/PROG  test
/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	= test;
VERSION		= 0;
LINE_COUNT	= 23;
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 v5.5.0 for F ;
   3:  ! anuc R-2000iB/210F o ;
   4:  ! n 12/09/2022 09:44:5 ;
   5:  ! 1 ;
   6:  ! Using nominal kinema ;
   7:  ! tics. ;
   8:  MESSAGE[debut du programme] ;
   9:  UFRAME_NUM=1 ;
  10:  ! UF1:1519.4,-738.0,26 ;
  11:  ! 5.8,0.0,0.0,0.0 ;
  12:  UTOOL_NUM=1 ;
  13:  ! UT1:278.6,0.0,88.0,0 ;
  14:  ! .0,90.0,0.0 ;
  15:J P[1] 1% FINE  ;
  16:J P[2] 1% FINE  ;
  17:L P[3] 25mm/sec FINE  ;
  18:L P[4] 25mm/sec FINE  ;
  19:L P[5] 25mm/sec FINE  ;
  20:L P[6] 25mm/sec FINE  ;
  21:L P[7] 25mm/sec FINE  ;
  22:J P[8] 1% FINE  ;
  23:J P[9] 1% FINE  ;
/POS
P[1]{
   GP1:
    UF : 1, UT : 1,    
	J1=    1.342 deg,	J2=    -14.480 deg,	J3=    68.636 deg,
	J4=    181.591 deg,	J5=    69.993 deg,	J6=    185.881 deg
};
P[2]{
   GP1:
    UF : 1, UT : 1,    
	J1=    -19.876 deg,	J2=    -3.010 deg,	J3=    28.762 deg,
	J4=    143.081 deg,	J5=    34.472 deg,	J6=    31.775 deg
};
P[3]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, 0',
	X =    37.412  mm,	Y =    34.883  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[4]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
	X =     9.918  mm,	Y =  1209.680  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[5]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
	X =  1209.790  mm,	Y =  1209.100  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[6]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =  1209.090  mm,	Y =    10.235  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[7]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, 0',
	X =    37.412  mm,	Y =    34.883  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[8]{
   GP1:
    UF : 1, UT : 1,    
	J1=    -19.876 deg,	J2=    -3.010 deg,	J3=    28.762 deg,
	J4=    143.081 deg,	J5=    34.472 deg,	J6=    31.775 deg
};
P[9]{
   GP1:
    UF : 1, UT : 1,    
	J1=    1.342 deg,	J2=    -14.480 deg,	J3=    68.636 deg,
	J4=    181.591 deg,	J5=    69.993 deg,	J6=    185.881 deg
};
/END