Function MainProgram
    Motor On
    Power High
    ' Program generated by RoboDK v5.2.2 for Epson T6-602S_2 on 23/04/2021 15:37:11
    ' Using nominal kinematics.
    Call Prog1
    Call Prog2
    Call Prog3
    Call Prog4
Fend
Function Prog1
    ' Using reference frame Frame 3: XY(-100.000, 440.000, 14.996, -0.000, 0.000, -0.000)
    ' Using Tool frame LePen: XY(0.000, 0.000, 0.000, -90.000, 0.000, 180.000)
    TLSet 1, XY(0.000, 0.000, 0.000, -90.000, 0.000, 180.000)
    Tool 1
    TMove XY(-139.209, 540.453, 21.477, -180.000, 0.000, -180.000)
Fend
Function Prog2
    TMove XY(-137.139, 537.397, 94.224, -180.000, 0.000, -180.000)
Fend
Function Prog3
    TMove XY(70.791, 540.453, 91.477, -180.000, 0.000, -180.000)
Fend
Function Prog4
    TMove XY(70.791, 540.453, 21.477, -180.000, 0.000, -180.000)
Fend