- 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)
Comau Expand source
PROGRAM COMAU
CONST
CW = TRUE
CCW = FALSE
--PROGRAMMED USING ROBOTMASTER
BEGIN
$UFRAME:= POS(1750.00,-250.00,250.00,0.00,0.00,0.00,'')
$TOOL:= POS(-352.64,0.00,469.28,180.00,60.00,180.00,'')
MOVE JOINT TO {90.00,-45.00,-45.00,0.00,-90.00,0.00} WITH $ARM_SPD_OVR =50
$LIN_SPD:=20
MOVE JOINT TO POS(295.00,-15.00,250.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(295.00,-15.00,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(295.00,-15.00,25.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(295.00,-15.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVEFLY LINEAR TO POS(295.00,-10.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(300.00,-5.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(296.46,-6.46,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(580.00,-5.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(605.00,20.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(597.68,2.32,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(605.00,480.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(580.00,505.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(597.68,497.68,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(20.00,505.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(-5.00,480.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(2.32,497.68,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(-5.00,20.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(20.00,-5.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(2.32,2.32,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(300.00,-5.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(305.00,-10.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(303.54,-6.46,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVE LINEAR TO POS(305.00,-15.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE LINEAR TO POS(305.00,-15.00,-5.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=20
MOVE JOINT TO POS(305.00,-15.00,70.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(305.00,-15.00,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(205.59,106.84,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(205.59,106.84,25.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(205.59,106.84,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVEFLY LINEAR TO POS(202.46,110.75,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(203.24,117.77,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(201.40,114.42,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(235.82,143.83,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(251.51,145.72,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(243.40,147.01,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(348.49,145.72,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(300.00,135.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(364.18,143.83,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(356.60,147.01,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(429.33,91.71,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(419.96,65.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(434.12,75.03,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(344.72,65.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(333.54,70.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(338.60,66.31,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(266.46,70.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(300.00,85.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(255.28,65.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(261.40,66.31,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(180.04,65.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(170.67,91.71,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(165.88,75.03,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(203.24,117.77,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(210.27,116.99,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(206.92,118.84,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVE LINEAR TO POS(213.39,113.09,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE LINEAR TO POS(213.39,113.09,-5.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=20
MOVE JOINT TO POS(213.39,113.09,70.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(213.39,113.09,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(464.16,333.70,100.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(464.16,333.70,25.00,0.00,0.00,180.00,'T1:1 T2:-1')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(464.16,333.70,-30.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVEFLY LINEAR TO POS(461.04,337.60,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(461.82,344.63,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(459.97,341.28,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(510.63,383.68,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(535.00,371.97,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(526.50,385.49,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(535.00,128.03,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(510.63,116.32,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(526.50,114.51,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(413.00,194.42,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(408.25,211.19,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(407.94,202.04,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(408.25,288.81,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(415.00,250.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(413.00,305.58,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(407.94,297.96,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(461.82,344.63,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(468.84,343.85,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(465.49,345.70,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVE LINEAR TO POS(471.97,339.95,-30.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE LINEAR TO POS(471.97,339.95,-5.00,0.00,0.00,180.00,'T1:1 T2:-1')
$LIN_SPD:=20
MOVE JOINT TO POS(471.97,339.95,70.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(471.97,339.95,100.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(394.41,393.16,100.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(394.41,393.16,25.00,0.00,0.00,180.00,'T1:1 T2:-1')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(394.41,393.16,-30.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVEFLY LINEAR TO POS(397.54,389.25,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(396.76,382.23,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(398.60,385.58,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(364.18,356.17,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(348.49,354.28,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(356.60,352.99,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(251.51,354.28,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(300.00,365.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(235.82,356.17,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(243.40,352.99,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(170.67,408.29,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(180.04,435.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(165.88,424.97,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(255.28,435.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(266.46,430.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(261.40,433.69,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(333.54,430.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(300.00,415.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(344.72,435.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(338.60,433.69,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(419.96,435.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(429.33,408.29,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(434.12,424.97,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(396.76,382.23,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(389.73,383.01,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(393.08,381.16,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVE LINEAR TO POS(386.61,386.91,-30.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE LINEAR TO POS(386.61,386.91,-5.00,0.00,0.00,180.00,'T1:1 T2:-1')
$LIN_SPD:=20
MOVE JOINT TO POS(386.61,386.91,70.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(386.61,386.91,100.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(225.00,245.00,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(225.00,245.00,25.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(225.00,245.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVEFLY LINEAR TO POS(220.00,245.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(215.00,250.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(216.46,246.46,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(385.00,250.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(300.00,335.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(215.00,250.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(300.00,165.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(220.00,255.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(216.46,253.54,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVE LINEAR TO POS(225.00,255.00,-30.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE LINEAR TO POS(225.00,255.00,-5.00,0.00,0.00,180.00,'T1:1 T2:-1')
$LIN_SPD:=20
MOVE JOINT TO POS(225.00,255.00,70.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(225.00,255.00,100.00,0.00,0.00,180.00,'T1:1 T2:-1')
MOVE JOINT TO POS(135.84,166.30,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(135.84,166.30,25.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=0 ;10mm/s
MOVE LINEAR TO POS(135.84,166.30,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVEFLY LINEAR TO POS(138.96,162.40,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(138.18,155.37,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(140.03,158.72,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(89.37,116.32,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(65.00,128.03,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(73.50,114.51,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(65.00,371.97,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(89.37,383.68,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(73.50,385.49,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY LINEAR TO POS(187.00,305.58,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(191.75,288.81,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') VIA POS(192.06,297.96,-30.00,0.00,0.00,180.00,'T1:1 T2:-1') ADVANCE
MOVEFLY CIRCULAR TO POS(191.75,211.19,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(185.00,250.00,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(187.00,194.42,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(192.06,202.04,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY LINEAR TO POS(138.18,155.37,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVEFLY CIRCULAR TO POS(131.16,156.15,-30.00,0.00,0.00,180.00,'T1:0 T2:0') VIA POS(134.51,154.30,-30.00,0.00,0.00,180.00,'T1:0 T2:0') ADVANCE
MOVE LINEAR TO POS(128.03,160.05,-30.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE LINEAR TO POS(128.03,160.05,-5.00,0.00,0.00,180.00,'T1:0 T2:0')
$LIN_SPD:=20
MOVE JOINT TO POS(128.03,160.05,100.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO POS(128.03,160.05,250.00,0.00,0.00,180.00,'T1:0 T2:0')
MOVE JOINT TO {90.00,-45.00,-45.00,0.00,-90.00,0.00} WITH $ARM_SPD_OVR =50
END COMAU
Denso Expand source
'!TITLE "DENSO" PROGRAM DENSO 'PROGRAMMED USING ROBOTMASTER TAKEARM WORK 1,(+1750.00,-250.00,+250.00,+0.00,+0.00,+0.00) TOOL 1,(-352.64,+0.00,+469.28,+0.00,-60.00,+0.00) J1=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00) J2=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00) CHANGEWORK 1 CHANGETOOL 1 ACCEL 0 DECEL 0 SPEED 50 MOVE P, @E J1 MOVE P, @E (+295.00,-15.00,+250.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+295.00,-15.00,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+295.00,-15.00,+25.00,+180.00,+0.00,+0.00,5) SPEED 10 MOVE L, @E (+295.00,-15.00,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+295.00,-10.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+296.46,-6.46,-30.00,+180.00,+0.00,+0.00), @0 (+300.00,-5.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+580.00,-5.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+597.68,+2.32,-30.00,+180.00,+0.00,+0.00), @0 (+605.00,+20.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+605.00,+480.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+597.68,+497.68,-30.00,+180.00,+0.00,+0.00), @0 (+580.00,+505.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+20.00,+505.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+2.32,+497.68,-30.00,+180.00,+0.00,+0.00), @0 (-5.00,+480.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (-5.00,+20.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+2.32,+2.32,-30.00,+180.00,+0.00,+0.00), @0 (+20.00,-5.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+300.00,-5.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+303.54,-6.46,-30.00,+180.00,+0.00,+0.00), @0 (+305.00,-10.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+305.00,-15.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+305.00,-15.00,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+305.00,-15.00,+70.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+305.00,-15.00,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+205.59,+106.84,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+205.59,+106.84,+25.00,+180.00,+0.00,+0.00,5) SPEED 10 MOVE L, @E (+205.59,+106.84,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+202.46,+110.75,-30.00,+180.00,+0.00,+0.00) MOVE C, (+201.40,+114.42,-30.00,+180.00,+0.00,+0.00), @0 (+203.24,+117.77,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+235.82,+143.83,-30.00,+180.00,+0.00,+0.00) MOVE C, (+243.40,+147.01,-30.00,+180.00,+0.00,+0.00), @0 (+251.51,+145.72,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+135.00,-30.00,+180.00,+0.00,+0.00), @0 (+348.49,+145.72,-30.00,+180.00,+0.00,+0.00) MOVE C, (+356.60,+147.01,-30.00,+180.00,+0.00,+0.00), @0 (+364.18,+143.83,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+429.33,+91.71,-30.00,+180.00,+0.00,+0.00) MOVE C, (+434.12,+75.03,-30.00,+180.00,+0.00,+0.00), @0 (+419.96,+65.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+344.72,+65.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+338.60,+66.31,-30.00,+180.00,+0.00,+0.00), @0 (+333.54,+70.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+85.00,-30.00,+180.00,+0.00,+0.00), @0 (+266.46,+70.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+261.40,+66.31,-30.00,+180.00,+0.00,+0.00), @0 (+255.28,+65.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+180.04,+65.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+165.88,+75.03,-30.00,+180.00,+0.00,+0.00), @0 (+170.67,+91.71,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+203.24,+117.77,-30.00,+180.00,+0.00,+0.00) MOVE C, (+206.92,+118.84,-30.00,+180.00,+0.00,+0.00), @0 (+210.27,+116.99,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+213.39,+113.09,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+213.39,+113.09,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+213.39,+113.09,+70.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+213.39,+113.09,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+464.16,+333.70,+100.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+464.16,+333.70,+25.00,+180.00,+0.00,+0.00,29) SPEED 10 MOVE L, @E (+464.16,+333.70,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+461.04,+337.60,-30.00,+180.00,+0.00,+0.00) MOVE C, (+459.97,+341.28,-30.00,+180.00,+0.00,+0.00), @0 (+461.82,+344.63,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+510.63,+383.68,-30.00,+180.00,+0.00,+0.00) MOVE C, (+526.50,+385.49,-30.00,+180.00,+0.00,+0.00), @0 (+535.00,+371.97,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+535.00,+128.03,-30.00,+180.00,+0.00,+0.00) MOVE C, (+526.50,+114.51,-30.00,+180.00,+0.00,+0.00), @0 (+510.63,+116.32,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+413.00,+194.42,-30.00,+180.00,+0.00,+0.00) MOVE C, (+407.94,+202.04,-30.00,+180.00,+0.00,+0.00), @0 (+408.25,+211.19,-30.00,+180.00,+0.00,+0.00) MOVE C, (+415.00,+250.00,-30.00,+180.00,+0.00,+0.00), @0 (+408.25,+288.81,-30.00,+180.00,+0.00,+0.00) MOVE C, (+407.94,+297.96,-30.00,+180.00,+0.00,+0.00), @0 (+413.00,+305.58,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+461.82,+344.63,-30.00,+180.00,+0.00,+0.00) MOVE C, (+465.49,+345.70,-30.00,+180.00,+0.00,+0.00), @0 (+468.84,+343.85,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+471.97,+339.95,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+471.97,+339.95,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+471.97,+339.95,+70.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+471.97,+339.95,+100.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+394.41,+393.16,+100.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+394.41,+393.16,+25.00,+180.00,+0.00,+0.00,29) SPEED 10 MOVE L, @E (+394.41,+393.16,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+397.54,+389.25,-30.00,+180.00,+0.00,+0.00) MOVE C, (+398.60,+385.58,-30.00,+180.00,+0.00,+0.00), @0 (+396.76,+382.23,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+364.18,+356.17,-30.00,+180.00,+0.00,+0.00) MOVE C, (+356.60,+352.99,-30.00,+180.00,+0.00,+0.00), @0 (+348.49,+354.28,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+365.00,-30.00,+180.00,+0.00,+0.00), @0 (+251.51,+354.28,-30.00,+180.00,+0.00,+0.00) MOVE C, (+243.40,+352.99,-30.00,+180.00,+0.00,+0.00), @0 (+235.82,+356.17,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+170.67,+408.29,-30.00,+180.00,+0.00,+0.00) MOVE C, (+165.88,+424.97,-30.00,+180.00,+0.00,+0.00), @0 (+180.04,+435.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+255.28,+435.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+261.40,+433.69,-30.00,+180.00,+0.00,+0.00), @0 (+266.46,+430.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+415.00,-30.00,+180.00,+0.00,+0.00), @0 (+333.54,+430.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+338.60,+433.69,-30.00,+180.00,+0.00,+0.00), @0 (+344.72,+435.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+419.96,+435.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+434.12,+424.97,-30.00,+180.00,+0.00,+0.00), @0 (+429.33,+408.29,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+396.76,+382.23,-30.00,+180.00,+0.00,+0.00) MOVE C, (+393.08,+381.16,-30.00,+180.00,+0.00,+0.00), @0 (+389.73,+383.01,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+386.61,+386.91,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+386.61,+386.91,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+386.61,+386.91,+70.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+386.61,+386.91,+100.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+225.00,+245.00,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+225.00,+245.00,+25.00,+180.00,+0.00,+0.00,5) SPEED 10 MOVE L, @E (+225.00,+245.00,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+220.00,+245.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+216.46,+246.46,-30.00,+180.00,+0.00,+0.00), @0 (+215.00,+250.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+335.00,-30.00,+180.00,+0.00,+0.00), @0 (+385.00,+250.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+300.00,+165.00,-30.00,+180.00,+0.00,+0.00), @0 (+215.00,+250.00,-30.00,+180.00,+0.00,+0.00) MOVE C, (+216.46,+253.54,-30.00,+180.00,+0.00,+0.00), @0 (+220.00,+255.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+225.00,+255.00,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+225.00,+255.00,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+225.00,+255.00,+70.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+225.00,+255.00,+100.00,+180.00,+0.00,+0.00,29) MOVE P, @E (+135.84,+166.30,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+135.84,+166.30,+25.00,+180.00,+0.00,+0.00,5) SPEED 10 MOVE L, @E (+135.84,+166.30,-30.00,+180.00,+0.00,+0.00) SPEED 20 MOVE L, @0 (+138.96,+162.40,-30.00,+180.00,+0.00,+0.00) MOVE C, (+140.03,+158.72,-30.00,+180.00,+0.00,+0.00), @0 (+138.18,+155.37,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+89.37,+116.32,-30.00,+180.00,+0.00,+0.00) MOVE C, (+73.50,+114.51,-30.00,+180.00,+0.00,+0.00), @0 (+65.00,+128.03,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+65.00,+371.97,-30.00,+180.00,+0.00,+0.00) MOVE C, (+73.50,+385.49,-30.00,+180.00,+0.00,+0.00), @0 (+89.37,+383.68,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+187.00,+305.58,-30.00,+180.00,+0.00,+0.00) MOVE C, (+192.06,+297.96,-30.00,+180.00,+0.00,+0.00), @0 (+191.75,+288.81,-30.00,+180.00,+0.00,+0.00) MOVE C, (+185.00,+250.00,-30.00,+180.00,+0.00,+0.00), @0 (+191.75,+211.19,-30.00,+180.00,+0.00,+0.00) MOVE C, (+192.06,+202.04,-30.00,+180.00,+0.00,+0.00), @0 (+187.00,+194.42,-30.00,+180.00,+0.00,+0.00) MOVE L, @0 (+138.18,+155.37,-30.00,+180.00,+0.00,+0.00) MOVE C, (+134.51,+154.30,-30.00,+180.00,+0.00,+0.00), @0 (+131.16,+156.15,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+128.03,+160.05,-30.00,+180.00,+0.00,+0.00) MOVE L, @E (+128.03,+160.05,-5.00,+180.00,+0.00,+0.00) SPEED 50 MOVE P, @E (+128.03,+160.05,+100.00,+180.00,+0.00,+0.00,5) MOVE P, @E (+128.03,+160.05,+250.00,+180.00,+0.00,+0.00,5) MOVE P, @E J2 END
Hyundai Expand source
GSK Expand source
P0001=90.000,-45.000,-45.000,0.000,-90.000,0.000,0.000,0.000; P0002=-9.034,7.237,3.123,162.729,27.258,-160.005,0.000,0.000; P0003=-9.034,7.342,-3.904,157.207,20.548,-153.976,0.000,0.000; P0004=-9.034,7.767,-7.020,152.849,17.336,-149.371,0.000,0.000; P0005=-9.034,8.233,-9.147,148.475,15.074,-144.817,0.000,0.000; P0006=-8.866,8.192,-9.193,148.924,14.986,-145.334,0.000,0.000; P0007=-8.740,8.240,-9.139,149.285,14.930,-145.747,0.000,0.000; P0008=-8.672,8.412,-8.945,149.516,14.916,-146.006,0.000,0.000; P0009=-7.443,23.178,9.442,158.291,17.656,-155.487,0.000,0.000; P0010=-7.168,24.097,10.693,159.380,17.868,-156.698,0.000,0.000; P0011=-6.636,24.383,11.084,160.880,17.792,-158.403,0.000,0.000; P0012=6.636,24.383,11.084,199.120,17.792,-201.597,0.000,0.000; P0013=7.168,24.097,10.693,200.620,17.868,-203.302,0.000,0.000; P0014=7.443,23.178,9.442,201.709,17.656,-204.513,0.000,0.000; P0015=10.382,-6.300,-23.902,215.478,15.599,-219.703,0.000,0.000; P0016=10.217,-7.327,-24.819,214.840,15.599,-218.988,0.000,0.000; P0017=9.552,-7.892,-25.316,212.996,15.301,-216.868,0.000,0.000; P0018=-9.552,-7.892,-25.316,147.004,15.301,-143.132,0.000,0.000; P0019=-10.217,-7.327,-24.819,145.160,15.599,-141.012,0.000,0.000; P0020=-10.382,-6.300,-23.902,144.522,15.599,-140.297,0.000,0.000; P0021=-8.672,8.412,-8.945,149.516,14.916,-146.006,0.000,0.000; P0022=-8.703,8.606,-8.724,149.479,14.954,-145.959,0.000,0.000; P0023=-8.814,8.711,-8.606,149.200,15.020,-145.636,0.000,0.000; P0024=-8.981,8.751,-8.559,148.754,15.107,-145.122,0.000,0.000; P0025=-8.981,8.524,-7.610,150.871,16.124,-147.320,0.000,0.000; P0026=-8.981,8.007,-4.594,155.838,19.286,-152.532,0.000,0.000; P0027=-8.981,7.868,-3.316,157.388,20.585,-154.181,0.000,0.000; P0028=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0029=-5.186,1.822,-9.820,166.073,18.979,-164.205,0.000,0.000; P0030=-5.186,2.276,-12.945,163.000,15.529,-160.988,0.000,0.000; P0031=-5.186,2.769,-15.087,159.686,13.031,-157.570,0.000,0.000; P0032=-5.055,2.586,-15.278,160.140,12.981,-158.077,0.000,0.000; P0033=-4.926,2.513,-15.354,160.601,12.936,-158.590,0.000,0.000; P0034=-4.799,2.595,-15.268,161.064,12.900,-159.105,0.000,0.000; P0035=-3.778,4.207,-13.569,164.954,12.699,-163.415,0.000,0.000; P0036=-3.648,4.595,-13.155,165.476,12.694,-163.991,0.000,0.000; P0037=-3.675,5.026,-12.691,165.410,12.732,-163.914,0.000,0.000; P0038=-3.935,7.604,-9.854,164.734,13.045,-163.140,0.000,0.000; P0039=-3.469,10.106,-7.003,166.808,13.274,-165.413,0.000,0.000; P0040=-3.410,10.527,-6.514,167.088,13.328,-165.718,0.000,0.000; P0041=-3.500,10.934,-6.038,166.828,13.414,-165.424,0.000,0.000; P0042=-5.022,14.557,-1.691,162.375,14.501,-160.387,0.000,0.000; P0043=-5.534,14.890,-1.282,160.823,14.729,-158.636,0.000,0.000; P0044=-5.895,14.199,-2.130,159.479,14.698,-157.142,0.000,0.000; P0045=-6.151,10.264,-6.819,157.585,14.085,-155.111,0.000,0.000; P0046=-6.130,9.938,-7.198,157.575,14.030,-155.107,0.000,0.000; P0047=-6.025,9.653,-7.526,157.849,13.951,-155.421,0.000,0.000; P0048=-5.637,7.823,-9.609,158.760,13.579,-156.478,0.000,0.000; P0049=-6.270,6.154,-11.463,156.353,13.639,-153.805,0.000,0.000; P0050=-6.417,5.911,-11.729,155.831,13.675,-153.222,0.000,0.000; P0051=-6.487,5.599,-12.069,155.557,13.676,-152.918,0.000,0.000; P0052=-6.798,1.655,-16.240,154.147,13.597,-151.370,0.000,0.000; P0053=-6.491,0.847,-17.064,155.121,13.458,-152.468,0.000,0.000; P0054=-5.859,1.004,-16.904,157.253,13.217,-154.859,0.000,0.000; P0055=-4.799,2.595,-15.268,161.064,12.900,-159.105,0.000,0.000; P0056=-4.749,2.784,-15.071,161.254,12.892,-159.317,0.000,0.000; P0057=-4.806,2.969,-14.878,161.062,12.918,-159.101,0.000,0.000; P0058=-4.936,3.151,-14.687,160.603,12.967,-158.590,0.000,0.000; P0059=-4.936,2.910,-13.730,162.191,14.102,-160.223,0.000,0.000; P0060=-4.936,2.357,-10.701,165.689,17.546,-163.856,0.000,0.000; P0061=-4.936,2.206,-9.423,166.723,18.934,-164.945,0.000,0.000; P0062=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0063=2.610,15.409,5.585,186.521,20.322,-187.424,0.000,0.000; P0064=2.610,15.739,2.412,187.822,16.846,-188.796,0.000,0.000; P0065=2.610,16.134,0.264,189.169,14.330,-190.194,0.000,0.000; P0066=2.736,15.978,0.069,189.628,14.312,-190.704,0.000,0.000; P0067=2.853,15.932,0.010,190.036,14.319,-191.158,0.000,0.000; P0068=2.954,16.038,0.144,190.366,14.363,-191.527,0.000,0.000; P0069=4.062,18.764,3.606,193.440,15.304,-195.013,0.000,0.000; P0070=4.082,19.622,4.718,193.291,15.556,-194.864,0.000,0.000; P0071=3.660,20.031,5.252,191.871,15.589,-193.278,0.000,0.000; P0072=-3.660,20.031,5.252,168.129,15.589,-166.722,0.000,0.000; P0073=-4.082,19.622,4.718,166.709,15.556,-165.136,0.000,0.000; P0074=-4.062,18.764,3.606,166.560,15.304,-164.987,0.000,0.000; P0075=-1.784,13.376,-3.131,173.413,13.592,-172.704,0.000,0.000; P0076=-1.543,13.098,-3.466,174.269,13.510,-173.655,0.000,0.000; P0077=-1.249,13.102,-3.461,175.357,13.485,-174.860,0.000,0.000; P0078=0.000,13.435,-3.059,180.000,13.506,-180.000,0.000,0.000; P0079=1.249,13.102,-3.461,184.643,13.485,-185.140,0.000,0.000; P0080=1.543,13.098,-3.466,185.731,13.510,-186.345,0.000,0.000; P0081=1.784,13.376,-3.131,186.587,13.592,-187.296,0.000,0.000; P0082=2.954,16.038,0.144,190.366,14.363,-191.527,0.000,0.000; P0083=2.982,16.236,0.391,190.424,14.416,-191.594,0.000,0.000; P0084=2.919,16.409,0.608,190.180,14.449,-191.325,0.000,0.000; P0085=2.793,16.564,0.803,189.724,14.467,-190.819,0.000,0.000; P0086=2.793,16.371,1.763,189.025,15.605,-190.095,0.000,0.000; P0087=2.793,15.951,4.827,187.427,19.054,-188.421,0.000,0.000; P0088=2.793,15.851,6.133,186.937,20.449,-187.901,0.000,0.000; P0089=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0090=4.634,11.846,1.271,191.863,19.898,-193.493,0.000,0.000; P0091=4.634,12.225,-1.865,194.284,16.473,-196.041,0.000,0.000; P0092=4.634,12.656,-3.996,196.806,14.004,-198.654,0.000,0.000; P0093=4.500,12.804,-3.820,196.318,13.996,-198.111,0.000,0.000; P0094=4.379,12.845,-3.770,195.896,13.971,-197.641,0.000,0.000; P0095=4.276,12.735,-3.903,195.566,13.923,-197.270,0.000,0.000; P0096=3.500,10.934,-6.038,193.172,13.414,-194.576,0.000,0.000; P0097=3.410,10.527,-6.514,192.912,13.328,-194.282,0.000,0.000; P0098=3.469,10.106,-7.003,193.192,13.274,-194.587,0.000,0.000; P0099=3.935,7.604,-9.854,195.266,13.045,-196.860,0.000,0.000; P0100=3.675,5.026,-12.691,194.590,12.732,-196.086,0.000,0.000; P0101=3.648,4.595,-13.155,194.524,12.694,-196.009,0.000,0.000; P0102=3.778,4.207,-13.569,195.046,12.699,-196.585,0.000,0.000; P0103=5.859,1.004,-16.904,202.747,13.217,-205.141,0.000,0.000; P0104=6.491,0.847,-17.064,204.879,13.458,-207.532,0.000,0.000; P0105=6.798,1.655,-16.240,205.853,13.597,-208.630,0.000,0.000; P0106=6.487,5.599,-12.069,204.443,13.676,-207.082,0.000,0.000; P0107=6.417,5.911,-11.729,204.169,13.675,-206.778,0.000,0.000; P0108=6.270,6.154,-11.463,203.647,13.639,-206.195,0.000,0.000; P0109=5.637,7.823,-9.609,201.240,13.579,-203.522,0.000,0.000; P0110=6.025,9.653,-7.526,202.151,13.951,-204.579,0.000,0.000; P0111=6.130,9.938,-7.198,202.425,14.030,-204.893,0.000,0.000; P0112=6.151,10.264,-6.819,202.415,14.085,-204.889,0.000,0.000; P0113=5.895,14.199,-2.130,200.521,14.698,-202.858,0.000,0.000; P0114=5.534,14.890,-1.282,199.177,14.729,-201.364,0.000,0.000; P0115=5.022,14.557,-1.691,197.625,14.501,-199.613,0.000,0.000; P0116=4.276,12.735,-3.903,195.566,13.923,-197.270,0.000,0.000; P0117=4.250,12.538,-4.139,195.520,13.879,-197.216,0.000,0.000; P0118=4.318,12.369,-4.340,195.790,13.865,-197.514,0.000,0.000; P0119=4.452,12.221,-4.517,196.283,13.873,-198.062,0.000,0.000; P0120=4.452,12.007,-3.566,195.060,14.994,-196.799,0.000,0.000; P0121=4.452,11.526,-0.539,192.294,18.404,-193.913,0.000,0.000; P0122=4.452,11.401,0.746,191.456,19.784,-193.026,0.000,0.000; P0123=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0124=-0.179,2.510,-9.109,179.507,18.382,-179.443,0.000,0.000; P0125=-0.179,2.962,-12.231,179.392,14.808,-179.323,0.000,0.000; P0126=-0.179,3.452,-14.370,179.263,12.178,-179.190,0.000,0.000; P0127=-0.180,3.188,-14.648,179.260,12.164,-179.187,0.000,0.000; P0128=-0.128,3.001,-14.844,179.475,12.155,-179.423,0.000,0.000; P0129=0.000,2.924,-14.925,180.000,12.151,-180.000,0.000,0.000; P0130=2.911,7.511,-9.959,191.441,12.808,-192.620,0.000,0.000; P0131=0.000,11.857,-4.950,180.000,13.193,-180.000,0.000,0.000; P0132=-2.911,7.511,-9.959,168.559,12.808,-167.380,0.000,0.000; P0133=0.000,2.924,-14.925,180.000,12.151,-180.000,0.000,0.000; P0134=0.128,3.001,-14.844,180.525,12.155,-180.577,0.000,0.000; P0135=0.180,3.188,-14.648,180.740,12.164,-180.813,0.000,0.000; P0136=0.179,3.452,-14.370,180.737,12.178,-180.810,0.000,0.000; P0137=0.179,3.212,-13.413,180.672,13.375,-180.743,0.000,0.000; P0138=0.179,2.660,-10.386,180.533,16.954,-180.599,0.000,0.000; P0139=0.179,2.510,-9.109,180.493,18.382,-180.557,0.000,0.000; P0140=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0141=-3.178,-2.119,-13.751,171.345,18.603,-170.201,0.000,0.000; P0142=-3.178,-1.661,-16.900,169.344,15.046,-168.111,0.000,0.000; P0143=-3.178,-1.161,-19.067,167.119,12.435,-165.821,0.000,0.000; P0144=-3.319,-0.982,-18.891,166.567,12.463,-165.212,0.000,0.000; P0145=-3.455,-0.914,-18.824,166.038,12.492,-164.627,0.000,0.000; P0146=-3.586,-1.001,-18.910,165.535,12.524,-164.071,0.000,0.000; P0147=-5.227,-3.456,-21.278,159.590,13.076,-157.458,0.000,0.000; P0148=-5.355,-4.302,-22.072,159.218,13.168,-157.035,0.000,0.000; P0149=-4.852,-4.827,-22.559,161.056,13.041,-159.081,0.000,0.000; P0150=4.852,-4.827,-22.559,198.944,13.041,-200.919,0.000,0.000; P0151=5.355,-4.302,-22.072,200.782,13.168,-202.965,0.000,0.000; P0152=5.227,-3.456,-21.278,200.410,13.076,-202.542,0.000,0.000; P0153=2.042,1.494,-16.405,188.368,12.243,-189.202,0.000,0.000; P0154=1.756,1.749,-16.144,187.209,12.212,-187.925,0.000,0.000; P0155=1.422,1.719,-16.175,185.848,12.175,-186.428,0.000,0.000; P0156=0.000,1.335,-16.567,180.000,12.097,-180.000,0.000,0.000; P0157=-1.422,1.719,-16.175,174.152,12.175,-173.572,0.000,0.000; P0158=-1.756,1.749,-16.144,172.791,12.212,-172.075,0.000,0.000; P0159=-2.042,1.494,-16.405,171.632,12.243,-170.798,0.000,0.000; P0160=-3.586,-1.001,-18.910,165.535,12.524,-164.071,0.000,0.000; P0161=-3.635,-1.194,-19.099,165.351,12.539,-163.866,0.000,0.000; P0162=-3.573,-1.379,-19.281,165.593,12.528,-164.134,0.000,0.000; P0163=-3.432,-1.559,-19.456,166.141,12.499,-164.740,0.000,0.000; P0164=-3.432,-1.804,-18.485,167.340,13.683,-165.971,0.000,0.000; P0165=-3.432,-2.517,-14.135,170.673,18.656,-169.438,0.000,0.000; P0166=-3.432,-2.673,-7.139,173.144,25.738,-172.101,0.000,0.000; P0167=90.000,-45.000,-45.000,0.000,-90.000,0.000,0.000,0.000; MAIN; MOVJ P1 ,V0 ,Z0 ; MOVJ P2 ,V20 ,Z0 ; MOVJ P3 ,V20 ,Z0 ; MOVJ P4 ,V20 ,Z0 ; MOVL P5 ,V10 ,Z0 ; MOVL P6 ,V20 ,Z1 ; MOVC P6 ,V20 ,Z1 ; MOVC P7 ,V20 ,Z1 ; MOVC P8 ,V20 ,Z1 ; MOVL P9 ,V20 ,Z1 ; MOVC P9 ,V20 ,Z1 ; MOVC P10 ,V20 ,Z1 ; MOVC P11 ,V20 ,Z1 ; MOVL P12 ,V20 ,Z1 ; MOVC P12 ,V20 ,Z1 ; MOVC P13 ,V20 ,Z1 ; MOVC P14 ,V20 ,Z1 ; MOVL P15 ,V20 ,Z1 ; MOVC P15 ,V20 ,Z1 ; MOVC P16 ,V20 ,Z1 ; MOVC P17 ,V20 ,Z1 ; MOVL P18 ,V20 ,Z1 ; MOVC P18 ,V20 ,Z1 ; MOVC P19 ,V20 ,Z1 ; MOVC P20 ,V20 ,Z1 ; MOVL P21 ,V20 ,Z1 ; MOVC P21 ,V20 ,Z1 ; MOVC P22 ,V20 ,Z1 ; MOVC P23 ,V20 ,Z1 ; MOVL P24 ,V20 ,Z0 ; MOVL P25 ,V20 ,Z0 ; MOVJ P26 ,V20 ,Z0 ; MOVJ P27 ,V20 ,Z0 ; MOVJ P28 ,V20 ,Z0 ; MOVJ P29 ,V20 ,Z0 ; MOVJ P30 ,V20 ,Z0 ; MOVL P31 ,V10 ,Z0 ; MOVL P32 ,V20 ,Z1 ; MOVC P32 ,V20 ,Z1 ; MOVC P33 ,V20 ,Z1 ; MOVC P34 ,V20 ,Z1 ; MOVL P35 ,V20 ,Z1 ; MOVC P35 ,V20 ,Z1 ; MOVC P36 ,V20 ,Z1 ; MOVC P37 ,V20 ,Z1 ; MOVL P37 ,V20 ,Z1 ; MOVC P37 ,V20 ,Z1 ; MOVC P38 ,V20 ,Z1 ; MOVC P39 ,V20 ,Z1 ; MOVL P39 ,V20 ,Z1 ; MOVC P39 ,V20 ,Z1 ; MOVC P40 ,V20 ,Z1 ; MOVC P41 ,V20 ,Z1 ; MOVL P42 ,V20 ,Z1 ; MOVC P42 ,V20 ,Z1 ; MOVC P43 ,V20 ,Z1 ; MOVC P44 ,V20 ,Z1 ; MOVL P45 ,V20 ,Z1 ; MOVC P45 ,V20 ,Z1 ; MOVC P46 ,V20 ,Z1 ; MOVC P47 ,V20 ,Z1 ; MOVL P47 ,V20 ,Z1 ; MOVC P47 ,V20 ,Z1 ; MOVC P48 ,V20 ,Z1 ; MOVC P49 ,V20 ,Z1 ; MOVL P49 ,V20 ,Z1 ; MOVC P49 ,V20 ,Z1 ; MOVC P50 ,V20 ,Z1 ; MOVC P51 ,V20 ,Z1 ; MOVL P52 ,V20 ,Z1 ; MOVC P52 ,V20 ,Z1 ; MOVC P53 ,V20 ,Z1 ; MOVC P54 ,V20 ,Z1 ; MOVL P55 ,V20 ,Z1 ; MOVC P55 ,V20 ,Z1 ; MOVC P56 ,V20 ,Z1 ; MOVC P57 ,V20 ,Z1 ; MOVL P58 ,V20 ,Z0 ; MOVL P59 ,V20 ,Z0 ; MOVJ P60 ,V20 ,Z0 ; MOVJ P61 ,V20 ,Z0 ; MOVJ P62 ,V20 ,Z0 ; MOVJ P63 ,V20 ,Z0 ; MOVJ P64 ,V20 ,Z0 ; MOVL P65 ,V10 ,Z0 ; MOVL P66 ,V20 ,Z1 ; MOVC P66 ,V20 ,Z1 ; MOVC P67 ,V20 ,Z1 ; MOVC P68 ,V20 ,Z1 ; MOVL P69 ,V20 ,Z1 ; MOVC P69 ,V20 ,Z1 ; MOVC P70 ,V20 ,Z1 ; MOVC P71 ,V20 ,Z1 ; MOVL P72 ,V20 ,Z1 ; MOVC P72 ,V20 ,Z1 ; MOVC P73 ,V20 ,Z1 ; MOVC P74 ,V20 ,Z1 ; MOVL P75 ,V20 ,Z1 ; MOVC P75 ,V20 ,Z1 ; MOVC P76 ,V20 ,Z1 ; MOVC P77 ,V20 ,Z1 ; MOVL P77 ,V20 ,Z1 ; MOVC P77 ,V20 ,Z1 ; MOVC P78 ,V20 ,Z1 ; MOVC P79 ,V20 ,Z1 ; MOVL P79 ,V20 ,Z1 ; MOVC P79 ,V20 ,Z1 ; MOVC P80 ,V20 ,Z1 ; MOVC P81 ,V20 ,Z1 ; MOVL P82 ,V20 ,Z1 ; MOVC P82 ,V20 ,Z1 ; MOVC P83 ,V20 ,Z1 ; MOVC P84 ,V20 ,Z1 ; MOVL P85 ,V20 ,Z0 ; MOVL P86 ,V20 ,Z0 ; MOVJ P87 ,V20 ,Z0 ; MOVJ P88 ,V20 ,Z0 ; MOVJ P89 ,V20 ,Z0 ; MOVJ P90 ,V20 ,Z0 ; MOVJ P91 ,V20 ,Z0 ; MOVL P92 ,V10 ,Z0 ; MOVL P93 ,V20 ,Z1 ; MOVC P93 ,V20 ,Z1 ; MOVC P94 ,V20 ,Z1 ; MOVC P95 ,V20 ,Z1 ; MOVL P96 ,V20 ,Z1 ; MOVC P96 ,V20 ,Z1 ; MOVC P97 ,V20 ,Z1 ; MOVC P98 ,V20 ,Z1 ; MOVL P98 ,V20 ,Z1 ; MOVC P98 ,V20 ,Z1 ; MOVC P99 ,V20 ,Z1 ; MOVC P100 ,V20 ,Z1 ; MOVL P100 ,V20 ,Z1 ; MOVC P100 ,V20 ,Z1 ; MOVC P101 ,V20 ,Z1 ; MOVC P102 ,V20 ,Z1 ; MOVL P103 ,V20 ,Z1 ; MOVC P103 ,V20 ,Z1 ; MOVC P104 ,V20 ,Z1 ; MOVC P105 ,V20 ,Z1 ; MOVL P106 ,V20 ,Z1 ; MOVC P106 ,V20 ,Z1 ; MOVC P107 ,V20 ,Z1 ; MOVC P108 ,V20 ,Z1 ; MOVL P108 ,V20 ,Z1 ; MOVC P108 ,V20 ,Z1 ; MOVC P109 ,V20 ,Z1 ; MOVC P110 ,V20 ,Z1 ; MOVL P110 ,V20 ,Z1 ; MOVC P110 ,V20 ,Z1 ; MOVC P111 ,V20 ,Z1 ; MOVC P112 ,V20 ,Z1 ; MOVL P113 ,V20 ,Z1 ; MOVC P113 ,V20 ,Z1 ; MOVC P114 ,V20 ,Z1 ; MOVC P115 ,V20 ,Z1 ; MOVL P116 ,V20 ,Z1 ; MOVC P116 ,V20 ,Z1 ; MOVC P117 ,V20 ,Z1 ; MOVC P118 ,V20 ,Z1 ; MOVL P119 ,V20 ,Z0 ; MOVL P120 ,V20 ,Z0 ; MOVJ P121 ,V20 ,Z0 ; MOVJ P122 ,V20 ,Z0 ; MOVJ P123 ,V20 ,Z0 ; MOVJ P124 ,V20 ,Z0 ; MOVJ P125 ,V20 ,Z0 ; MOVL P126 ,V10 ,Z0 ; MOVL P127 ,V20 ,Z1 ; MOVC P127 ,V20 ,Z1 ; MOVC P128 ,V20 ,Z1 ; MOVC P129 ,V20 ,Z1 ; MOVL P129 ,V20 ,Z1 ; MOVC P129 ,V20 ,Z1 ; MOVC P130 ,V20 ,Z1 ; MOVC P131 ,V20 ,Z1 ; MOVL P131 ,V20 ,Z1 ; MOVC P131 ,V20 ,Z1 ; MOVC P132 ,V20 ,Z1 ; MOVC P133 ,V20 ,Z1 ; MOVL P133 ,V20 ,Z1 ; MOVC P133 ,V20 ,Z1 ; MOVC P134 ,V20 ,Z1 ; MOVC P135 ,V20 ,Z1 ; MOVL P136 ,V20 ,Z0 ; MOVL P137 ,V20 ,Z0 ; MOVJ P138 ,V20 ,Z0 ; MOVJ P139 ,V20 ,Z0 ; MOVJ P140 ,V20 ,Z0 ; MOVJ P141 ,V20 ,Z0 ; MOVJ P142 ,V20 ,Z0 ; MOVL P143 ,V10 ,Z0 ; MOVL P144 ,V20 ,Z1 ; MOVC P144 ,V20 ,Z1 ; MOVC P145 ,V20 ,Z1 ; MOVC P146 ,V20 ,Z1 ; MOVL P147 ,V20 ,Z1 ; MOVC P147 ,V20 ,Z1 ; MOVC P148 ,V20 ,Z1 ; MOVC P149 ,V20 ,Z1 ; MOVL P150 ,V20 ,Z1 ; MOVC P150 ,V20 ,Z1 ; MOVC P151 ,V20 ,Z1 ; MOVC P152 ,V20 ,Z1 ; MOVL P153 ,V20 ,Z1 ; MOVC P153 ,V20 ,Z1 ; MOVC P154 ,V20 ,Z1 ; MOVC P155 ,V20 ,Z1 ; MOVL P155 ,V20 ,Z1 ; MOVC P155 ,V20 ,Z1 ; MOVC P156 ,V20 ,Z1 ; MOVC P157 ,V20 ,Z1 ; MOVL P157 ,V20 ,Z1 ; MOVC P157 ,V20 ,Z1 ; MOVC P158 ,V20 ,Z1 ; MOVC P159 ,V20 ,Z1 ; MOVL P160 ,V20 ,Z1 ; MOVC P160 ,V20 ,Z1 ; MOVC P161 ,V20 ,Z1 ; MOVC P162 ,V20 ,Z1 ; MOVL P163 ,V20 ,Z0 ; MOVL P164 ,V20 ,Z0 ; MOVJ P165 ,V20 ,Z0 ; MOVJ P166 ,V20 ,Z0 ; MOVJ P167 ,V0 ,Z0 ; END;
Kawasaki Expand source
.SYSDATA
BASE 1750.000 -250.000 250.000 0.000 0.000 0.000
TOOL -352.645 0.000 469.276 -180.000 60.001 -180.000
.END
.PROGRAM KAWA()
;PROGRAMMED USING ROBOTMASTER
POINT Point[1] = TRANS(295.000, -15.000, 250.000, 0.000, 0.000, 180.000)
POINT Point[2] = TRANS(295.000, -15.000, 100.000, 0.000, 0.000, 180.000)
POINT Point[3] = TRANS(295.000, -15.000, 25.000, 0.000, 0.000, 180.000)
POINT Point[4] = TRANS(295.000, -15.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[5] = TRANS(295.000, -10.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[6] = TRANS(296.464, -6.464, -30.000, 0.000, 0.000, 180.000)
POINT Point[7] = TRANS(300.000, -5.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[8] = TRANS(580.000, -5.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[9] = TRANS(597.678, 2.322, -30.000, 0.000, 0.000, 180.000)
POINT Point[10] = TRANS(605.000, 20.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[11] = TRANS(605.000, 480.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[12] = TRANS(597.678, 497.678, -30.000, 0.000, 0.000, 180.000)
POINT Point[13] = TRANS(580.000, 505.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[14] = TRANS(20.000, 505.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[15] = TRANS(2.322, 497.678, -30.000, 0.000, 0.000, 180.000)
POINT Point[16] = TRANS(-5.000, 480.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[17] = TRANS(-5.000, 20.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[18] = TRANS(2.322, 2.322, -30.000, 0.000, 0.000, 180.000)
POINT Point[19] = TRANS(20.000, -5.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[20] = TRANS(300.000, -5.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[21] = TRANS(303.536, -6.464, -30.000, 0.000, 0.000, 180.000)
POINT Point[22] = TRANS(305.000, -10.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[23] = TRANS(305.000, -15.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[24] = TRANS(305.000, -15.000, -5.000, 0.000, 0.000, 180.000)
POINT Point[25] = TRANS(305.000, -15.000, 70.000, 0.000, 0.000, 180.000)
POINT Point[26] = TRANS(305.000, -15.000, 100.000, 0.000, 0.000, 180.000)
POINT Point[27] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT Point[28] = TRANS(205.586, 106.841, 100.000, 0.000, 0.000, 180.000)
POINT Point[29] = TRANS(205.586, 106.841, 25.000, 0.000, 0.000, 180.000)
POINT Point[30] = TRANS(205.586, 106.841, -30.000, 0.000, 0.000, 180.000)
POINT Point[31] = TRANS(202.463, 110.745, -30.000, 0.000, 0.000, 180.000)
POINT Point[32] = TRANS(201.398, 114.421, -30.000, 0.000, 0.000, 180.000)
POINT Point[33] = TRANS(203.244, 117.773, -30.000, 0.000, 0.000, 180.000)
POINT Point[34] = TRANS(235.818, 143.833, -30.000, 0.000, 0.000, 180.000)
POINT Point[35] = TRANS(243.397, 147.012, -30.000, 0.000, 0.000, 180.000)
POINT Point[36] = TRANS(251.513, 145.721, -30.000, 0.000, 0.000, 180.000)
POINT Point[37] = TRANS(300.000, 135.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[38] = TRANS(348.487, 145.721, -30.000, 0.000, 0.000, 180.000)
POINT Point[39] = TRANS(356.603, 147.012, -30.000, 0.000, 0.000, 180.000)
POINT Point[40] = TRANS(364.182, 143.833, -30.000, 0.000, 0.000, 180.000)
POINT Point[41] = TRANS(429.331, 91.713, -30.000, 0.000, 0.000, 180.000)
POINT Point[42] = TRANS(434.115, 75.035, -30.000, 0.000, 0.000, 180.000)
POINT Point[43] = TRANS(419.961, 65.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[44] = TRANS(344.721, 65.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[45] = TRANS(338.598, 66.307, -30.000, 0.000, 0.000, 180.000)
POINT Point[46] = TRANS(333.541, 70.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[47] = TRANS(300.000, 85.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[48] = TRANS(266.459, 70.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[49] = TRANS(261.402, 66.307, -30.000, 0.000, 0.000, 180.000)
POINT Point[50] = TRANS(255.279, 65.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[51] = TRANS(180.039, 65.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[52] = TRANS(165.885, 75.035, -30.000, 0.000, 0.000, 180.000)
POINT Point[53] = TRANS(170.669, 91.713, -30.000, 0.000, 0.000, 180.000)
POINT Point[54] = TRANS(203.244, 117.773, -30.000, 0.000, 0.000, 180.000)
POINT Point[55] = TRANS(206.919, 118.838, -30.000, 0.000, 0.000, 180.000)
POINT Point[56] = TRANS(210.271, 116.992, -30.000, 0.000, 0.000, 180.000)
POINT Point[57] = TRANS(213.395, 113.088, -30.000, 0.000, 0.000, 180.000)
POINT Point[58] = TRANS(213.395, 113.088, -5.000, 0.000, 0.000, 180.000)
POINT Point[59] = TRANS(213.395, 113.088, 70.000, 0.000, 0.000, 180.000)
POINT Point[60] = TRANS(213.395, 113.088, 100.000, 0.000, 0.000, 180.000)
POINT Point[61] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT Point[62] = TRANS(464.160, 333.699, 100.000, 0.000, 0.000, 180.000)
POINT Point[63] = TRANS(464.160, 333.699, 25.000, 0.000, 0.000, 180.000)
POINT Point[64] = TRANS(464.160, 333.699, -30.000, 0.000, 0.000, 180.000)
POINT Point[65] = TRANS(461.036, 337.604, -30.000, 0.000, 0.000, 180.000)
POINT Point[66] = TRANS(459.971, 341.279, -30.000, 0.000, 0.000, 180.000)
POINT Point[67] = TRANS(461.817, 344.632, -30.000, 0.000, 0.000, 180.000)
POINT Point[68] = TRANS(510.630, 383.682, -30.000, 0.000, 0.000, 180.000)
POINT Point[69] = TRANS(526.498, 385.488, -30.000, 0.000, 0.000, 180.000)
POINT Point[70] = TRANS(535.000, 371.969, -30.000, 0.000, 0.000, 180.000)
POINT Point[71] = TRANS(535.000, 128.031, -30.000, 0.000, 0.000, 180.000)
POINT Point[72] = TRANS(526.498, 114.512, -30.000, 0.000, 0.000, 180.000)
POINT Point[73] = TRANS(510.630, 116.318, -30.000, 0.000, 0.000, 180.000)
POINT Point[74] = TRANS(413.004, 194.418, -30.000, 0.000, 0.000, 180.000)
POINT Point[75] = TRANS(407.942, 202.045, -30.000, 0.000, 0.000, 180.000)
POINT Point[76] = TRANS(408.255, 211.193, -30.000, 0.000, 0.000, 180.000)
POINT Point[77] = TRANS(415.000, 250.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[78] = TRANS(408.255, 288.807, -30.000, 0.000, 0.000, 180.000)
POINT Point[79] = TRANS(407.942, 297.955, -30.000, 0.000, 0.000, 180.000)
POINT Point[80] = TRANS(413.004, 305.582, -30.000, 0.000, 0.000, 180.000)
POINT Point[81] = TRANS(461.817, 344.632, -30.000, 0.000, 0.000, 180.000)
POINT Point[82] = TRANS(465.493, 345.697, -30.000, 0.000, 0.000, 180.000)
POINT Point[83] = TRANS(468.845, 343.851, -30.000, 0.000, 0.000, 180.000)
POINT Point[84] = TRANS(471.968, 339.946, -30.000, 0.000, 0.000, 180.000)
POINT Point[85] = TRANS(471.968, 339.946, -5.000, 0.000, 0.000, 180.000)
POINT Point[86] = TRANS(471.968, 339.946, 70.000, 0.000, 0.000, 180.000)
POINT Point[87] = TRANS(471.968, 339.946, 100.000, 0.000, 0.000, 180.000)
POINT Point[88] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT Point[89] = TRANS(394.414, 393.159, 100.000, 0.000, 0.000, 180.000)
POINT Point[90] = TRANS(394.414, 393.159, 25.000, 0.000, 0.000, 180.000)
POINT Point[91] = TRANS(394.414, 393.159, -30.000, 0.000, 0.000, 180.000)
POINT Point[92] = TRANS(397.537, 389.255, -30.000, 0.000, 0.000, 180.000)
POINT Point[93] = TRANS(398.602, 385.579, -30.000, 0.000, 0.000, 180.000)
POINT Point[94] = TRANS(396.756, 382.227, -30.000, 0.000, 0.000, 180.000)
POINT Point[95] = TRANS(364.182, 356.167, -30.000, 0.000, 0.000, 180.000)
POINT Point[96] = TRANS(356.603, 352.988, -30.000, 0.000, 0.000, 180.000)
POINT Point[97] = TRANS(348.487, 354.279, -30.000, 0.000, 0.000, 180.000)
POINT Point[98] = TRANS(300.000, 365.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[99] = TRANS(251.513, 354.279, -30.000, 0.000, 0.000, 180.000)
POINT Point[100] = TRANS(243.397, 352.988, -30.000, 0.000, 0.000, 180.000)
POINT Point[101] = TRANS(235.818, 356.167, -30.000, 0.000, 0.000, 180.000)
POINT Point[102] = TRANS(170.669, 408.287, -30.000, 0.000, 0.000, 180.000)
POINT Point[103] = TRANS(165.885, 424.965, -30.000, 0.000, 0.000, 180.000)
POINT Point[104] = TRANS(180.039, 435.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[105] = TRANS(255.279, 435.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[106] = TRANS(261.402, 433.693, -30.000, 0.000, 0.000, 180.000)
POINT Point[107] = TRANS(266.459, 430.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[108] = TRANS(300.000, 415.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[109] = TRANS(333.541, 430.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[110] = TRANS(338.598, 433.693, -30.000, 0.000, 0.000, 180.000)
POINT Point[111] = TRANS(344.721, 435.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[112] = TRANS(419.961, 435.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[113] = TRANS(434.115, 424.965, -30.000, 0.000, 0.000, 180.000)
POINT Point[114] = TRANS(429.331, 408.287, -30.000, 0.000, 0.000, 180.000)
POINT Point[115] = TRANS(396.756, 382.227, -30.000, 0.000, 0.000, 180.000)
POINT Point[116] = TRANS(393.081, 381.162, -30.000, 0.000, 0.000, 180.000)
POINT Point[117] = TRANS(389.729, 383.008, -30.000, 0.000, 0.000, 180.000)
POINT Point[118] = TRANS(386.605, 386.912, -30.000, 0.000, 0.000, 180.000)
POINT Point[119] = TRANS(386.605, 386.912, -5.000, 0.000, 0.000, 180.000)
POINT Point[120] = TRANS(386.605, 386.912, 70.000, 0.000, 0.000, 180.000)
POINT Point[121] = TRANS(386.605, 386.912, 100.000, 0.000, 0.000, 180.000)
POINT Point[122] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT Point[123] = TRANS(225.000, 245.000, 100.000, 0.000, 0.000, 180.000)
POINT Point[124] = TRANS(225.000, 245.000, 25.000, 0.000, 0.000, 180.000)
POINT Point[125] = TRANS(225.000, 245.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[126] = TRANS(220.000, 245.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[127] = TRANS(216.464, 246.464, -30.000, 0.000, 0.000, 180.000)
POINT Point[128] = TRANS(215.000, 250.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[129] = TRANS(300.000, 335.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[130] = TRANS(385.000, 250.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[131] = TRANS(300.000, 165.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[132] = TRANS(215.000, 250.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[133] = TRANS(216.464, 253.536, -30.000, 0.000, 0.000, 180.000)
POINT Point[134] = TRANS(220.000, 255.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[135] = TRANS(225.000, 255.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[136] = TRANS(225.000, 255.000, -5.000, 0.000, 0.000, 180.000)
POINT Point[137] = TRANS(225.000, 255.000, 70.000, 0.000, 0.000, 180.000)
POINT Point[138] = TRANS(225.000, 255.000, 100.000, 0.000, 0.000, 180.000)
POINT Point[139] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT Point[140] = TRANS(135.840, 166.301, 100.000, 0.000, 0.000, 180.000)
POINT Point[141] = TRANS(135.840, 166.301, 25.000, 0.000, 0.000, 180.000)
POINT Point[142] = TRANS(135.840, 166.301, -30.000, 0.000, 0.000, 180.000)
POINT Point[143] = TRANS(138.964, 162.396, -30.000, 0.000, 0.000, 180.000)
POINT Point[144] = TRANS(140.029, 158.721, -30.000, 0.000, 0.000, 180.000)
POINT Point[145] = TRANS(138.183, 155.368, -30.000, 0.000, 0.000, 180.000)
POINT Point[146] = TRANS(89.370, 116.318, -30.000, 0.000, 0.000, 180.000)
POINT Point[147] = TRANS(73.502, 114.512, -30.000, 0.000, 0.000, 180.000)
POINT Point[148] = TRANS(65.000, 128.031, -30.000, 0.000, 0.000, 180.000)
POINT Point[149] = TRANS(65.000, 371.969, -30.000, 0.000, 0.000, 180.000)
POINT Point[150] = TRANS(73.502, 385.488, -30.000, 0.000, 0.000, 180.000)
POINT Point[151] = TRANS(89.370, 383.682, -30.000, 0.000, 0.000, 180.000)
POINT Point[152] = TRANS(186.996, 305.582, -30.000, 0.000, 0.000, 180.000)
POINT Point[153] = TRANS(192.058, 297.955, -30.000, 0.000, 0.000, 180.000)
POINT Point[154] = TRANS(191.745, 288.807, -30.000, 0.000, 0.000, 180.000)
POINT Point[155] = TRANS(185.000, 250.000, -30.000, 0.000, 0.000, 180.000)
POINT Point[156] = TRANS(191.745, 211.193, -30.000, 0.000, 0.000, 180.000)
POINT Point[157] = TRANS(192.058, 202.045, -30.000, 0.000, 0.000, 180.000)
POINT Point[158] = TRANS(186.996, 194.418, -30.000, 0.000, 0.000, 180.000)
POINT Point[159] = TRANS(138.183, 155.368, -30.000, 0.000, 0.000, 180.000)
POINT Point[160] = TRANS(134.507, 154.303, -30.000, 0.000, 0.000, 180.000)
POINT Point[161] = TRANS(131.155, 156.149, -30.000, 0.000, 0.000, 180.000)
POINT Point[162] = TRANS(128.032, 160.054, -30.000, 0.000, 0.000, 180.000)
POINT Point[163] = TRANS(128.032, 160.054, -5.000, 0.000, 0.000, 180.000)
POINT Point[164] = TRANS(128.032, 160.054, 100.000, 0.000, 0.000, 180.000)
POINT Point[165] = TRANS(128.032, 160.054, 250.000, 0.000, 0.000, 180.000)
POINT #appr = #PPOINT(90.000, -45.000, -45.000, 0.000, -90.000, 0.000)
POINT #retr = #PPOINT(90.000, -45.000, -45.000, 0.000, -90.000, 0.000)
SPEED 50 ALWAYS
CP OFF
JMOVE #appr
;Operation 1
RIGHTY
ABOVE
DWRIST
JMOVE Point[1]
JMOVE Point[2]
JMOVE Point[3]
SPEED 10 MM/S ALWAYS
CP ON
ACCURACY 0
LMOVE Point[4]
SPEED 20 MM/S ALWAYS
LMOVE Point[5]
C1MOVE Point[6]
C2MOVE Point[7]
LMOVE Point[8]
C1MOVE Point[9]
C2MOVE Point[10]
LMOVE Point[11]
C1MOVE Point[12]
C2MOVE Point[13]
LMOVE Point[14]
C1MOVE Point[15]
C2MOVE Point[16]
LMOVE Point[17]
C1MOVE Point[18]
C2MOVE Point[19]
LMOVE Point[20]
C1MOVE Point[21]
C2MOVE Point[22]
LMOVE Point[23]
LMOVE Point[24]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[25]
JMOVE Point[26]
JMOVE Point[27]
JMOVE Point[28]
JMOVE Point[29]
SPEED 10 MM/S ALWAYS
CP ON
LMOVE Point[30]
SPEED 20 MM/S ALWAYS
LMOVE Point[31]
C1MOVE Point[32]
C2MOVE Point[33]
LMOVE Point[34]
C1MOVE Point[35]
C2MOVE Point[36]
C1MOVE Point[37]
C2MOVE Point[38]
C1MOVE Point[39]
C2MOVE Point[40]
LMOVE Point[41]
C1MOVE Point[42]
C2MOVE Point[43]
LMOVE Point[44]
C1MOVE Point[45]
C2MOVE Point[46]
C1MOVE Point[47]
C2MOVE Point[48]
C1MOVE Point[49]
C2MOVE Point[50]
LMOVE Point[51]
C1MOVE Point[52]
C2MOVE Point[53]
LMOVE Point[54]
C1MOVE Point[55]
C2MOVE Point[56]
LMOVE Point[57]
LMOVE Point[58]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[59]
JMOVE Point[60]
JMOVE Point[61]
JMOVE Point[62]
JMOVE Point[63]
SPEED 10 MM/S ALWAYS
CP ON
LMOVE Point[64]
SPEED 20 MM/S ALWAYS
LMOVE Point[65]
C1MOVE Point[66]
C2MOVE Point[67]
LMOVE Point[68]
C1MOVE Point[69]
C2MOVE Point[70]
LMOVE Point[71]
C1MOVE Point[72]
C2MOVE Point[73]
LMOVE Point[74]
C1MOVE Point[75]
C2MOVE Point[76]
C1MOVE Point[77]
C2MOVE Point[78]
C1MOVE Point[79]
C2MOVE Point[80]
LMOVE Point[81]
C1MOVE Point[82]
C2MOVE Point[83]
LMOVE Point[84]
LMOVE Point[85]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[86]
JMOVE Point[87]
JMOVE Point[88]
JMOVE Point[89]
JMOVE Point[90]
SPEED 10 MM/S ALWAYS
CP ON
LMOVE Point[91]
SPEED 20 MM/S ALWAYS
LMOVE Point[92]
C1MOVE Point[93]
C2MOVE Point[94]
LMOVE Point[95]
C1MOVE Point[96]
C2MOVE Point[97]
C1MOVE Point[98]
C2MOVE Point[99]
C1MOVE Point[100]
C2MOVE Point[101]
LMOVE Point[102]
C1MOVE Point[103]
C2MOVE Point[104]
LMOVE Point[105]
C1MOVE Point[106]
C2MOVE Point[107]
C1MOVE Point[108]
C2MOVE Point[109]
C1MOVE Point[110]
C2MOVE Point[111]
LMOVE Point[112]
C1MOVE Point[113]
C2MOVE Point[114]
LMOVE Point[115]
C1MOVE Point[116]
C2MOVE Point[117]
LMOVE Point[118]
LMOVE Point[119]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[120]
JMOVE Point[121]
JMOVE Point[122]
JMOVE Point[123]
JMOVE Point[124]
SPEED 10 MM/S ALWAYS
CP ON
LMOVE Point[125]
SPEED 20 MM/S ALWAYS
LMOVE Point[126]
C1MOVE Point[127]
C2MOVE Point[128]
C1MOVE Point[129]
C2MOVE Point[130]
C1MOVE Point[131]
C2MOVE Point[132]
C1MOVE Point[133]
C2MOVE Point[134]
LMOVE Point[135]
LMOVE Point[136]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[137]
JMOVE Point[138]
JMOVE Point[139]
JMOVE Point[140]
JMOVE Point[141]
SPEED 10 MM/S ALWAYS
CP ON
LMOVE Point[142]
SPEED 20 MM/S ALWAYS
LMOVE Point[143]
C1MOVE Point[144]
C2MOVE Point[145]
LMOVE Point[146]
C1MOVE Point[147]
C2MOVE Point[148]
LMOVE Point[149]
C1MOVE Point[150]
C2MOVE Point[151]
LMOVE Point[152]
C1MOVE Point[153]
C2MOVE Point[154]
C1MOVE Point[155]
C2MOVE Point[156]
C1MOVE Point[157]
C2MOVE Point[158]
LMOVE Point[159]
C1MOVE Point[160]
C2MOVE Point[161]
LMOVE Point[162]
LMOVE Point[163]
SPEED 50 ALWAYS
CP OFF
JMOVE Point[164]
JMOVE Point[165]
JMOVE #retr
.END
Mitsubishi Expand source
10 TITLE "MITSU" 20 'PROGRAMMED USING ROBOTMASTER 30 Def Pos INVBASE 40 INVBASE = (+1750.00,-250.00,+250.00,+0.00,+0.00,+0.00) 50 Base Inv(INVBASE) 60 TOOL (-352.64,+0.00,+469.28,+0.00,-60.00,+0.00) 70 GETM 1 80 SERVO ON 90 FINE 0 100 SPD 50 110 MOV J1 120 MOV P2 130 MOV P3 140 MOV P4 150 SPD 10 160 MVS P5 170 SPD 20 180 MVS P6 190 MVR P6,P7,P8 200 MVS P9 210 MVR P9,P10,P11 220 MVS P12 230 MVR P12,P13,P14 240 MVS P15 250 MVR P15,P16,P17 260 MVS P18 270 MVR P18,P19,P20 280 MVS P21 290 MVR P21,P22,P23 300 FINE 0 310 MVS P24 320 MVS P25 330 SPD 50 340 MOV P26 350 MOV P27 360 MOV P28 370 MOV P29 380 SPD 10 390 MVS P30 400 SPD 20 410 MVS P31 420 MVR P31,P32,P33 430 MVS P34 440 MVR P34,P35,P36 450 MVR P36,P37,P38 460 MVR P38,P39,P40 470 MVS P41 480 MVR P41,P42,P43 490 MVS P44 500 MVR P44,P45,P46 510 MVR P46,P47,P48 520 MVR P48,P49,P50 530 MVS P51 540 MVR P51,P52,P53 550 MVS P54 560 MVR P54,P55,P56 570 FINE 0 580 MVS P57 590 MVS P58 600 SPD 50 610 MOV P59 620 MOV P60 630 MOV P61 640 MOV P62 650 SPD 10 660 MVS P63 670 SPD 20 680 MVS P64 690 MVR P64,P65,P66 700 MVS P67 710 MVR P67,P68,P69 720 MVS P70 730 MVR P70,P71,P72 740 MVS P73 750 MVR P73,P74,P75 760 MVR P75,P76,P77 770 MVR P77,P78,P79 780 MVS P80 790 MVR P80,P81,P82 800 FINE 0 810 MVS P83 820 MVS P84 830 SPD 50 840 MOV P85 850 MOV P86 860 MOV P87 870 MOV P88 880 SPD 10 890 MVS P89 900 SPD 20 910 MVS P90 920 MVR P90,P91,P92 930 MVS P93 940 MVR P93,P94,P95 950 MVR P95,P96,P97 960 MVR P97,P98,P99 970 MVS P100 980 MVR P100,P101,P102 990 MVS P103 1000 MVR P103,P104,P105 1010 MVR P105,P106,P107 1020 MVR P107,P108,P109 1030 MVS P110 1040 MVR P110,P111,P112 1050 MVS P113 1060 MVR P113,P114,P115 1070 FINE 0 1080 MVS P116 1090 MVS P117 1100 SPD 50 1110 MOV P118 1120 MOV P119 1130 MOV P120 1140 MOV P121 1150 SPD 10 1160 MVS P122 1170 SPD 20 1180 MVS P123 1190 MVR P123,P124,P125 1200 MVR P125,P126,P127 1210 MVR P127,P128,P129 1220 MVR P129,P130,P131 1230 FINE 0 1240 MVS P132 1250 MVS P133 1260 SPD 50 1270 MOV P134 1280 MOV P135 1290 MOV P136 1300 MOV P137 1310 SPD 10 1320 MVS P138 1330 SPD 20 1340 MVS P139 1350 MVR P139,P140,P141 1360 MVS P142 1370 MVR P142,P143,P144 1380 MVS P145 1390 MVR P145,P146,P147 1400 MVS P148 1410 MVR P148,P149,P150 1420 MVR P150,P151,P152 1430 MVR P152,P153,P154 1440 MVS P155 1450 MVR P155,P156,P157 1460 FINE 0 1470 MVS P158 1480 MVS P159 1490 SPD 50 1500 MOV P160 1510 MOV P161 1520 MOV J162 1530 RELM 1540 END J1=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00,+0.00,+0.00) P2=(+295.00,-15.00,+250.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P3=(+295.00,-15.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P4=(+295.00,-15.00,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P5=(+295.00,-15.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P6=(+295.00,-10.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P7=(+296.46,-6.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P8=(+300.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P9=(+580.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P10=(+597.68,+2.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P11=(+605.00,+20.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P12=(+605.00,+480.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P13=(+597.68,+497.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P14=(+580.00,+505.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P15=(+20.00,+505.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P16=(+2.32,+497.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P17=(-5.00,+480.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P18=(-5.00,+20.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P19=(+2.32,+2.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P20=(+20.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P21=(+300.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P22=(+303.54,-6.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P23=(+305.00,-10.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P24=(+305.00,-15.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P25=(+305.00,-15.00,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P26=(+305.00,-15.00,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P27=(+305.00,-15.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P28=(+205.59,+106.84,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P29=(+205.59,+106.84,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P30=(+205.59,+106.84,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P31=(+202.46,+110.75,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P32=(+201.40,+114.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P33=(+203.24,+117.77,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P34=(+235.82,+143.83,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P35=(+243.40,+147.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P36=(+251.51,+145.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P37=(+300.00,+135.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P38=(+348.49,+145.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P39=(+356.60,+147.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P40=(+364.18,+143.83,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P41=(+429.33,+91.71,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P42=(+434.12,+75.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P43=(+419.96,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P44=(+344.72,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P45=(+338.60,+66.31,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P46=(+333.54,+70.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P47=(+300.00,+85.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P48=(+266.46,+70.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P49=(+261.40,+66.31,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P50=(+255.28,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P51=(+180.04,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P52=(+165.88,+75.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P53=(+170.67,+91.71,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P54=(+203.24,+117.77,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P55=(+206.92,+118.84,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P56=(+210.27,+116.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P57=(+213.39,+113.09,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P58=(+213.39,+113.09,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P59=(+213.39,+113.09,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P60=(+213.39,+113.09,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P61=(+464.16,+333.70,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P62=(+464.16,+333.70,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P63=(+464.16,+333.70,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P64=(+461.04,+337.60,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P65=(+459.97,+341.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P66=(+461.82,+344.63,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P67=(+510.63,+383.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P68=(+526.50,+385.49,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P69=(+535.00,+371.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P70=(+535.00,+128.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P71=(+526.50,+114.51,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P72=(+510.63,+116.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P73=(+413.00,+194.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P74=(+407.94,+202.04,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P75=(+408.25,+211.19,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P76=(+415.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P77=(+408.25,+288.81,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P78=(+407.94,+297.96,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P79=(+413.00,+305.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P80=(+461.82,+344.63,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P81=(+465.49,+345.70,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P82=(+468.84,+343.85,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P83=(+471.97,+339.95,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P84=(+471.97,+339.95,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P85=(+471.97,+339.95,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P86=(+471.97,+339.95,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P87=(+394.41,+393.16,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P88=(+394.41,+393.16,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P89=(+394.41,+393.16,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P90=(+397.54,+389.25,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P91=(+398.60,+385.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P92=(+396.76,+382.23,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P93=(+364.18,+356.17,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P94=(+356.60,+352.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P95=(+348.49,+354.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P96=(+300.00,+365.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P97=(+251.51,+354.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P98=(+243.40,+352.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P99=(+235.82,+356.17,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P100=(+170.67,+408.29,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P101=(+165.88,+424.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P102=(+180.04,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P103=(+255.28,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P104=(+261.40,+433.69,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P105=(+266.46,+430.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P106=(+300.00,+415.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P107=(+333.54,+430.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P108=(+338.60,+433.69,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P109=(+344.72,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P110=(+419.96,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P111=(+434.12,+424.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P112=(+429.33,+408.29,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P113=(+396.76,+382.23,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P114=(+393.08,+381.16,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P115=(+389.73,+383.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P116=(+386.61,+386.91,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P117=(+386.61,+386.91,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P118=(+386.61,+386.91,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P119=(+386.61,+386.91,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P120=(+225.00,+245.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P121=(+225.00,+245.00,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P122=(+225.00,+245.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P123=(+220.00,+245.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P124=(+216.46,+246.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P125=(+215.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P126=(+300.00,+335.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P127=(+385.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P128=(+300.00,+165.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P129=(+215.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P130=(+216.46,+253.54,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P131=(+220.00,+255.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P132=(+225.00,+255.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P133=(+225.00,+255.00,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P134=(+225.00,+255.00,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P135=(+225.00,+255.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P136=(+135.84,+166.30,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P137=(+135.84,+166.30,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P138=(+135.84,+166.30,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P139=(+138.96,+162.40,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P140=(+140.03,+158.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P141=(+138.18,+155.37,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P142=(+89.37,+116.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P143=(+73.50,+114.51,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P144=(+65.00,+128.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P145=(+65.00,+371.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P146=(+73.50,+385.49,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P147=(+89.37,+383.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P148=(+187.00,+305.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P149=(+192.06,+297.96,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P150=(+191.75,+288.81,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P151=(+185.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P152=(+191.75,+211.19,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P153=(+192.06,+202.04,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P154=(+187.00,+194.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P155=(+138.18,+155.37,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P156=(+134.51,+154.30,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P157=(+131.16,+156.15,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P158=(+128.03,+160.05,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P159=(+128.03,+160.05,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P160=(+128.03,+160.05,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P161=(+128.03,+160.05,+250.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) J162=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00,+0.00,+0.00)
OTC Dahien Expand source
'PROGRAM NB4-02-A.000 'PROGRAMMED USING ROBOTMASTER USE 000 CHGCOORD 1 MOVEX A=5,AC=0,F,M1J,P,(90.000,-45.000,-45.000,0.000,-90.000,0.000),R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(295.000,-15.000,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(295.000,-15.000,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(295.000,-15.000,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(295.000,-15.000,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(295.000,-10.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(296.464,-6.464,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(300.000,-5.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(580.000,-5.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(597.678,2.322,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(605.000,20.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(605.000,480.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(597.678,497.678,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(580.000,505.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(20.000,505.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(2.322,497.678,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(-5.000,480.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(-5.000,20.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(2.322,2.322,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(20.000,-5.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(300.000,-5.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(303.536,-6.464,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(305.000,-10.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(305.000,-15.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(305.000,-15.000,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(305.000,-15.000,70.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(305.000,-15.000,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(205.586,106.841,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(205.586,106.841,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(205.586,106.841,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(202.463,110.745,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(201.398,114.421,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(203.244,117.773,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(235.818,143.833,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(243.397,147.012,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(251.513,145.721,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,135.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(348.487,145.721,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(356.603,147.012,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(364.182,143.833,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(429.331,91.713,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(434.115,75.035,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(419.961,65.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(344.721,65.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(338.598,66.307,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(333.541,70.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,85.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(266.459,70.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(261.402,66.307,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(255.279,65.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(180.039,65.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(165.885,75.035,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(170.669,91.713,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(203.244,117.773,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(206.919,118.838,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(210.271,116.992,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(213.395,113.088,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(213.395,113.088,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(213.395,113.088,70.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(213.395,113.088,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(464.160,333.699,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(464.160,333.699,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(464.160,333.699,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(461.036,337.604,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(459.971,341.279,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(461.817,344.632,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(510.630,383.682,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(526.498,385.488,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(535.000,371.969,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(535.000,128.031,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(526.498,114.512,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(510.630,116.318,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(413.004,194.418,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(407.942,202.045,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(408.255,211.193,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(415.000,250.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(408.255,288.807,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(407.942,297.955,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(413.004,305.582,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(461.817,344.632,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(465.493,345.697,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(468.845,343.851,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(471.968,339.946,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(471.968,339.946,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(471.968,339.946,70.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(471.968,339.946,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(394.414,393.159,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(394.414,393.159,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(394.414,393.159,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(397.537,389.255,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(398.602,385.579,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(396.756,382.227,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(364.182,356.167,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(356.603,352.988,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(348.487,354.279,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,365.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(251.513,354.279,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(243.397,352.988,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(235.818,356.167,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(170.669,408.287,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(165.885,424.965,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(180.039,435.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(255.279,435.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(261.402,433.693,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(266.459,430.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,415.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(333.541,430.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(338.598,433.693,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(344.721,435.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(419.961,435.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(434.115,424.965,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(429.331,408.287,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(396.756,382.227,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(393.081,381.162,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(389.729,383.008,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(386.605,386.912,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(386.605,386.912,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(386.605,386.912,70.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(386.605,386.912,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(225.000,245.000,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(225.000,245.000,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(225.000,245.000,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(220.000,245.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(216.464,246.464,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(215.000,250.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,335.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(385.000,250.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(300.000,165.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(215.000,250.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(216.464,253.536,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(220.000,255.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(225.000,255.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(225.000,255.000,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(225.000,255.000,70.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(225.000,255.000,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(135.840,166.301,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(135.840,166.301,25.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(135.840,166.301,-30.000,0.000,0.000,180.000),CONF=002,S=10,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(138.964,162.396,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(140.029,158.721,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(138.183,155.368,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(89.370,116.318,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(73.502,114.512,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(65.000,128.031,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(65.000,371.969,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(73.502,385.488,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(89.370,383.682,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(186.996,305.582,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(192.058,297.955,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(191.745,288.807,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(185.000,250.000,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(191.745,211.193,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(192.058,202.045,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(186.996,194.418,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,L,(138.183,155.368,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C1,(134.507,154.303,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,SM=0,M1X,C2,(131.155,156.149,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(128.032,160.054,-30.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=8,AC=0,F,M1X,L,(128.032,160.054,-5.000,0.000,0.000,180.000),CONF=002,S=20,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,100.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1X,P,(128.032,160.054,250.000,0.000,0.000,180.000),CONF=002,R=50,H=1,MS MOVEX A=5,AC=0,F,M1J,P,(90.000,-45.000,-45.000,0.000,-90.000,0.000),R=50,H=1,MS END
Mitsubishi Expand source
10 TITLE "MITSU" 20 'PROGRAMMED USING ROBOTMASTER 30 Def Pos INVBASE 40 INVBASE = (+1750.00,-250.00,+250.00,+0.00,+0.00,+0.00) 50 Base Inv(INVBASE) 60 TOOL (-352.64,+0.00,+469.28,+0.00,-60.00,+0.00) 70 GETM 1 80 SERVO ON 90 FINE 0 100 SPD 50 110 MOV J1 120 MOV P2 130 MOV P3 140 MOV P4 150 SPD 10 160 MVS P5 170 SPD 20 180 MVS P6 190 MVR P6,P7,P8 200 MVS P9 210 MVR P9,P10,P11 220 MVS P12 230 MVR P12,P13,P14 240 MVS P15 250 MVR P15,P16,P17 260 MVS P18 270 MVR P18,P19,P20 280 MVS P21 290 MVR P21,P22,P23 300 FINE 0 310 MVS P24 320 MVS P25 330 SPD 50 340 MOV P26 350 MOV P27 360 MOV P28 370 MOV P29 380 SPD 10 390 MVS P30 400 SPD 20 410 MVS P31 420 MVR P31,P32,P33 430 MVS P34 440 MVR P34,P35,P36 450 MVR P36,P37,P38 460 MVR P38,P39,P40 470 MVS P41 480 MVR P41,P42,P43 490 MVS P44 500 MVR P44,P45,P46 510 MVR P46,P47,P48 520 MVR P48,P49,P50 530 MVS P51 540 MVR P51,P52,P53 550 MVS P54 560 MVR P54,P55,P56 570 FINE 0 580 MVS P57 590 MVS P58 600 SPD 50 610 MOV P59 620 MOV P60 630 MOV P61 640 MOV P62 650 SPD 10 660 MVS P63 670 SPD 20 680 MVS P64 690 MVR P64,P65,P66 700 MVS P67 710 MVR P67,P68,P69 720 MVS P70 730 MVR P70,P71,P72 740 MVS P73 750 MVR P73,P74,P75 760 MVR P75,P76,P77 770 MVR P77,P78,P79 780 MVS P80 790 MVR P80,P81,P82 800 FINE 0 810 MVS P83 820 MVS P84 830 SPD 50 840 MOV P85 850 MOV P86 860 MOV P87 870 MOV P88 880 SPD 10 890 MVS P89 900 SPD 20 910 MVS P90 920 MVR P90,P91,P92 930 MVS P93 940 MVR P93,P94,P95 950 MVR P95,P96,P97 960 MVR P97,P98,P99 970 MVS P100 980 MVR P100,P101,P102 990 MVS P103 1000 MVR P103,P104,P105 1010 MVR P105,P106,P107 1020 MVR P107,P108,P109 1030 MVS P110 1040 MVR P110,P111,P112 1050 MVS P113 1060 MVR P113,P114,P115 1070 FINE 0 1080 MVS P116 1090 MVS P117 1100 SPD 50 1110 MOV P118 1120 MOV P119 1130 MOV P120 1140 MOV P121 1150 SPD 10 1160 MVS P122 1170 SPD 20 1180 MVS P123 1190 MVR P123,P124,P125 1200 MVR P125,P126,P127 1210 MVR P127,P128,P129 1220 MVR P129,P130,P131 1230 FINE 0 1240 MVS P132 1250 MVS P133 1260 SPD 50 1270 MOV P134 1280 MOV P135 1290 MOV P136 1300 MOV P137 1310 SPD 10 1320 MVS P138 1330 SPD 20 1340 MVS P139 1350 MVR P139,P140,P141 1360 MVS P142 1370 MVR P142,P143,P144 1380 MVS P145 1390 MVR P145,P146,P147 1400 MVS P148 1410 MVR P148,P149,P150 1420 MVR P150,P151,P152 1430 MVR P152,P153,P154 1440 MVS P155 1450 MVR P155,P156,P157 1460 FINE 0 1470 MVS P158 1480 MVS P159 1490 SPD 50 1500 MOV P160 1510 MOV P161 1520 MOV J162 1530 RELM 1540 END J1=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00,+0.00,+0.00) P2=(+295.00,-15.00,+250.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P3=(+295.00,-15.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P4=(+295.00,-15.00,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P5=(+295.00,-15.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P6=(+295.00,-10.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P7=(+296.46,-6.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P8=(+300.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P9=(+580.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P10=(+597.68,+2.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P11=(+605.00,+20.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P12=(+605.00,+480.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P13=(+597.68,+497.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P14=(+580.00,+505.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P15=(+20.00,+505.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P16=(+2.32,+497.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P17=(-5.00,+480.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P18=(-5.00,+20.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P19=(+2.32,+2.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P20=(+20.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P21=(+300.00,-5.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P22=(+303.54,-6.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P23=(+305.00,-10.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P24=(+305.00,-15.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P25=(+305.00,-15.00,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P26=(+305.00,-15.00,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P27=(+305.00,-15.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P28=(+205.59,+106.84,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P29=(+205.59,+106.84,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P30=(+205.59,+106.84,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P31=(+202.46,+110.75,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P32=(+201.40,+114.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P33=(+203.24,+117.77,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P34=(+235.82,+143.83,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P35=(+243.40,+147.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P36=(+251.51,+145.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P37=(+300.00,+135.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P38=(+348.49,+145.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P39=(+356.60,+147.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P40=(+364.18,+143.83,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P41=(+429.33,+91.71,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P42=(+434.12,+75.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P43=(+419.96,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P44=(+344.72,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P45=(+338.60,+66.31,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P46=(+333.54,+70.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P47=(+300.00,+85.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P48=(+266.46,+70.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P49=(+261.40,+66.31,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P50=(+255.28,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P51=(+180.04,+65.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P52=(+165.88,+75.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P53=(+170.67,+91.71,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P54=(+203.24,+117.77,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P55=(+206.92,+118.84,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P56=(+210.27,+116.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P57=(+213.39,+113.09,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P58=(+213.39,+113.09,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P59=(+213.39,+113.09,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P60=(+213.39,+113.09,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P61=(+464.16,+333.70,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P62=(+464.16,+333.70,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P63=(+464.16,+333.70,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P64=(+461.04,+337.60,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P65=(+459.97,+341.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P66=(+461.82,+344.63,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P67=(+510.63,+383.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P68=(+526.50,+385.49,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P69=(+535.00,+371.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P70=(+535.00,+128.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P71=(+526.50,+114.51,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P72=(+510.63,+116.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P73=(+413.00,+194.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P74=(+407.94,+202.04,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P75=(+408.25,+211.19,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P76=(+415.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P77=(+408.25,+288.81,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P78=(+407.94,+297.96,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P79=(+413.00,+305.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P80=(+461.82,+344.63,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P81=(+465.49,+345.70,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P82=(+468.84,+343.85,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P83=(+471.97,+339.95,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P84=(+471.97,+339.95,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P85=(+471.97,+339.95,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P86=(+471.97,+339.95,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P87=(+394.41,+393.16,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P88=(+394.41,+393.16,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P89=(+394.41,+393.16,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P90=(+397.54,+389.25,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P91=(+398.60,+385.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P92=(+396.76,+382.23,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P93=(+364.18,+356.17,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P94=(+356.60,+352.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P95=(+348.49,+354.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P96=(+300.00,+365.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P97=(+251.51,+354.28,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P98=(+243.40,+352.99,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P99=(+235.82,+356.17,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P100=(+170.67,+408.29,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P101=(+165.88,+424.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P102=(+180.04,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P103=(+255.28,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P104=(+261.40,+433.69,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P105=(+266.46,+430.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P106=(+300.00,+415.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P107=(+333.54,+430.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P108=(+338.60,+433.69,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P109=(+344.72,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P110=(+419.96,+435.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P111=(+434.12,+424.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P112=(+429.33,+408.29,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P113=(+396.76,+382.23,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P114=(+393.08,+381.16,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P115=(+389.73,+383.01,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P116=(+386.61,+386.91,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P117=(+386.61,+386.91,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P118=(+386.61,+386.91,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P119=(+386.61,+386.91,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P120=(+225.00,+245.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P121=(+225.00,+245.00,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P122=(+225.00,+245.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P123=(+220.00,+245.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P124=(+216.46,+246.46,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P125=(+215.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P126=(+300.00,+335.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P127=(+385.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P128=(+300.00,+165.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P129=(+215.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P130=(+216.46,+253.54,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P131=(+220.00,+255.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P132=(+225.00,+255.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P133=(+225.00,+255.00,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P134=(+225.00,+255.00,+70.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P135=(+225.00,+255.00,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P136=(+135.84,+166.30,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P137=(+135.84,+166.30,+25.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P138=(+135.84,+166.30,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P139=(+138.96,+162.40,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P140=(+140.03,+158.72,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P141=(+138.18,+155.37,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P142=(+89.37,+116.32,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P143=(+73.50,+114.51,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P144=(+65.00,+128.03,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P145=(+65.00,+371.97,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P146=(+73.50,+385.49,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P147=(+89.37,+383.68,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P148=(+187.00,+305.58,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P149=(+192.06,+297.96,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P150=(+191.75,+288.81,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P151=(+185.00,+250.00,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,251723776) P152=(+191.75,+211.19,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P153=(+192.06,+202.04,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P154=(+187.00,+194.42,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P155=(+138.18,+155.37,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P156=(+134.51,+154.30,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P157=(+131.16,+156.15,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P158=(+128.03,+160.05,-30.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P159=(+128.03,+160.05,-5.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P160=(+128.03,+160.05,+100.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) P161=(+128.03,+160.05,+250.00,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0) J162=(+90.00,-45.00,-45.00,+0.00,-90.00,+0.00,+0.00,+0.00)
REIS Expand source
SPR "REIS" C PROGRAMMED USING ROBOTMASTER C TOOL Variable:TOOL1 PTP_VELOC [%]:50 FLYBY #OFF PTP_VELOC [%]:50 TOOL Variable:_tnull INTERPOL #PTP Position #N,STAT1,X:-1750.000,Y:1034.860,Z:484.340,A:90.000,B:0.000,C:180.000,A1:90.000,A2:-45.000,A3:-45.000,A4:0.000,A5:-90.000,A6:0.000,Version:14,T_x:0.000,T_y:0.000,T_z:0.000,T_RA:0.000,T_RB:0.000,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 TOOL Variable:TOOL1 Position #N,STAT1,X:295.000,Y:-15.000,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-9.034,A2:7.237,A3:3.123,A4:162.729,A5:27.258,A6:-160.005,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:295.000,Y:-15.000,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-9.034,A2:7.342,A3:-3.904,A4:157.207,A5:20.548,A6:-153.976,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:295.000,Y:-15.000,Z:25.000,A:0.000,B:0.000,C:180.000,A1:-9.034,A2:7.767,A3:-7.020,A4:152.849,A5:17.336,A6:-149.371,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:295.000,Y:-15.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-9.034,A2:8.233,A3:-9.147,A4:148.475,A5:15.074,A6:-144.817,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_RADIUS Radius[mm]:0.000 PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:295.000,Y:-10.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.866,A2:8.192,A3:-9.193,A4:148.924,A5:14.986,A6:-145.334,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:296.464,Y:-6.464,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.740,A2:8.240,A3:-9.139,A4:149.285,A5:14.930,A6:-145.747,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:300.000,Y:-5.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.672,A2:8.412,A3:-8.945,A4:149.516,A5:14.916,A6:-146.006,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:580.000,Y:-5.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-7.443,A2:23.178,A3:9.442,A4:158.291,A5:17.656,A6:-155.487,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:597.678,Y:2.322,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-7.168,A2:24.097,A3:10.693,A4:159.380,A5:17.868,A6:-156.698,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:605.000,Y:20.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.636,A2:24.383,A3:11.084,A4:160.880,A5:17.792,A6:-158.403,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:605.000,Y:480.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.636,A2:24.383,A3:11.084,A4:199.120,A5:17.792,A6:-201.597,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:597.678,Y:497.678,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:7.168,A2:24.097,A3:10.693,A4:200.620,A5:17.868,A6:-203.302,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:580.000,Y:505.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:7.443,A2:23.178,A3:9.442,A4:201.709,A5:17.656,A6:-204.513,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:20.000,Y:505.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:10.382,A2:-6.300,A3:-23.902,A4:215.478,A5:15.599,A6:-219.703,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:2.322,Y:497.678,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:10.217,A2:-7.327,A3:-24.819,A4:214.840,A5:15.599,A6:-218.988,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:-5.000,Y:480.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:9.552,A2:-7.892,A3:-25.316,A4:212.996,A5:15.301,A6:-216.868,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:-5.000,Y:20.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-9.552,A2:-7.892,A3:-25.316,A4:147.004,A5:15.301,A6:-143.132,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:2.322,Y:2.322,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-10.217,A2:-7.327,A3:-24.819,A4:145.160,A5:15.599,A6:-141.012,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:20.000,Y:-5.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-10.382,A2:-6.300,A3:-23.902,A4:144.522,A5:15.599,A6:-140.297,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:300.000,Y:-5.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.672,A2:8.412,A3:-8.945,A4:149.516,A5:14.916,A6:-146.006,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:303.536,Y:-6.464,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.703,A2:8.606,A3:-8.724,A4:149.479,A5:14.954,A6:-145.959,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:305.000,Y:-10.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.814,A2:8.711,A3:-8.606,A4:149.200,A5:15.020,A6:-145.636,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:305.000,Y:-15.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-8.981,A2:8.751,A3:-8.559,A4:148.754,A5:15.107,A6:-145.122,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:305.000,Y:-15.000,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:-8.981,A2:8.524,A3:-7.610,A4:150.871,A5:16.124,A6:-147.320,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:305.000,Y:-15.000,Z:70.000,A:0.000,B:0.000,C:180.000,A1:-8.981,A2:8.007,A3:-4.594,A4:155.838,A5:19.286,A6:-152.532,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:305.000,Y:-15.000,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-8.981,A2:7.868,A3:-3.316,A4:157.388,A5:20.585,A6:-154.181,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:205.586,Y:106.841,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-5.186,A2:1.822,A3:-9.820,A4:166.073,A5:18.979,A6:-164.205,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:205.586,Y:106.841,Z:25.000,A:0.000,B:0.000,C:180.000,A1:-5.186,A2:2.276,A3:-12.945,A4:163.000,A5:15.529,A6:-160.988,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:205.586,Y:106.841,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.186,A2:2.769,A3:-15.087,A4:159.686,A5:13.031,A6:-157.570,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:202.463,Y:110.745,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.055,A2:2.586,A3:-15.278,A4:160.140,A5:12.981,A6:-158.077,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:201.398,Y:114.421,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.926,A2:2.513,A3:-15.354,A4:160.601,A5:12.936,A6:-158.590,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:203.244,Y:117.773,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.799,A2:2.595,A3:-15.268,A4:161.064,A5:12.900,A6:-159.105,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:235.818,Y:143.833,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.778,A2:4.207,A3:-13.569,A4:164.954,A5:12.699,A6:-163.415,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:243.397,Y:147.012,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.648,A2:4.595,A3:-13.155,A4:165.476,A5:12.694,A6:-163.991,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:251.513,Y:145.721,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.675,A2:5.026,A3:-12.691,A4:165.410,A5:12.732,A6:-163.914,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:300.000,Y:135.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.935,A2:7.604,A3:-9.854,A4:164.734,A5:13.045,A6:-163.140,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:348.487,Y:145.721,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.469,A2:10.106,A3:-7.003,A4:166.808,A5:13.274,A6:-165.413,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:356.603,Y:147.012,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.410,A2:10.527,A3:-6.514,A4:167.088,A5:13.328,A6:-165.718,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:364.182,Y:143.833,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.500,A2:10.934,A3:-6.038,A4:166.828,A5:13.414,A6:-165.424,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:429.331,Y:91.713,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.022,A2:14.557,A3:-1.691,A4:162.375,A5:14.501,A6:-160.387,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:434.115,Y:75.035,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.534,A2:14.890,A3:-1.282,A4:160.823,A5:14.729,A6:-158.636,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:419.961,Y:65.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.895,A2:14.199,A3:-2.130,A4:159.479,A5:14.698,A6:-157.142,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:344.721,Y:65.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.151,A2:10.264,A3:-6.819,A4:157.585,A5:14.085,A6:-155.111,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:338.598,Y:66.307,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.130,A2:9.938,A3:-7.198,A4:157.575,A5:14.030,A6:-155.107,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:333.541,Y:70.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.025,A2:9.653,A3:-7.526,A4:157.849,A5:13.951,A6:-155.421,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:300.000,Y:85.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.637,A2:7.823,A3:-9.609,A4:158.760,A5:13.579,A6:-156.478,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:266.459,Y:70.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.270,A2:6.154,A3:-11.463,A4:156.353,A5:13.639,A6:-153.805,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:261.402,Y:66.307,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.417,A2:5.911,A3:-11.729,A4:155.831,A5:13.675,A6:-153.222,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:255.279,Y:65.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.487,A2:5.599,A3:-12.069,A4:155.557,A5:13.676,A6:-152.918,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:180.039,Y:65.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.798,A2:1.655,A3:-16.240,A4:154.147,A5:13.597,A6:-151.370,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:165.885,Y:75.035,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-6.491,A2:0.847,A3:-17.064,A4:155.121,A5:13.458,A6:-152.468,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:170.669,Y:91.713,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.859,A2:1.004,A3:-16.904,A4:157.253,A5:13.217,A6:-154.859,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:203.244,Y:117.773,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.799,A2:2.595,A3:-15.268,A4:161.064,A5:12.900,A6:-159.105,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:206.919,Y:118.838,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.749,A2:2.784,A3:-15.071,A4:161.254,A5:12.892,A6:-159.317,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:210.271,Y:116.992,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.806,A2:2.969,A3:-14.878,A4:161.062,A5:12.918,A6:-159.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:213.395,Y:113.088,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.936,A2:3.151,A3:-14.687,A4:160.603,A5:12.967,A6:-158.590,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:213.395,Y:113.088,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:-4.936,A2:2.910,A3:-13.730,A4:162.191,A5:14.102,A6:-160.223,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:213.395,Y:113.088,Z:70.000,A:0.000,B:0.000,C:180.000,A1:-4.936,A2:2.357,A3:-10.701,A4:165.689,A5:17.546,A6:-163.856,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:213.395,Y:113.088,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-4.936,A2:2.206,A3:-9.423,A4:166.723,A5:18.934,A6:-164.945,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:464.160,Y:333.699,Z:100.000,A:0.000,B:0.000,C:180.000,A1:2.610,A2:15.409,A3:5.585,A4:186.521,A5:20.322,A6:-187.424,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:464.160,Y:333.699,Z:25.000,A:0.000,B:0.000,C:180.000,A1:2.610,A2:15.739,A3:2.412,A4:187.822,A5:16.846,A6:-188.796,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:464.160,Y:333.699,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.610,A2:16.134,A3:0.264,A4:189.169,A5:14.330,A6:-190.194,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:461.036,Y:337.604,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.736,A2:15.978,A3:0.069,A4:189.628,A5:14.312,A6:-190.704,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:459.971,Y:341.279,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.853,A2:15.932,A3:0.010,A4:190.036,A5:14.319,A6:-191.158,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:461.817,Y:344.632,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.954,A2:16.038,A3:0.144,A4:190.366,A5:14.363,A6:-191.527,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:510.630,Y:383.682,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.062,A2:18.764,A3:3.606,A4:193.440,A5:15.304,A6:-195.013,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:526.498,Y:385.488,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.082,A2:19.622,A3:4.718,A4:193.291,A5:15.556,A6:-194.864,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:535.000,Y:371.969,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.660,A2:20.031,A3:5.252,A4:191.871,A5:15.589,A6:-193.278,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:535.000,Y:128.031,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.660,A2:20.031,A3:5.252,A4:168.129,A5:15.589,A6:-166.722,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:526.498,Y:114.512,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.082,A2:19.622,A3:4.718,A4:166.709,A5:15.556,A6:-165.136,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:510.630,Y:116.318,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.062,A2:18.764,A3:3.606,A4:166.560,A5:15.304,A6:-164.987,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:413.004,Y:194.418,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-1.784,A2:13.376,A3:-3.131,A4:173.413,A5:13.592,A6:-172.704,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:407.942,Y:202.045,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-1.543,A2:13.098,A3:-3.466,A4:174.269,A5:13.510,A6:-173.655,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:408.255,Y:211.193,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-1.249,A2:13.102,A3:-3.461,A4:175.357,A5:13.485,A6:-174.860,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:415.000,Y:250.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.000,A2:13.435,A3:-3.059,A4:180.000,A5:13.506,A6:-180.000,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:408.255,Y:288.807,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:1.249,A2:13.102,A3:-3.461,A4:184.643,A5:13.485,A6:-185.140,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:407.942,Y:297.955,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:1.543,A2:13.098,A3:-3.466,A4:185.731,A5:13.510,A6:-186.345,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:413.004,Y:305.582,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:1.784,A2:13.376,A3:-3.131,A4:186.587,A5:13.592,A6:-187.296,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:461.817,Y:344.632,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.954,A2:16.038,A3:0.144,A4:190.366,A5:14.363,A6:-191.527,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:465.493,Y:345.697,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.982,A2:16.236,A3:0.391,A4:190.424,A5:14.416,A6:-191.594,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:468.845,Y:343.851,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.919,A2:16.409,A3:0.608,A4:190.180,A5:14.449,A6:-191.325,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:471.968,Y:339.946,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.793,A2:16.564,A3:0.803,A4:189.724,A5:14.467,A6:-190.819,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:471.968,Y:339.946,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:2.793,A2:16.371,A3:1.763,A4:189.025,A5:15.605,A6:-190.095,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:471.968,Y:339.946,Z:70.000,A:0.000,B:0.000,C:180.000,A1:2.793,A2:15.951,A3:4.827,A4:187.427,A5:19.054,A6:-188.421,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:471.968,Y:339.946,Z:100.000,A:0.000,B:0.000,C:180.000,A1:2.793,A2:15.851,A3:6.133,A4:186.937,A5:20.449,A6:-187.901,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:394.414,Y:393.159,Z:100.000,A:0.000,B:0.000,C:180.000,A1:4.634,A2:11.846,A3:1.271,A4:191.863,A5:19.898,A6:-193.493,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:394.414,Y:393.159,Z:25.000,A:0.000,B:0.000,C:180.000,A1:4.634,A2:12.225,A3:-1.865,A4:194.284,A5:16.473,A6:-196.041,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:394.414,Y:393.159,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.634,A2:12.656,A3:-3.996,A4:196.806,A5:14.004,A6:-198.654,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:397.537,Y:389.255,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.500,A2:12.804,A3:-3.820,A4:196.318,A5:13.996,A6:-198.111,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:398.602,Y:385.579,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.379,A2:12.845,A3:-3.770,A4:195.896,A5:13.971,A6:-197.641,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:396.756,Y:382.227,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.276,A2:12.735,A3:-3.903,A4:195.566,A5:13.923,A6:-197.270,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:364.182,Y:356.167,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.500,A2:10.934,A3:-6.038,A4:193.172,A5:13.414,A6:-194.576,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:356.603,Y:352.988,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.410,A2:10.527,A3:-6.514,A4:192.912,A5:13.328,A6:-194.282,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:348.487,Y:354.279,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.469,A2:10.106,A3:-7.003,A4:193.192,A5:13.274,A6:-194.587,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:300.000,Y:365.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.935,A2:7.604,A3:-9.854,A4:195.266,A5:13.045,A6:-196.860,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:251.513,Y:354.279,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.675,A2:5.026,A3:-12.691,A4:194.590,A5:12.732,A6:-196.086,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:243.397,Y:352.988,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.648,A2:4.595,A3:-13.155,A4:194.524,A5:12.694,A6:-196.009,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:235.818,Y:356.167,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:3.778,A2:4.207,A3:-13.569,A4:195.046,A5:12.699,A6:-196.585,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:170.669,Y:408.287,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.859,A2:1.004,A3:-16.904,A4:202.747,A5:13.217,A6:-205.141,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:165.885,Y:424.965,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.491,A2:0.847,A3:-17.064,A4:204.879,A5:13.458,A6:-207.532,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:180.039,Y:435.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.798,A2:1.655,A3:-16.240,A4:205.853,A5:13.597,A6:-208.630,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:255.279,Y:435.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.487,A2:5.599,A3:-12.069,A4:204.443,A5:13.676,A6:-207.082,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:261.402,Y:433.693,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.417,A2:5.911,A3:-11.729,A4:204.169,A5:13.675,A6:-206.778,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:266.459,Y:430.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.270,A2:6.154,A3:-11.463,A4:203.647,A5:13.639,A6:-206.195,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:300.000,Y:415.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.637,A2:7.823,A3:-9.609,A4:201.240,A5:13.579,A6:-203.522,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:333.541,Y:430.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.025,A2:9.653,A3:-7.526,A4:202.151,A5:13.951,A6:-204.579,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:338.598,Y:433.693,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.130,A2:9.938,A3:-7.198,A4:202.425,A5:14.030,A6:-204.893,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:344.721,Y:435.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:6.151,A2:10.264,A3:-6.819,A4:202.415,A5:14.085,A6:-204.889,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:419.961,Y:435.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.895,A2:14.199,A3:-2.130,A4:200.521,A5:14.698,A6:-202.858,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:434.115,Y:424.965,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.534,A2:14.890,A3:-1.282,A4:199.177,A5:14.729,A6:-201.364,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:429.331,Y:408.287,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.022,A2:14.557,A3:-1.691,A4:197.625,A5:14.501,A6:-199.613,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:396.756,Y:382.227,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.276,A2:12.735,A3:-3.903,A4:195.566,A5:13.923,A6:-197.270,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:393.081,Y:381.162,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.250,A2:12.538,A3:-4.139,A4:195.520,A5:13.879,A6:-197.216,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:389.729,Y:383.008,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.318,A2:12.369,A3:-4.340,A4:195.790,A5:13.865,A6:-197.514,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:386.605,Y:386.912,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.452,A2:12.221,A3:-4.517,A4:196.283,A5:13.873,A6:-198.062,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:386.605,Y:386.912,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:4.452,A2:12.007,A3:-3.566,A4:195.060,A5:14.994,A6:-196.799,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:386.605,Y:386.912,Z:70.000,A:0.000,B:0.000,C:180.000,A1:4.452,A2:11.526,A3:-0.539,A4:192.294,A5:18.404,A6:-193.913,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:386.605,Y:386.912,Z:100.000,A:0.000,B:0.000,C:180.000,A1:4.452,A2:11.401,A3:0.746,A4:191.456,A5:19.784,A6:-193.026,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:225.000,Y:245.000,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-0.179,A2:2.510,A3:-9.109,A4:179.507,A5:18.382,A6:-179.443,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:225.000,Y:245.000,Z:25.000,A:0.000,B:0.000,C:180.000,A1:-0.179,A2:2.962,A3:-12.231,A4:179.392,A5:14.808,A6:-179.323,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:225.000,Y:245.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-0.179,A2:3.452,A3:-14.370,A4:179.263,A5:12.178,A6:-179.190,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:220.000,Y:245.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-0.180,A2:3.188,A3:-14.648,A4:179.260,A5:12.164,A6:-179.187,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:216.464,Y:246.464,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-0.128,A2:3.001,A3:-14.844,A4:179.475,A5:12.155,A6:-179.423,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:215.000,Y:250.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.000,A2:2.924,A3:-14.925,A4:180.000,A5:12.151,A6:-180.000,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:300.000,Y:335.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.911,A2:7.511,A3:-9.959,A4:191.441,A5:12.808,A6:-192.620,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:385.000,Y:250.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.000,A2:11.857,A3:-4.950,A4:180.000,A5:13.193,A6:-180.000,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:300.000,Y:165.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-2.911,A2:7.511,A3:-9.959,A4:168.559,A5:12.808,A6:-167.380,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:215.000,Y:250.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.000,A2:2.924,A3:-14.925,A4:180.000,A5:12.151,A6:-180.000,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:216.464,Y:253.536,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.128,A2:3.001,A3:-14.844,A4:180.525,A5:12.155,A6:-180.577,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:220.000,Y:255.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.180,A2:3.188,A3:-14.648,A4:180.740,A5:12.164,A6:-180.813,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:225.000,Y:255.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.179,A2:3.452,A3:-14.370,A4:180.737,A5:12.178,A6:-180.810,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:225.000,Y:255.000,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:0.179,A2:3.212,A3:-13.413,A4:180.672,A5:13.375,A6:-180.743,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:225.000,Y:255.000,Z:70.000,A:0.000,B:0.000,C:180.000,A1:0.179,A2:2.660,A3:-10.386,A4:180.533,A5:16.954,A6:-180.599,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:225.000,Y:255.000,Z:100.000,A:0.000,B:0.000,C:180.000,A1:0.179,A2:2.510,A3:-9.109,A4:180.493,A5:18.382,A6:-180.557,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:135.840,Y:166.301,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-3.178,A2:-2.119,A3:-13.751,A4:171.345,A5:18.603,A6:-170.201,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:135.840,Y:166.301,Z:25.000,A:0.000,B:0.000,C:180.000,A1:-3.178,A2:-1.661,A3:-16.900,A4:169.344,A5:15.046,A6:-168.111,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 PATH_VELOC [mm/s]:10.00 INTERPOL #LINEAR Position #N,STAT1,X:135.840,Y:166.301,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.178,A2:-1.161,A3:-19.067,A4:167.119,A5:12.435,A6:-165.821,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #ON PATH_VELOC [mm/s]:20.00 Position #N,STAT1,X:138.964,Y:162.396,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.319,A2:-0.982,A3:-18.891,A4:166.567,A5:12.463,A6:-165.212,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:140.029,Y:158.721,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.455,A2:-0.914,A3:-18.824,A4:166.038,A5:12.492,A6:-164.627,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:138.183,Y:155.368,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.586,A2:-1.001,A3:-18.910,A4:165.535,A5:12.524,A6:-164.071,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:89.370,Y:116.318,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.227,A2:-3.456,A3:-21.278,A4:159.590,A5:13.076,A6:-157.458,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:73.502,Y:114.512,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-5.355,A2:-4.302,A3:-22.072,A4:159.218,A5:13.168,A6:-157.035,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:65.000,Y:128.031,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-4.852,A2:-4.827,A3:-22.559,A4:161.056,A5:13.041,A6:-159.081,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:65.000,Y:371.969,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:4.852,A2:-4.827,A3:-22.559,A4:198.944,A5:13.041,A6:-200.919,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:73.502,Y:385.488,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.355,A2:-4.302,A3:-22.072,A4:200.782,A5:13.168,A6:-202.965,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:89.370,Y:383.682,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:5.227,A2:-3.456,A3:-21.278,A4:200.410,A5:13.076,A6:-202.542,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:186.996,Y:305.582,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:2.042,A2:1.494,A3:-16.405,A4:188.368,A5:12.243,A6:-189.202,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:192.058,Y:297.955,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:1.756,A2:1.749,A3:-16.144,A4:187.209,A5:12.212,A6:-187.925,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:191.745,Y:288.807,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:1.422,A2:1.719,A3:-16.175,A4:185.848,A5:12.175,A6:-186.428,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:185.000,Y:250.000,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:0.000,A2:1.335,A3:-16.567,A4:180.000,A5:12.097,A6:-180.000,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:191.745,Y:211.193,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-1.422,A2:1.719,A3:-16.175,A4:174.152,A5:12.175,A6:-173.572,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:192.058,Y:202.045,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-1.756,A2:1.749,A3:-16.144,A4:172.791,A5:12.212,A6:-172.075,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:186.996,Y:194.418,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-2.042,A2:1.494,A3:-16.405,A4:171.632,A5:12.243,A6:-170.798,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #LINEAR Position #N,STAT1,X:138.183,Y:155.368,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.586,A2:-1.001,A3:-18.910,A4:165.535,A5:12.524,A6:-164.071,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #CIRC Position #N,STAT1,X:134.507,Y:154.303,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.635,A2:-1.194,A3:-19.099,A4:165.351,A5:12.539,A6:-163.866,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:131.155,Y:156.149,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.573,A2:-1.379,A3:-19.281,A4:165.593,A5:12.528,A6:-164.134,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 FLYBY #OFF INTERPOL #LINEAR Position #N,STAT1,X:128.032,Y:160.054,Z:-30.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-1.559,A3:-19.456,A4:166.141,A5:12.499,A6:-164.740,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:-5.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-1.804,A3:-18.485,A4:167.340,A5:13.683,A6:-165.971,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 INTERPOL #PTP Position #N,STAT1,X:128.032,Y:160.054,Z:100.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.517,A3:-14.135,A4:170.673,A5:18.656,A6:-169.438,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 Position #N,STAT1,X:128.032,Y:160.054,Z:250.000,A:0.000,B:0.000,C:180.000,A1:-3.432,A2:-2.673,A3:-7.139,A4:173.144,A5:25.738,A6:-172.101,Version:14,T_x:-352.645,T_y:0.000,T_z:469.276,T_RA:0.000,T_RB:-60.001,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 TOOL Variable:_tnull Position #N,STAT1,X:-1750.000,Y:1034.860,Z:484.340,A:90.000,B:0.000,C:180.000,A1:90.000,A2:-45.000,A3:-45.000,A4:0.000,A5:-90.000,A6:0.000,Version:14,T_x:0.000,T_y:0.000,T_z:0.000,T_RA:0.000,T_RB:0.000,T_RC:0.000,MRF_x:0.00,MRF_y:0.00,MRF_z:0.00,MRF_RA:0.0000,MRF_RB:-0.0000,MRF_RC:-0.0000 END
STEP Expand source
//PROGRAMMED USING ROBOTMASTER RefSys(ref0); Tool(tool1); Dyn(dyn0); PTP(ap1); PTP(cp1); PTP(cp2); PTP(cp3); Lin(cp4); Lin(cp5); Circ(cp6,cp7); Lin(cp8); Circ(cp9,cp10); Lin(cp11); Circ(cp12,cp13); Lin(cp14); Circ(cp15,cp16); Lin(cp17); Circ(cp18,cp19); Lin(cp20); Circ(cp21,cp22); Lin(cp23); Lin(cp24); PTP(cp25); PTP(cp26); PTP(cp27); PTP(cp28); PTP(cp29); Lin(cp30); Lin(cp31); Circ(cp32,cp33); Lin(cp34); Circ(cp35,cp36); Circ(cp37,cp38); Circ(cp39,cp40); Lin(cp41); Circ(cp42,cp43); Lin(cp44); Circ(cp45,cp46); Circ(cp47,cp48); Circ(cp49,cp50); Lin(cp51); Circ(cp52,cp53); Lin(cp54); Circ(cp55,cp56); Lin(cp57); Lin(cp58); PTP(cp59); PTP(cp60); PTP(cp61); PTP(cp62); PTP(cp63); Lin(cp64); Lin(cp65); Circ(cp66,cp67); Lin(cp68); Circ(cp69,cp70); Lin(cp71); Circ(cp72,cp73); Lin(cp74); Circ(cp75,cp76); Circ(cp77,cp78); Circ(cp79,cp80); Lin(cp81); Circ(cp82,cp83); Lin(cp84); Lin(cp85); PTP(cp86); PTP(cp87); PTP(cp88); PTP(cp89); PTP(cp90); Lin(cp91); Lin(cp92); Circ(cp93,cp94); Lin(cp95); Circ(cp96,cp97); Circ(cp98,cp99); Circ(cp100,cp101); Lin(cp102); Circ(cp103,cp104); Lin(cp105); Circ(cp106,cp107); Circ(cp108,cp109); Circ(cp110,cp111); Lin(cp112); Circ(cp113,cp114); Lin(cp115); Circ(cp116,cp117); Lin(cp118); Lin(cp119); PTP(cp120); PTP(cp121); PTP(cp122); PTP(cp123); PTP(cp124); Lin(cp125); Lin(cp126); Circ(cp127,cp128); Circ(cp129,cp130); Circ(cp131,cp132); Circ(cp133,cp134); Lin(cp135); Lin(cp136); PTP(cp137); PTP(cp138); PTP(cp139); PTP(cp140); PTP(cp141); Lin(cp142); Lin(cp143); Circ(cp144,cp145); Lin(cp146); Circ(cp147,cp148); Lin(cp149); Circ(cp150,cp151); Lin(cp152); Circ(cp153,cp154); Circ(cp155,cp156); Circ(cp157,cp158); Lin(cp159); Circ(cp160,cp161); Lin(cp162); Lin(cp163); PTP(cp164); PTP(cp165); PTP(ap2);
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