# -*- coding: utf-8 -*-
"""
Created on Thu Apr  8 16:06:04 2021

@author: AKASH
"""

# -*- coding: utf-8 -*-
"""
Created on Thu Apr  8 15:57:13 2021

@author: AKASH
"""

from robolink import *
from robodk import *


RL = Robolink()
RL.setRunMode(3)
robot = RL.Item('KUKA KR8 R1420 arc HW')

home = RL.Item('Home')
t2 = RL.Item('Target 2')
t3 = RL.Item('Target 3')
t4 = RL.Item('Target 4')
t5 = RL.Item('Target 5')
t6 = RL.Item('Target 6')
t7 = RL.Item('Target 7')

robot.MoveJ(home)
robot.MoveJ(t2)
robot.MoveJ(t3)
robot.MoveL(t4)
robot.ArcOn(t5)
robot.ArcOff(t6)
robot.MoveL(t7)
robot.MoveJ(home)