm/s
LIN {X 135.8405,Y 166.3005,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
$VEL.CP=0.02 ;20mm/s
LIN {X 138.9640,Y 162.3962,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 140.0290,Y 158.7205,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 138.1831,Y 155.3683,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 89.3704,Y 116.3182,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 73.5022,Y 114.5117,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 65.0000,Y 128.0312,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 65.0000,Y 371.9688,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 73.5022,Y 385.4883,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 89.3704,Y 383.6818,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 186.9958,Y 305.5815,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 192.0580,Y 297.9550,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 191.7455,Y 288.8067,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 185.0000,Y 250.0000,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 191.7455,Y 211.1933,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 192.0580,Y 202.0450,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 186.9958,Y 194.4185,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 138.1831,Y 155.3683,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
CIRC {X 134.5075,Y 154.3033,Z -30.0000,A 0.0000,B 0.0000,C 180.0000},{X 131.1553,Y 156.1492,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 128.0318,Y 160.0536,Z -30.0000,A 0.0000,B 0.0000,C 180.0000}
LIN {X 128.0318,Y 160.0536,Z -5.0000,A 0.0000,B 0.0000,C 180.0000}
PTP {X 128.0318,Y 160.0536,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 39}
PTP {A1 90.0000,A2 -45.0000,A3 -45.0000,A4 0.0000,A5 -90.0000,A6 0.0000}
$out[33]=false
$out[37]=false
IF ( $IN[26] ) AND ( $IN[30] ) AND (NOT $IN[31] ) AND (NOT $IN[32] ) AND (NOT $IN[33] ) THEN
DRILL_STOP()
ENDIF
home_ini()
END
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
/JOB //NAME PLATE //POS ///NPOS 248,0,0,0,0,0 ///USER 1 ///TOOL 1 ///POSTYPE USER ///RECTAN ///RCONF 1,0,0,0,0,0,0,0 C0000=295.000,-15.000,250.000,180.000,0.000,0.000 C0001=295.000,-15.000,100.000,180.000,0.000,0.000 C0002=295.000,-15.000,25.000,180.000,0.000,0.000 C0003=295.000,-15.000,-30.000,180.000,0.000,0.000 C0004=295.000,-10.000,-30.000,180.000,0.000,0.000 C0005=295.000,-10.000,-30.000,180.000,0.000,0.000 C0006=296.464,-6.464,-30.000,180.000,0.000,0.000 C0007=300.000,-5.000,-30.000,180.000,0.000,0.000 C0008=300.000,-5.000,-30.000,180.000,0.000,0.000 C0009=580.000,-5.000,-30.000,180.000,0.000,0.000 C0010=580.000,-5.000,-30.000,180.000,0.000,0.000 C0011=597.678,2.322,-30.000,180.000,0.000,0.000 C0012=605.000,20.000,-30.000,180.000,0.000,0.000 C0013=605.000,20.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0014=605.000,480.000,-30.000,180.000,0.000,0.000 C0015=605.000,480.000,-30.000,180.000,0.000,0.000 C0016=597.678,497.678,-30.000,180.000,0.000,0.000 C0017=580.000,505.000,-30.000,180.000,0.000,0.000 C0018=580.000,505.000,-30.000,180.000,0.000,0.000 C0019=20.000,505.000,-30.000,180.000,0.000,0.000 C0020=20.000,505.000,-30.000,180.000,0.000,0.000 C0021=2.322,497.678,-30.000,180.000,0.000,0.000 C0022=-5.000,480.000,-30.000,180.000,0.000,0.000 C0023=-5.000,480.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0024=-5.000,20.000,-30.000,180.000,0.000,0.000 C0025=-5.000,20.000,-30.000,180.000,0.000,0.000 C0026=2.322,2.322,-30.000,180.000,0.000,0.000 C0027=20.000,-5.000,-30.000,180.000,0.000,0.000 C0028=20.000,-5.000,-30.000,180.000,0.000,0.000 C0029=300.000,-5.000,-30.000,180.000,0.000,0.000 C0030=300.000,-5.000,-30.000,180.000,0.000,0.000 C0031=303.536,-6.464,-30.000,180.000,0.000,0.000 C0032=305.000,-10.000,-30.000,180.000,0.000,0.000 C0033=305.000,-10.000,-30.000,180.000,0.000,0.000 C0034=305.000,-15.000,-30.000,180.000,0.000,0.000 C0035=305.000,-15.000,-5.000,180.000,0.000,0.000 C0036=305.000,-15.000,70.000,180.000,0.000,0.000 C0037=305.000,-15.000,100.000,180.000,0.000,0.000 C0038=205.586,106.841,100.000,180.000,0.000,0.000 C0039=205.586,106.841,25.000,180.000,0.000,0.000 C0040=205.586,106.841,-30.000,180.000,0.000,0.000 C0041=202.463,110.745,-30.000,180.000,0.000,0.000 C0042=202.463,110.745,-30.000,180.000,0.000,0.000 C0043=201.398,114.421,-30.000,180.000,0.000,0.000 C0044=203.244,117.773,-30.000,180.000,0.000,0.000 C0045=203.244,117.773,-30.000,180.000,0.000,0.000 C0046=235.818,143.833,-30.000,180.000,0.000,0.000 C0047=235.818,143.833,-30.000,180.000,0.000,0.000 C0048=243.397,147.012,-30.000,180.000,0.000,0.000 C0049=251.513,145.721,-30.000,180.000,0.000,0.000 C0050=251.513,145.721,-30.000,180.000,0.000,0.000 C0051=251.513,145.721,-30.000,180.000,0.000,0.000 C0052=300.000,135.000,-30.000,180.000,0.000,0.000 C0053=348.487,145.721,-30.000,180.000,0.000,0.000 C0054=348.487,145.721,-30.000,180.000,0.000,0.000 C0055=348.487,145.721,-30.000,180.000,0.000,0.000 C0056=356.603,147.012,-30.000,180.000,0.000,0.000 C0057=364.182,143.833,-30.000,180.000,0.000,0.000 C0058=364.182,143.833,-30.000,180.000,0.000,0.000 C0059=429.331,91.713,-30.000,180.000,0.000,0.000 C0060=429.331,91.713,-30.000,180.000,0.000,0.000 C0061=434.115,75.035,-30.000,180.000,0.000,0.000 C0062=419.961,65.000,-30.000,180.000,0.000,0.000 C0063=419.961,65.000,-30.000,180.000,0.000,0.000 C0064=344.721,65.000,-30.000,180.000,0.000,0.000 C0065=344.721,65.000,-30.000,180.000,0.000,0.000 C0066=338.598,66.307,-30.000,180.000,0.000,0.000 C0067=333.541,70.000,-30.000,180.000,0.000,0.000 C0068=333.541,70.000,-30.000,180.000,0.000,0.000 C0069=333.541,70.000,-30.000,180.000,0.000,0.000 C0070=300.000,85.000,-30.000,180.000,0.000,0.000 C0071=266.459,70.000,-30.000,180.000,0.000,0.000 C0072=266.459,70.000,-30.000,180.000,0.000,0.000 C0073=266.459,70.000,-30.000,180.000,0.000,0.000 C0074=261.402,66.307,-30.000,180.000,0.000,0.000 C0075=255.279,65.000,-30.000,180.000,0.000,0.000 C0076=255.279,65.000,-30.000,180.000,0.000,0.000 C0077=180.039,65.000,-30.000,180.000,0.000,0.000 C0078=180.039,65.000,-30.000,180.000,0.000,0.000 C0079=165.885,75.035,-30.000,180.000,0.000,0.000 C0080=170.669,91.713,-30.000,180.000,0.000,0.000 C0081=170.669,91.713,-30.000,180.000,0.000,0.000 C0082=203.244,117.773,-30.000,180.000,0.000,0.000 C0083=203.244,117.773,-30.000,180.000,0.000,0.000 C0084=206.919,118.838,-30.000,180.000,0.000,0.000 C0085=210.271,116.992,-30.000,180.000,0.000,0.000 C0086=210.271,116.992,-30.000,180.000,0.000,0.000 C0087=213.395,113.088,-30.000,180.000,0.000,0.000 C0088=213.395,113.088,-5.000,180.000,0.000,0.000 C0089=213.395,113.088,70.000,180.000,0.000,0.000 C0090=213.395,113.088,100.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0091=464.160,333.699,100.000,180.000,0.000,0.000 C0092=464.160,333.699,25.000,180.000,0.000,0.000 C0093=464.160,333.699,-30.000,180.000,0.000,0.000 C0094=461.036,337.604,-30.000,180.000,0.000,0.000 C0095=461.036,337.604,-30.000,180.000,0.000,0.000 C0096=459.971,341.279,-30.000,180.000,0.000,0.000 C0097=461.817,344.632,-30.000,180.000,0.000,0.000 C0098=461.817,344.632,-30.000,180.000,0.000,0.000 C0099=510.630,383.682,-30.000,180.000,0.000,0.000 C0100=510.630,383.682,-30.000,180.000,0.000,0.000 C0101=526.498,385.488,-30.000,180.000,0.000,0.000 C0102=535.000,371.969,-30.000,180.000,0.000,0.000 C0103=535.000,371.969,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0104=535.000,128.031,-30.000,180.000,0.000,0.000 C0105=535.000,128.031,-30.000,180.000,0.000,0.000 C0106=526.498,114.512,-30.000,180.000,0.000,0.000 C0107=510.630,116.318,-30.000,180.000,0.000,0.000 C0108=510.630,116.318,-30.000,180.000,0.000,0.000 C0109=413.004,194.418,-30.000,180.000,0.000,0.000 C0110=413.004,194.418,-30.000,180.000,0.000,0.000 C0111=407.942,202.045,-30.000,180.000,0.000,0.000 C0112=408.255,211.193,-30.000,180.000,0.000,0.000 C0113=408.255,211.193,-30.000,180.000,0.000,0.000 C0114=408.255,211.193,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,1,0,0,0 C0115=415.000,250.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0116=408.255,288.807,-30.000,180.000,0.000,0.000 C0117=408.255,288.807,-30.000,180.000,0.000,0.000 C0118=408.255,288.807,-30.000,180.000,0.000,0.000 C0119=407.942,297.955,-30.000,180.000,0.000,0.000 C0120=413.004,305.582,-30.000,180.000,0.000,0.000 C0121=413.004,305.582,-30.000,180.000,0.000,0.000 C0122=461.817,344.632,-30.000,180.000,0.000,0.000 C0123=461.817,344.632,-30.000,180.000,0.000,0.000 C0124=465.493,345.697,-30.000,180.000,0.000,0.000 C0125=468.845,343.851,-30.000,180.000,0.000,0.000 C0126=468.845,343.851,-30.000,180.000,0.000,0.000 C0127=471.968,339.946,-30.000,180.000,0.000,0.000 C0128=471.968,339.946,-5.000,180.000,0.000,0.000 C0129=471.968,339.946,70.000,180.000,0.000,0.000 C0130=471.968,339.946,100.000,180.000,0.000,0.000 C0131=394.414,393.159,100.000,180.000,0.000,0.000 C0132=394.414,393.159,25.000,180.000,0.000,0.000 C0133=394.414,393.159,-30.000,180.000,0.000,0.000 C0134=397.537,389.255,-30.000,180.000,0.000,0.000 C0135=397.537,389.255,-30.000,180.000,0.000,0.000 C0136=398.602,385.579,-30.000,180.000,0.000,0.000 C0137=396.756,382.227,-30.000,180.000,0.000,0.000 C0138=396.756,382.227,-30.000,180.000,0.000,0.000 C0139=364.182,356.167,-30.000,180.000,0.000,0.000 C0140=364.182,356.167,-30.000,180.000,0.000,0.000 C0141=356.603,352.988,-30.000,180.000,0.000,0.000 C0142=348.487,354.279,-30.000,180.000,0.000,0.000 C0143=348.487,354.279,-30.000,180.000,0.000,0.000 C0144=348.487,354.279,-30.000,180.000,0.000,0.000 C0145=300.000,365.000,-30.000,180.000,0.000,0.000 C0146=251.513,354.279,-30.000,180.000,0.000,0.000 C0147=251.513,354.279,-30.000,180.000,0.000,0.000 C0148=251.513,354.279,-30.000,180.000,0.000,0.000 C0149=243.397,352.988,-30.000,180.000,0.000,0.000 C0150=235.818,356.167,-30.000,180.000,0.000,0.000 C0151=235.818,356.167,-30.000,180.000,0.000,0.000 C0152=170.669,408.287,-30.000,180.000,0.000,0.000 C0153=170.669,408.287,-30.000,180.000,0.000,0.000 C0154=165.885,424.965,-30.000,180.000,0.000,0.000 C0155=180.039,435.000,-30.000,180.000,0.000,0.000 C0156=180.039,435.000,-30.000,180.000,0.000,0.000 C0157=255.279,435.000,-30.000,180.000,0.000,0.000 C0158=255.279,435.000,-30.000,180.000,0.000,0.000 C0159=261.402,433.693,-30.000,180.000,0.000,0.000 C0160=266.459,430.000,-30.000,180.000,0.000,0.000 C0161=266.459,430.000,-30.000,180.000,0.000,0.000 C0162=266.459,430.000,-30.000,180.000,0.000,0.000 C0163=300.000,415.000,-30.000,180.000,0.000,0.000 C0164=333.541,430.000,-30.000,180.000,0.000,0.000 C0165=333.541,430.000,-30.000,180.000,0.000,0.000 C0166=333.541,430.000,-30.000,180.000,0.000,0.000 C0167=338.598,433.693,-30.000,180.000,0.000,0.000 C0168=344.721,435.000,-30.000,180.000,0.000,0.000 C0169=344.721,435.000,-30.000,180.000,0.000,0.000 C0170=419.961,435.000,-30.000,180.000,0.000,0.000 C0171=419.961,435.000,-30.000,180.000,0.000,0.000 C0172=434.115,424.965,-30.000,180.000,0.000,0.000 C0173=429.331,408.287,-30.000,180.000,0.000,0.000 C0174=429.331,408.287,-30.000,180.000,0.000,0.000 C0175=396.756,382.227,-30.000,180.000,0.000,0.000 C0176=396.756,382.227,-30.000,180.000,0.000,0.000 C0177=393.081,381.162,-30.000,180.000,0.000,0.000 C0178=389.729,383.008,-30.000,180.000,0.000,0.000 C0179=389.729,383.008,-30.000,180.000,0.000,0.000 C0180=386.605,386.912,-30.000,180.000,0.000,0.000 C0181=386.605,386.912,-5.000,180.000,0.000,0.000 C0182=386.605,386.912,70.000,180.000,0.000,0.000 C0183=386.605,386.912,100.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0184=225.000,245.000,100.000,180.000,0.000,0.000 C0185=225.000,245.000,25.000,180.000,0.000,0.000 C0186=225.000,245.000,-30.000,180.000,0.000,0.000 C0187=220.000,245.000,-30.000,180.000,0.000,0.000 C0188=220.000,245.000,-30.000,180.000,0.000,0.000 C0189=216.464,246.464,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,1,0,0,0 C0190=215.000,250.000,-30.000,180.000,0.000,0.000 C0191=215.000,250.000,-30.000,180.000,0.000,0.000 C0192=215.000,250.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0193=300.000,335.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,1,0,0,0 C0194=385.000,250.000,-30.000,180.000,0.000,0.000 C0195=385.000,250.000,-30.000,180.000,0.000,0.000 C0196=385.000,250.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0197=300.000,165.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,1,0,0,0 C0198=215.000,250.000,-30.000,180.000,0.000,0.000 C0199=215.000,250.000,-30.000,180.000,0.000,0.000 C0200=215.000,250.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0201=216.464,253.536,-30.000,180.000,0.000,0.000 C0202=220.000,255.000,-30.000,180.000,0.000,0.000 C0203=220.000,255.000,-30.000,180.000,0.000,0.000 C0204=225.000,255.000,-30.000,180.000,0.000,0.000 C0205=225.000,255.000,-5.000,180.000,0.000,0.000 C0206=225.000,255.000,70.000,180.000,0.000,0.000 C0207=225.000,255.000,100.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0208=135.840,166.301,100.000,180.000,0.000,0.000 C0209=135.840,166.301,25.000,180.000,0.000,0.000 C0210=135.840,166.301,-30.000,180.000,0.000,0.000 C0211=138.964,162.396,-30.000,180.000,0.000,0.000 C0212=138.964,162.396,-30.000,180.000,0.000,0.000 C0213=140.029,158.721,-30.000,180.000,0.000,0.000 C0214=138.183,155.368,-30.000,180.000,0.000,0.000 C0215=138.183,155.368,-30.000,180.000,0.000,0.000 C0216=89.370,116.318,-30.000,180.000,0.000,0.000 C0217=89.370,116.318,-30.000,180.000,0.000,0.000 C0218=73.502,114.512,-30.000,180.000,0.000,0.000 C0219=65.000,128.031,-30.000,180.000,0.000,0.000 C0220=65.000,128.031,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,1,1,0,0,0 C0221=65.000,371.969,-30.000,180.000,0.000,0.000 C0222=65.000,371.969,-30.000,180.000,0.000,0.000 C0223=73.502,385.488,-30.000,180.000,0.000,0.000 C0224=89.370,383.682,-30.000,180.000,0.000,0.000 C0225=89.370,383.682,-30.000,180.000,0.000,0.000 C0226=186.996,305.582,-30.000,180.000,0.000,0.000 C0227=186.996,305.582,-30.000,180.000,0.000,0.000 C0228=192.058,297.955,-30.000,180.000,0.000,0.000 C0229=191.745,288.807,-30.000,180.000,0.000,0.000 C0230=191.745,288.807,-30.000,180.000,0.000,0.000 C0231=191.745,288.807,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,1,0,0,0 C0232=185.000,250.000,-30.000,180.000,0.000,0.000 ///RCONF 1,0,0,0,0,0,0,0 C0233=191.745,211.193,-30.000,180.000,0.000,0.000 C0234=191.745,211.193,-30.000,180.000,0.000,0.000 C0235=191.745,211.193,-30.000,180.000,0.000,0.000 C0236=192.058,202.045,-30.000,180.000,0.000,0.000 C0237=186.996,194.418,-30.000,180.000,0.000,0.000 C0238=186.996,194.418,-30.000,180.000,0.000,0.000 C0239=138.183,155.368,-30.000,180.000,0.000,0.000 C0240=138.183,155.368,-30.000,180.000,0.000,0.000 C0241=134.507,154.303,-30.000,180.000,0.000,0.000 C0242=131.155,156.149,-30.000,180.000,0.000,0.000 C0243=131.155,156.149,-30.000,180.000,0.000,0.000 C0244=128.032,160.054,-30.000,180.000,0.000,0.000 C0245=128.032,160.054,-5.000,180.000,0.000,0.000 C0246=128.032,160.054,100.000,180.000,0.000,0.000 C0247=128.032,160.054,250.000,180.000,0.000,0.000 //INST ///DATE 2019/02/18 16:45 ///COMM BY-ROBOTMASTER ///ATTR SC,RW,RJ ////FRAME USER 1 ///GROUP1 RB1 NOP CALL JOB:APPROACH MOVJ C0000 VJ=50.0 MOVJ C0001 VJ=50.0 MOVJ C0002 VJ=50.0 MOVL C0003 V=10.0 MOVL C0004 V=20.0 MOVC C0005 V=20.0 MOVC C0006 V=20.0 MOVC C0007 V=20.0 MOVL C0008 V=20.0 MOVL C0009 V=20.0 MOVC C0010 V=20.0 MOVC C0011 V=20.0 MOVC C0012 V=20.0 MOVL C0013 V=20.0 MOVL C0014 V=20.0 MOVC C0015 V=20.0 MOVC C0016 V=20.0 MOVC C0017 V=20.0 MOVL C0018 V=20.0 MOVL C0019 V=20.0 MOVC C0020 V=20.0 MOVC C0021 V=20.0 MOVC C0022 V=20.0 MOVL C0023 V=20.0 MOVL C0024 V=20.0 MOVC C0025 V=20.0 MOVC C0026 V=20.0 MOVC C0027 V=20.0 MOVL C0028 V=20.0 MOVL C0029 V=20.0 MOVC C0030 V=20.0 MOVC C0031 V=20.0 MOVC C0032 V=20.0 MOVL C0033 V=20.0 MOVL C0034 V=20.0 MOVL C0035 V=20.0 MOVJ C0036 VJ=50.0 MOVJ C0037 VJ=50.0 MOVJ C0038 VJ=50.0 MOVJ C0039 VJ=50.0 MOVL C0040 V=10.0 MOVL C0041 V=20.0 MOVC C0042 V=20.0 MOVC C0043 V=20.0 MOVC C0044 V=20.0 MOVL C0045 V=20.0 MOVL C0046 V=20.0 MOVC C0047 V=20.0 MOVC C0048 V=20.0 MOVC C0049 V=20.0 MOVL C0050 V=20.0 MOVC C0051 V=20.0 MOVC C0052 V=20.0 MOVC C0053 V=20.0 MOVL C0054 V=20.0 MOVC C0055 V=20.0 MOVC C0056 V=20.0 MOVC C0057 V=20.0 MOVL C0058 V=20.0 MOVL C0059 V=20.0 MOVC C0060 V=20.0 MOVC C0061 V=20.0 MOVC C0062 V=20.0 MOVL C0063 V=20.0 MOVL C0064 V=20.0 MOVC C0065 V=20.0 MOVC C0066 V=20.0 MOVC C0067 V=20.0 MOVL C0068 V=20.0 MOVC C0069 V=20.0 MOVC C0070 V=20.0 MOVC C0071 V=20.0 MOVL C0072 V=20.0 MOVC C0073 V=20.0 MOVC C0074 V=20.0 MOVC C0075 V=20.0 MOVL C0076 V=20.0 MOVL C0077 V=20.0 MOVC C0078 V=20.0 MOVC C0079 V=20.0 MOVC C0080 V=20.0 MOVL C0081 V=20.0 MOVL C0082 V=20.0 MOVC C0083 V=20.0 MOVC C0084 V=20.0 MOVC C0085 V=20.0 MOVL C0086 V=20.0 MOVL C0087 V=20.0 MOVL C0088 V=20.0 MOVJ C0089 VJ=50.0 MOVJ C0090 VJ=50.0 MOVJ C0091 VJ=50.0 MOVJ C0092 VJ=50.0 MOVL C0093 V=10.0 MOVL C0094 V=20.0 MOVC C0095 V=20.0 MOVC C0096 V=20.0 MOVC C0097 V=20.0 MOVL C0098 V=20.0 MOVL C0099 V=20.0 MOVC C0100 V=20.0 MOVC C0101 V=20.0 MOVC C0102 V=20.0 MOVL C0103 V=20.0 MOVL C0104 V=20.0 MOVC C0105 V=20.0 MOVC C0106 V=20.0 MOVC C0107 V=20.0 MOVL C0108 V=20.0 MOVL C0109 V=20.0 MOVC C0110 V=20.0 MOVC C0111 V=20.0 MOVC C0112 V=20.0 MOVL C0113 V=20.0 MOVC C0114 V=20.0 MOVC C0115 V=20.0 MOVC C0116 V=20.0 MOVL C0117 V=20.0 MOVC C0118 V=20.0 MOVC C0119 V=20.0 MOVC C0120 V=20.0 MOVL C0121 V=20.0 MOVL C0122 V=20.0 MOVC C0123 V=20.0 MOVC C0124 V=20.0 MOVC C0125 V=20.0 MOVL C0126 V=20.0 MOVL C0127 V=20.0 MOVL C0128 V=20.0 MOVJ C0129 VJ=50.0 MOVJ C0130 VJ=50.0 MOVJ C0131 VJ=50.0 MOVJ C0132 VJ=50.0 MOVL C0133 V=10.0 MOVL C0134 V=20.0 MOVC C0135 V=20.0 MOVC C0136 V=20.0 MOVC C0137 V=20.0 MOVL C0138 V=20.0 MOVL C0139 V=20.0 MOVC C0140 V=20.0 MOVC C0141 V=20.0 MOVC C0142 V=20.0 MOVL C0143 V=20.0 MOVC C0144 V=20.0 MOVC C0145 V=20.0 MOVC C0146 V=20.0 MOVL C0147 V=20.0 MOVC C0148 V=20.0 MOVC C0149 V=20.0 MOVC C0150 V=20.0 MOVL C0151 V=20.0 MOVL C0152 V=20.0 MOVC C0153 V=20.0 MOVC C0154 V=20.0 MOVC C0155 V=20.0 MOVL C0156 V=20.0 MOVL C0157 V=20.0 MOVC C0158 V=20.0 MOVC C0159 V=20.0 MOVC C0160 V=20.0 MOVL C0161 V=20.0 MOVC C0162 V=20.0 MOVC C0163 V=20.0 MOVC C0164 V=20.0 MOVL C0165 V=20.0 MOVC C0166 V=20.0 MOVC C0167 V=20.0 MOVC C0168 V=20.0 MOVL C0169 V=20.0 MOVL C0170 V=20.0 MOVC C0171 V=20.0 MOVC C0172 V=20.0 MOVC C0173 V=20.0 MOVL C0174 V=20.0 MOVL C0175 V=20.0 MOVC C0176 V=20.0 MOVC C0177 V=20.0 MOVC C0178 V=20.0 MOVL C0179 V=20.0 MOVL C0180 V=20.0 MOVL C0181 V=20.0 MOVJ C0182 VJ=50.0 MOVJ C0183 VJ=50.0 MOVJ C0184 VJ=50.0 MOVJ C0185 VJ=50.0 MOVL C0186 V=10.0 MOVL C0187 V=20.0 MOVC C0188 V=20.0 MOVC C0189 V=20.0 MOVC C0190 V=20.0 MOVL C0191 V=20.0 MOVC C0192 V=20.0 MOVC C0193 V=20.0 MOVC C0194 V=20.0 MOVL C0195 V=20.0 MOVC C0196 V=20.0 MOVC C0197 V=20.0 MOVC C0198 V=20.0 MOVL C0199 V=20.0 MOVC C0200 V=20.0 MOVC C0201 V=20.0 MOVC C0202 V=20.0 MOVL C0203 V=20.0 MOVL C0204 V=20.0 MOVL C0205 V=20.0 MOVJ C0206 VJ=50.0 MOVJ C0207 VJ=50.0 MOVJ C0208 VJ=50.0 MOVJ C0209 VJ=50.0 MOVL C0210 V=10.0 MOVL C0211 V=20.0 MOVC C0212 V=20.0 MOVC C0213 V=20.0 MOVC C0214 V=20.0 MOVL C0215 V=20.0 MOVL C0216 V=20.0 MOVC C0217 V=20.0 MOVC C0218 V=20.0 MOVC C0219 V=20.0 MOVL C0220 V=20.0 MOVL C0221 V=20.0 MOVC C0222 V=20.0 MOVC C0223 V=20.0 MOVC C0224 V=20.0 MOVL C0225 V=20.0 MOVL C0226 V=20.0 MOVC C0227 V=20.0 MOVC C0228 V=20.0 MOVC C0229 V=20.0 MOVL C0230 V=20.0 MOVC C0231 V=20.0 MOVC C0232 V=20.0 MOVC C0233 V=20.0 MOVL C0234 V=20.0 MOVC C0235 V=20.0 MOVC C0236 V=20.0 MOVC C0237 V=20.0 MOVL C0238 V=20.0 MOVL C0239 V=20.0 MOVC C0240 V=20.0 MOVC C0241 V=20.0 MOVC C0242 V=20.0 MOVL C0243 V=20.0 MOVL C0244 V=20.0 MOVL C0245 V=20.0 MOVJ C0246 VJ=50.0 MOVJ C0247 VJ=50.0 CALL JOB:RETRACT END |
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
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</valuePoint>
<valuePoint index="118" >
<tpValue x="225.000" y="245.000" z="100.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="119" >
<tpValue x="225.000" y="245.000" z="25.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="120" >
<tpValue x="225.000" y="245.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="121" >
<tpValue x="220.000" y="245.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="122" >
<tpValue x="216.464" y="246.464" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="123" >
<tpValue x="215.000" y="250.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="124" >
<tpValue x="300.000" y="335.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="125" >
<tpValue x="385.000" y="250.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="126" >
<tpValue x="300.000" y="165.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="127" >
<tpValue x="215.000" y="250.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="128" >
<tpValue x="216.464" y="253.536" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="129" >
<tpValue x="220.000" y="255.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="130" >
<tpValue x="225.000" y="255.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="131" >
<tpValue x="225.000" y="255.000" z="-5.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="132" >
<tpValue x="225.000" y="255.000" z="70.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="133" >
<tpValue x="225.000" y="255.000" z="100.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="134" >
<tpValue x="135.840" y="166.301" z="100.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="135" >
<tpValue x="135.840" y="166.301" z="25.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="136" >
<tpValue x="135.840" y="166.301" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="137" >
<tpValue x="138.964" y="162.396" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="138" >
<tpValue x="140.029" y="158.721" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="139" >
<tpValue x="138.183" y="155.368" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="140" >
<tpValue x="89.370" y="116.318" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="141" >
<tpValue x="73.502" y="114.512" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="142" >
<tpValue x="65.000" y="128.031" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="143" >
<tpValue x="65.000" y="371.969" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="144" >
<tpValue x="73.502" y="385.488" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="145" >
<tpValue x="89.370" y="383.682" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="146" >
<tpValue x="186.996" y="305.582" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="147" >
<tpValue x="192.058" y="297.955" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="148" >
<tpValue x="191.745" y="288.807" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="149" >
<tpValue x="185.000" y="250.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="150" >
<tpValue x="191.745" y="211.193" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="151" >
<tpValue x="192.058" y="202.045" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="152" >
<tpValue x="186.996" y="194.418" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="153" >
<tpValue x="138.183" y="155.368" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="154" >
<tpValue x="134.507" y="154.303" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="155" >
<tpValue x="131.155" y="156.149" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="156" >
<tpValue x="128.032" y="160.054" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="157" >
<tpValue x="128.032" y="160.054" z="-5.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="158" >
<tpValue x="128.032" y="160.054" z="100.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="159" >
<tpValue x="128.032" y="160.054" z="250.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
</point>
</pointSection>
<pointVrbSection />
<sioSection />
<stringSection>
</stringSection>
<toolSection>
<tool name="flange" public="false" privilege="0">
<tFather alias="" name="" fatherIndex="0" />
<valueTool index="0">
<ttValue x="0" y="0" z="0" rx="0" ry="0" rz="0" />
<io alias="io" name="valve1" ioIndex="0" open="0" close="0" />
</valueTool>
</tool>
<tool name="tTool" public="false">
<tFather alias="" name="flange" fatherIndex="0" />
<valueTool index="0">
<ttValue x="-352.643" y="0.000" z="469.279" rx="0.000" ry="-59.998" rz="0.000" />
<io alias="io" name="valve1" ioIndex="0" open="0" close="0" />
</valueTool>
</tool>
</toolSection>
<trsfSection>
</trsfSection>
</dataList>
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
<?xml version="1.0" encoding="utf-8" ?> <project xmlns="ProjectNameSpace"> <parameters version="s6.4.1" stackSize="5000" millimeterUnit="true" /> <programSection> <program file="start.pgx" /> <program file="stop.pgx" /> </programSection> <dataSection> <data file="STAUBLI.dtx" /> </dataSection> <aliasSection> <alias name="io" interface="io" autoload="true" /> </aliasSection> </project> |
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
<?xml version="1.0" encoding="utf-8" ?>
<programList xmlns="ProgramNameSpace" >
<program name="start" public="false">
<description />
<paramSection />
<localSection />
<source>
<code>
begin
// move home slowly
movej(jtPark,tTool,mdJointBlend)
waitEndMove()
movej(ptRoutingPath[0],tTool,mdJointBlend)
movej(ptRoutingPath[1],tTool,mdJointBlend)
movej(ptRoutingPath[2],tTool,mdJointBlend)
movel(ptRoutingPath[3],tTool,mdLineBlend[0])
movel(ptRoutingPath[4],tTool,mdLineBlend[1])
movec(ptRoutingPath[5],ptRoutingPath[6],tTool,mdLineBlend[1])
movel(ptRoutingPath[7],tTool,mdLineBlend[1])
movec(ptRoutingPath[8],ptRoutingPath[9],tTool,mdLineBlend[1])
movel(ptRoutingPath[10],tTool,mdLineBlend[1])
movec(ptRoutingPath[11],ptRoutingPath[12],tTool,mdLineBlend[1])
movel(ptRoutingPath[13],tTool,mdLineBlend[1])
movec(ptRoutingPath[14],ptRoutingPath[15],tTool,mdLineBlend[1])
movel(ptRoutingPath[16],tTool,mdLineBlend[1])
movec(ptRoutingPath[17],ptRoutingPath[18],tTool,mdLineBlend[1])
movel(ptRoutingPath[19],tTool,mdLineBlend[1])
movec(ptRoutingPath[20],ptRoutingPath[21],tTool,mdLineBlend[1])
movel(ptRoutingPath[22],tTool,mdLineBlend[1])
movel(ptRoutingPath[23],tTool,mdLineBlend[1])
movej(ptRoutingPath[24],tTool,mdJointBlend)
movej(ptRoutingPath[25],tTool,mdJointBlend)
movej(ptRoutingPath[26],tTool,mdJointBlend)
movej(ptRoutingPath[27],tTool,mdJointBlend)
movel(ptRoutingPath[28],tTool,mdLineBlend[0])
movel(ptRoutingPath[29],tTool,mdLineBlend[1])
movec(ptRoutingPath[30],ptRoutingPath[31],tTool,mdLineBlend[1])
movel(ptRoutingPath[32],tTool,mdLineBlend[1])
movec(ptRoutingPath[33],ptRoutingPath[34],tTool,mdLineBlend[1])
movec(ptRoutingPath[35],ptRoutingPath[36],tTool,mdLineBlend[1])
movec(ptRoutingPath[37],ptRoutingPath[38],tTool,mdLineBlend[1])
movel(ptRoutingPath[39],tTool,mdLineBlend[1])
movec(ptRoutingPath[40],ptRoutingPath[41],tTool,mdLineBlend[1])
movel(ptRoutingPath[42],tTool,mdLineBlend[1])
movec(ptRoutingPath[43],ptRoutingPath[44],tTool,mdLineBlend[1])
movec(ptRoutingPath[45],ptRoutingPath[46],tTool,mdLineBlend[1])
movec(ptRoutingPath[47],ptRoutingPath[48],tTool,mdLineBlend[1])
movel(ptRoutingPath[49],tTool,mdLineBlend[1])
movec(ptRoutingPath[50],ptRoutingPath[51],tTool,mdLineBlend[1])
movel(ptRoutingPath[52],tTool,mdLineBlend[1])
movec(ptRoutingPath[53],ptRoutingPath[54],tTool,mdLineBlend[1])
movel(ptRoutingPath[55],tTool,mdLineBlend[1])
movel(ptRoutingPath[56],tTool,mdLineBlend[1])
movej(ptRoutingPath[57],tTool,mdJointBlend)
movej(ptRoutingPath[58],tTool,mdJointBlend)
movej(ptRoutingPath[59],tTool,mdJointBlend)
movej(ptRoutingPath[60],tTool,mdJointBlend)
movel(ptRoutingPath[61],tTool,mdLineBlend[0])
movel(ptRoutingPath[62],tTool,mdLineBlend[1])
movec(ptRoutingPath[63],ptRoutingPath[64],tTool,mdLineBlend[1])
movel(ptRoutingPath[65],tTool,mdLineBlend[1])
movec(ptRoutingPath[66],ptRoutingPath[67],tTool,mdLineBlend[1])
movel(ptRoutingPath[68],tTool,mdLineBlend[1])
movec(ptRoutingPath[69],ptRoutingPath[70],tTool,mdLineBlend[1])
movel(ptRoutingPath[71],tTool,mdLineBlend[1])
movec(ptRoutingPath[72],ptRoutingPath[73],tTool,mdLineBlend[1])
movec(ptRoutingPath[74],ptRoutingPath[75],tTool,mdLineBlend[1])
movec(ptRoutingPath[76],ptRoutingPath[77],tTool,mdLineBlend[1])
movel(ptRoutingPath[78],tTool,mdLineBlend[1])
movec(ptRoutingPath[79],ptRoutingPath[80],tTool,mdLineBlend[1])
movel(ptRoutingPath[81],tTool,mdLineBlend[1])
movel(ptRoutingPath[82],tTool,mdLineBlend[1])
movej(ptRoutingPath[83],tTool,mdJointBlend)
movej(ptRoutingPath[84],tTool,mdJointBlend)
movej(ptRoutingPath[85],tTool,mdJointBlend)
movej(ptRoutingPath[86],tTool,mdJointBlend)
movel(ptRoutingPath[87],tTool,mdLineBlend[0])
movel(ptRoutingPath[88],tTool,mdLineBlend[1])
movec(ptRoutingPath[89],ptRoutingPath[90],tTool,mdLineBlend[1])
movel(ptRoutingPath[91],tTool,mdLineBlend[1])
movec(ptRoutingPath[92],ptRoutingPath[93],tTool,mdLineBlend[1])
movec(ptRoutingPath[94],ptRoutingPath[95],tTool,mdLineBlend[1])
movec(ptRoutingPath[96],ptRoutingPath[97],tTool,mdLineBlend[1])
movel(ptRoutingPath[98],tTool,mdLineBlend[1])
movec(ptRoutingPath[99],ptRoutingPath[100],tTool,mdLineBlend[1])
movel(ptRoutingPath[101],tTool,mdLineBlend[1])
movec(ptRoutingPath[102],ptRoutingPath[103],tTool,mdLineBlend[1])
movec(ptRoutingPath[104],ptRoutingPath[105],tTool,mdLineBlend[1])
movec(ptRoutingPath[106],ptRoutingPath[107],tTool,mdLineBlend[1])
movel(ptRoutingPath[108],tTool,mdLineBlend[1])
movec(ptRoutingPath[109],ptRoutingPath[110],tTool,mdLineBlend[1])
movel(ptRoutingPath[111],tTool,mdLineBlend[1])
movec(ptRoutingPath[112],ptRoutingPath[113],tTool,mdLineBlend[1])
movel(ptRoutingPath[114],tTool,mdLineBlend[1])
movel(ptRoutingPath[115],tTool,mdLineBlend[1])
movej(ptRoutingPath[116],tTool,mdJointBlend)
movej(ptRoutingPath[117],tTool,mdJointBlend)
movej(ptRoutingPath[118],tTool,mdJointBlend)
movej(ptRoutingPath[119],tTool,mdJointBlend)
movel(ptRoutingPath[120],tTool,mdLineBlend[0])
movel(ptRoutingPath[121],tTool,mdLineBlend[1])
movec(ptRoutingPath[122],ptRoutingPath[123],tTool,mdLineBlend[1])
movec(ptRoutingPath[124],ptRoutingPath[125],tTool,mdLineBlend[1])
movec(ptRoutingPath[126],ptRoutingPath[127],tTool,mdLineBlend[1])
movec(ptRoutingPath[128],ptRoutingPath[129],tTool,mdLineBlend[1])
movel(ptRoutingPath[130],tTool,mdLineBlend[1])
movel(ptRoutingPath[131],tTool,mdLineBlend[1])
movej(ptRoutingPath[132],tTool,mdJointBlend)
movej(ptRoutingPath[133],tTool,mdJointBlend)
movej(ptRoutingPath[134],tTool,mdJointBlend)
movej(ptRoutingPath[135],tTool,mdJointBlend)
movel(ptRoutingPath[136],tTool,mdLineBlend[0])
movel(ptRoutingPath[137],tTool,mdLineBlend[1])
movec(ptRoutingPath[138],ptRoutingPath[139],tTool,mdLineBlend[1])
movel(ptRoutingPath[140],tTool,mdLineBlend[1])
movec(ptRoutingPath[141],ptRoutingPath[142],tTool,mdLineBlend[1])
movel(ptRoutingPath[143],tTool,mdLineBlend[1])
movec(ptRoutingPath[144],ptRoutingPath[145],tTool,mdLineBlend[1])
movel(ptRoutingPath[146],tTool,mdLineBlend[1])
movec(ptRoutingPath[147],ptRoutingPath[148],tTool,mdLineBlend[1])
movec(ptRoutingPath[149],ptRoutingPath[150],tTool,mdLineBlend[1])
movec(ptRoutingPath[151],ptRoutingPath[152],tTool,mdLineBlend[1])
movel(ptRoutingPath[153],tTool,mdLineBlend[1])
movec(ptRoutingPath[154],ptRoutingPath[155],tTool,mdLineBlend[1])
movel(ptRoutingPath[156],tTool,mdLineBlend[1])
movel(ptRoutingPath[157],tTool,mdLineBlend[1])
movej(ptRoutingPath[158],tTool,mdJointBlend)
movej(ptRoutingPath[159],tTool,mdJointBlend)
// return home
movej(jtPark,tTool,mdJointBlend)
waitEndMove()
end
</code>
</source>
</program>
</programList>
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
<?xml version="1.0" encoding="utf-8" ?>
<programList xmlns="ProgramNameSpace" >
<program name="stop" public="false">
<description />
<paramSection />
<localSection />
<source>
<code>
begin
resetMotion()
end
</code>
</source>
</program>
</programList>
|
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
Frame_1 = p[1.750000, -0.250000, 0.250000, 0.000000, 0.000000, 0.000000]
set_tcp(p[-0.352645, 0.000000, 0.469276, 0.000000, -1.047207, 0.000000])
movej([1.570796, -0.785398, -0.785398, 0.000000, -1.570796, 0.000000], a=1.5, v=3.14, r=0.002)
movej(pose_trans(Frame_1, p[0.295000, -0.015000, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.295000, -0.015000, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.295000, -0.015000, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.295000, -0.015000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.295000, -0.010000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.296464, -0.006464, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.300000, -0.005000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.580000, -0.005000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.597678, 0.002322, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.605000, 0.020000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.605000, 0.480000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.597678, 0.497678, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.580000, 0.505000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.020000, 0.505000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.002322, 0.497678, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[-0.005000, 0.480000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[-0.005000, 0.020000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.002322, 0.002322, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.020000, -0.005000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.300000, -0.005000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.303536, -0.006464, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.305000, -0.010000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.305000, -0.015000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.305000, -0.015000, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.305000, -0.015000, 0.070000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.305000, -0.015000, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.205586, 0.106841, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.205586, 0.106841, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.205586, 0.106841, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.202463, 0.110745, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.201398, 0.114421, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.203244, 0.117773, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.235818, 0.143833, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.243397, 0.147012, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.251513, 0.145721, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.135000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.348487, 0.145721, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.356603, 0.147012, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.364182, 0.143833, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.429331, 0.091713, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.434115, 0.075035, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.419961, 0.065000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.344721, 0.065000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.338598, 0.066307, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.333541, 0.070000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.085000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.266459, 0.070000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.261402, 0.066307, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.255279, 0.065000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.180039, 0.065000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.165885, 0.075035, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.170669, 0.091713, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.203244, 0.117773, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.206919, 0.118838, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.210271, 0.116992, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.213395, 0.113088, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.213395, 0.113088, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.213395, 0.113088, 0.070000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.213395, 0.113088, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.464160, 0.333699, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.464160, 0.333699, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.464160, 0.333699, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.461036, 0.337604, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.459971, 0.341279, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.461817, 0.344632, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.510630, 0.383682, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.526498, 0.385488, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.535000, 0.371969, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.535000, 0.128031, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.526498, 0.114512, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.510630, 0.116318, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.413004, 0.194418, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.407942, 0.202045, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.408255, 0.211193, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.415000, 0.250000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.408255, 0.288807, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.407942, 0.297955, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.413004, 0.305582, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.461817, 0.344632, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.465493, 0.345697, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.468845, 0.343851, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.471968, 0.339946, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.471968, 0.339946, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.471968, 0.339946, 0.070000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.471968, 0.339946, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.394414, 0.393159, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.394414, 0.393159, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.394414, 0.393159, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.397537, 0.389255, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.398602, 0.385579, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.396756, 0.382227, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.364182, 0.356167, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.356603, 0.352988, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.348487, 0.354279, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.365000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.251513, 0.354279, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.243397, 0.352988, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.235818, 0.356167, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.170669, 0.408287, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.165885, 0.424965, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.180039, 0.435000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.255279, 0.435000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.261402, 0.433693, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.266459, 0.430000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.415000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.333541, 0.430000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.338598, 0.433693, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.344721, 0.435000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.419961, 0.435000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.434115, 0.424965, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.429331, 0.408287, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.396756, 0.382227, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.393081, 0.381162, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.389729, 0.383008, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.386605, 0.386912, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.386605, 0.386912, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.386605, 0.386912, 0.070000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.386605, 0.386912, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.225000, 0.245000, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.225000, 0.245000, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.225000, 0.245000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.220000, 0.245000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.216464, 0.246464, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.215000, 0.250000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.335000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.385000, 0.250000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.300000, 0.165000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.215000, 0.250000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.216464, 0.253536, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.220000, 0.255000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.225000, 0.255000, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.225000, 0.255000, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.225000, 0.255000, 0.070000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.225000, 0.255000, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.135840, 0.166301, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.135840, 0.166301, 0.025000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.135840, 0.166301, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=10, r=0.002)
movel(pose_trans(Frame_1, p[0.138964, 0.162396, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.140029, 0.158721, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.138183, 0.155368, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.089370, 0.116318, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.073502, 0.114512, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.065000, 0.128031, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.065000, 0.371969, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.073502, 0.385488, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.089370, 0.383682, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.186996, 0.305582, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.192058, 0.297955, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.191745, 0.288807, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.185000, 0.250000, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.191745, 0.211193, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.192058, 0.202045, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.186996, 0.194418, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.138183, 0.155368, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movec(pose_trans(Frame_1, p[0.134507, 0.154303, -0.030000, 3.141593, 0.000000, 0.000000]),pose_trans(Frame_1, p[0.131155, 0.156149, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.128032, 0.160054, -0.030000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movel(pose_trans(Frame_1, p[0.128032, 0.160054, -0.005000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.100000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej(pose_trans(Frame_1, p[0.128032, 0.160054, 0.250000, 3.141593, 0.000000, 0.000000]), a=1.5, v=20, r=0.002)
movej([1.570796, -0.785398, -0.785398, 0.000000, -1.570796, 0.000000], a=1.5, v=3.14, r=0.002)
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