Function Program_JointMovement
    Motor On
    Power High
    ' Program generated by RoboDK v5.2.2 for Epson T6-602S_2 on 27/04/2021 10:00:37
    ' Using nominal kinematics.
    Speed 1000.00
    ' Using reference frame Part Frame: XY(-140.000, 320.000, 20.000, -0.000, 0.000, -0.000)
    ' Using Tool frame Tool1 Complete: XY(0.000, 0.000, -90.000, -180.000, 0.000, -180.000)
    TLSet 1, XY(0.000, 0.000, -90.000, -180.000, 0.000, -180.000)
    Tool 1
    ' Show Tool1 Complete
    Go AglToPls(152.915,-103.899,-5.500,49.016)
    Go AglToPls(152.915,-103.899,-5.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(152.915,-103.899,-70.500,49.016)
    Speed 1000.00
    Go AglToPls(152.915,-103.899,-65.500,49.016)
    Go AglToPls(150.820,-105.031,-65.500,45.790)
    Speed 25.00
    Go AglToPls(150.820,-105.031,-70.500,45.790)
    Speed 1000.00
    Go AglToPls(150.820,-105.031,-65.500,45.790)
    Speed 25.00
    Go AglToPls(148.591,-105.975,-65.500,42.616)
    Go AglToPls(148.591,-105.975,-70.500,42.616)
    Speed 1000.00
    Go AglToPls(148.591,-105.975,-65.500,42.616)
    Speed 25.00
    Go AglToPls(146.235,-106.730,-65.500,39.505)
    Go AglToPls(146.235,-106.730,-70.500,39.505)
    Speed 1000.00
    Go AglToPls(146.235,-106.730,-65.500,39.505)
    Speed 25.00
    Go AglToPls(143.765,-107.294,-65.500,36.471)
    Go AglToPls(143.765,-107.294,-70.500,36.471)
    Speed 1000.00
    Go AglToPls(143.765,-107.294,-65.500,36.471)
    Speed 25.00
    Go AglToPls(141.191,-107.666,-65.500,33.525)
    Go AglToPls(141.191,-107.666,-70.500,33.525)
    Speed 1000.00
    Go AglToPls(141.191,-107.666,-65.500,33.525)
    Speed 25.00
    Go AglToPls(138.525,-107.843,-65.500,30.682)
    Go AglToPls(138.525,-107.843,-70.500,30.682)
    Speed 1000.00
    Go AglToPls(138.525,-107.843,-65.500,30.682)
    Speed 25.00
    Go AglToPls(135.780,-107.826,-65.500,27.954)
    Go AglToPls(135.780,-107.826,-70.500,27.954)
    Speed 1000.00
    Go AglToPls(135.780,-107.826,-65.500,27.954)
    Speed 25.00
    Go AglToPls(132.967,-107.614,-65.500,25.353)
    Go AglToPls(132.967,-107.614,-70.500,25.353)
    Speed 1000.00
    Go AglToPls(132.967,-107.614,-65.500,25.353)
    Speed 25.00
    Go AglToPls(130.100,-107.209,-65.500,22.892)
    Go AglToPls(130.100,-107.209,-70.500,22.892)
    Speed 1000.00
    Go AglToPls(130.100,-107.209,-65.500,22.892)
    Speed 25.00
    Go AglToPls(127.190,-106.611,-65.500,20.579)
    Go AglToPls(127.190,-106.611,-70.500,20.579)
    Speed 1000.00
    Go AglToPls(127.190,-106.611,-65.500,20.579)
    Speed 25.00
    Go AglToPls(124.248,-105.822,-65.500,18.426)
    Go AglToPls(124.248,-105.822,-70.500,18.426)
    Speed 1000.00
    Go AglToPls(124.248,-105.822,-65.500,18.426)
    Go AglToPls(119.563,-89.642,-65.500,29.921)
    Speed 25.00
    Go AglToPls(119.563,-89.642,-70.500,29.921)
    Speed 1000.00
    Go AglToPls(119.563,-89.642,-65.500,29.921)
    Speed 25.00
    Go AglToPls(122.136,-90.400,-65.500,31.737)
    Go AglToPls(122.136,-90.400,-70.500,31.737)
    Speed 1000.00
    Go AglToPls(122.136,-90.400,-65.500,31.737)
    Speed 25.00
    Go AglToPls(124.659,-90.972,-65.500,33.687)
    Go AglToPls(124.659,-90.972,-70.500,33.687)
    Speed 1000.00
    Go AglToPls(124.659,-90.972,-65.500,33.687)
    Speed 25.00
    Go AglToPls(127.122,-91.359,-65.500,35.764)
    Go AglToPls(127.122,-91.359,-70.500,35.764)
    Speed 1000.00
    Go AglToPls(127.122,-91.359,-65.500,35.764)
    Speed 25.00
    Go AglToPls(129.521,-91.560,-65.500,37.961)
    Go AglToPls(129.521,-91.560,-70.500,37.961)
    Speed 1000.00
    Go AglToPls(129.521,-91.560,-65.500,37.961)
    Speed 25.00
    Go AglToPls(131.848,-91.577,-65.500,40.271)
    Go AglToPls(131.848,-91.577,-70.500,40.271)
    Speed 1000.00
    Go AglToPls(131.848,-91.577,-65.500,40.271)
    Speed 25.00
    Go AglToPls(134.094,-91.408,-65.500,42.686)
    Go AglToPls(134.094,-91.408,-70.500,42.686)
    Speed 1000.00
    Go AglToPls(134.094,-91.408,-65.500,42.686)
    Speed 25.00
    Go AglToPls(136.252,-91.053,-65.500,45.199)
    Go AglToPls(136.252,-91.053,-70.500,45.199)
    Speed 1000.00
    Go AglToPls(136.252,-91.053,-65.500,45.199)
    Speed 25.00
    Go AglToPls(138.316,-90.514,-65.500,47.802)
    Go AglToPls(138.316,-90.514,-70.500,47.802)
    Speed 1000.00
    Go AglToPls(138.316,-90.514,-65.500,47.802)
    Speed 25.00
    Go AglToPls(140.276,-89.789,-65.500,50.487)
    Go AglToPls(140.276,-89.789,-70.500,50.487)
    Speed 1000.00
    Go AglToPls(140.276,-89.789,-65.500,50.487)
    Speed 25.00
    Go AglToPls(142.127,-88.879,-65.500,53.248)
    Go AglToPls(142.127,-88.879,-70.500,53.248)
    Speed 1000.00
    Go AglToPls(142.127,-88.879,-65.500,53.248)
    Speed 25.00
    Go AglToPls(143.861,-87.783,-65.500,56.078)
    Go AglToPls(143.861,-87.783,-70.500,56.078)
    Speed 1000.00
    Go AglToPls(143.861,-87.783,-65.500,56.078)
    Speed 25.00
    Go AglToPls(145.473,-86.501,-65.500,58.971)
    Go AglToPls(145.473,-86.501,-70.500,58.971)
    Speed 1000.00
    Go AglToPls(145.473,-86.501,-60.500,58.971)
    Go AglToPls(145.473,-86.501,-60.500,58.971)
    Go AglToPls(145.473,-86.501,-0.500,58.971)
Fend