- Created by Octave Brouard, last modified on Feb 18, 2019
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If you are reading this articles it means that you probably have been asked to provide a sample program of part that has been programmed with your robotic system.
Unlike the CNC world where syntax standards have been well defined (Gcode), robot output come in many shapes and forms as each brand have its own set of rules. Furthermore, robotic system configurations varies a lot from one organization to another which adds complexity to the robot output.
Robotmaster generates robot code that will provide all the information that relates to the robotic motion as well as standard activation and deactivation macro calls. As we want to make sure that we provide all the specific instructions that your process requires, we need to have a look at a sample program that has been generated by your team.
Guidelines
External devices: Your sample programs should show how instructions are communicated to all external devices (seam tracker, vision system, forces sensor, power supply,...) that are connected to your robot controller.
File management: If your process requires multiple files to run, please provide all files and show how they are called between each other.
Process instructions: If you are using application specific instructions (touch sensing, weaving or drilling routines for instance), make sure they are contained in the sample program.
Logic: If the code contains programming statements (such as if, while or for conditions), explain how they affect the robotic process.
Robotmaster output
Here are some example of output generated by Robotmaster.
Fanuc Expand source
/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
ABB Expand source
%%%
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
Kuka Expand source
&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
Motoman Expand source
/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
Staubli Expand source
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<mdescValue accel="100" vel="100" decel="100" tmax="99999" rmax="99999" blend="off" leave="50" reach="50" />
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<mdescValue accel="250" vel="50" decel="150" tmax="99999" rmax="99999" blend="off" leave="0" reach="0" />
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<mdesc name="mdLineBlend" public="false">
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<mdescValue accel="80" vel="30" decel="30" tmax="10" rmax="9999" blend="off" leave="0" reach="0" />
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<valueMdesc index="1">
<mdescValue accel="80" vel="30" decel="30" tmax="20" rmax="9999" blend="off" leave="0" reach="0" />
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<numSection>
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<point name="ptRoutingPath" public="false">
<pFather alias="" name="fUserFrame" fatherIndex="0" />
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<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
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<tpValue x="295.000" y="-10.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
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<tpValue x="296.464" y="-6.464" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
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<valuePoint index="6" >
<tpValue x="300.000" y="-5.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
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<valuePoint index="7" >
<tpValue x="580.000" y="-5.000" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
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<valuePoint index="8" >
<tpValue x="597.678" y="2.322" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
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</valuePoint>
<valuePoint index="111" >
<tpValue x="396.756" y="382.227" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="112" >
<tpValue x="393.081" y="381.162" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="113" >
<tpValue x="389.729" y="383.008" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="114" >
<tpValue x="386.605" y="386.912" z="-30.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="115" >
<tpValue x="386.605" y="386.912" z="-5.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="116" >
<tpValue x="386.605" y="386.912" z="70.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</valuePoint>
<valuePoint index="117" >
<tpValue x="386.605" y="386.912" z="100.000" rx="180.000" ry="0.000" rz="0.000" />
<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
</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" >
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<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" >
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<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" >
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<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
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<valuePoint index="158" >
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<cpValue shoulder="lefty" elbow="epositive" wrist="wpositive"/>
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<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>
Universal robot Expand source
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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