def RECTROUND_1():
  # Global parameters:
  global speed_ms    = 0.300
  global speed_rads  = 0.750
  global accel_mss   = 3.000
  global accel_radss = 1.200
  global blend_radius_m = 0.001
  
  #--------------------------
  # Add any default subprograms here
  # For example, to drive a gripper as a program call:
  # def Gripper_Open():
  #   ...
  # end
  #
  # Example to drive a spray gun:
  def SprayOn(value):
    # use the value as an output:
    DO_SPRAY = 5
    if value == 0:
      set_standard_digital_out(DO_SPRAY, False)
    else:
      set_standard_digital_out(DO_SPRAY, True)
    end
  end

  # Example to drive an extruder:
  def Extruder(value):
    # use the value as an output:
    if value < 0:
      # stop extruder
    else:
      # start extruder
    end
  end
  
  # Example to move an external axis
  def MoveAxis(value):
    # use the value as an output:
    DO_AXIS_1 = 1
    DI_AXIS_1 = 1
    if value <= 0:
      set_standard_digital_out(DO_AXIS_1, False)
      
      # Wait for digital input to change state
      #while (get_standard_digital_in(DI_AXIS_1) != False):
      #  sync()
      #end
    else:
      set_standard_digital_out(DO_AXIS_1, True)
      
      # Wait for digital input to change state
      #while (get_standard_digital_in(DI_AXIS_1) != True):
      #  sync()
      #end
    end
  end
  #--------------------------
  
  
  # Main program:
  # Program generated by RoboDK v4.2.3 for UR3e on 27/04/2020 09:18:20
  # Using nominal kinematics.
  blend_radius_m = 0.001
  # set_reference(p[-0.314791, -0.290554, 0.008993, 0.000000, 0.000000, 0.000000])
  set_tcp(p[0.000000, 0.075000, 0.140000, 0.000000, 0.000000, 0.000000])
  # Show TOOL_DISPENSER_DMP
  movej([-1.997112, -1.638931, -2.038174, -1.035285, 1.570796, 4.286144],accel_radss,speed_rads,0,0)
  movep(p[-0.312291, -0.205554, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,0)
  speed_ms    = 0.050
  movep(p[-0.310616, -0.199304, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.306041, -0.194728, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.299791, -0.193054, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.179791, -0.193054, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.173541, -0.194728, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.168966, -0.199304, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.167291, -0.205554, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.167291, -0.275554, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.168966, -0.281804, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.173541, -0.286379, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.179791, -0.288054, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.299791, -0.288054, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.306041, -0.286379, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.310616, -0.281804, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.312291, -0.275554, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.312291, -0.205554, 0.033993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  movep(p[-0.312291, -0.205554, 0.053993, -2.221363, 2.221520, 0.000000],accel_mss,speed_ms,blend_radius_m)
  # End of main program
end

RECTROUND_1()