/PROG  Prog7
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "RoboDK sequence";
PROG_SIZE	= 0;
CREATE		= DATE 31-12-14  TIME 12:00:00;
MODIFIED	= DATE 31-12-14  TIME 12:00:00;
FILE_NAME	= Prog7;
VERSION		= 0;
LINE_COUNT	= 50;
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:  ! Program generated by ;
   2:  !  RoboDK v4.0.0 for F ;
   3:  ! anuc M-10iA on 19/11 ;
   4:  ! /2020 09:50:09 ;
   5:  ! Using nominal kinema ;
   6:  ! tics. ;
   7:  PR[9,1]=0.000 ;
   8:  PR[9,2]=0.000 ;
   9:  PR[9,3]=0.000 ;
  10:  PR[9,4]=0.000 ;
  11:  PR[9,5]=0.000 ;
  12:  PR[9,6]=0.000 ;
  13:  UFRAME[9]=PR[9] ;
  14:  UFRAME_NUM=9 ;
  15:  PR[9,1]=50.000 ;
  16:  PR[9,2]=0.000 ;
  17:  PR[9,3]=50.000 ;
  18:  PR[9,4]=0.000 ;
  19:  PR[9,5]=-30.000 ;
  20:  PR[9,6]=0.000 ;
  21:  UTOOL[9]=PR[9] ;
  22:  UTOOL_NUM=9 ;
  23:  PR[9,1]=800.000 ;
  24:  PR[9,2]=500.000 ;
  25:  PR[9,3]=390.000 ;
  26:  PR[9,4]=0.000 ;
  27:  PR[9,5]=0.000 ;
  28:  PR[9,6]=-90.000 ;
  29:  UFRAME[9]=PR[9] ;
  30:  UFRAME_NUM=9 ;
  31:J P[1] 20% FINE ;
  32:L P[2] 200mm/sec FINE ;
  33:  PR[9,1]=800.000 ;
  34:  PR[9,2]=429.766 ;
  35:  PR[9,3]=390.000 ;
  36:  PR[9,4]=0.000 ;
  37:  PR[9,5]=0.000 ;
  38:  PR[9,6]=-90.000 ;
  39:  UFRAME[9]=PR[9] ;
  40:  UFRAME_NUM=9 ;
  41:L P[3] 200mm/sec FINE ;
  42:  PR[9,1]=800.000 ;
  43:  PR[9,2]=359.532 ;
  44:  PR[9,3]=390.000 ;
  45:  PR[9,4]=0.000 ;
  46:  PR[9,5]=0.000 ;
  47:  PR[9,6]=-90.000 ;
  48:  UFRAME[9]=PR[9] ;
  49:  UFRAME_NUM=9 ;
  50:L P[4] 200mm/sec FINE ;
/POS
P[1]{
   GP1:
    UF : 9, UT : 9,    
	J1=    -18.504 deg,	J2=    63.870 deg,	J3=    -121.284 deg,
	J4=    105.961 deg,	J5=    80.514 deg,	J6=    29.951 deg
};
P[2]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   500.000  mm,	Y =   -21.968  mm,	Z =  -345.926  mm,
	W =   180.000 deg,	P =   -60.000 deg,	R =    90.000 deg
};
P[3]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   500.000  mm,	Y =   -28.615  mm,	Z =   -19.266  mm,
	W =   180.000 deg,	P =   -60.000 deg,	R =    90.000 deg
};
P[4]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   500.000  mm,	Y =   -17.337  mm,	Z =  -336.561  mm,
	W =   180.000 deg,	P =   -60.000 deg,	R =    90.000 deg
};
/END