/PROG  Square_Cir
/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	= Square_Cir;
VERSION		= 0;
LINE_COUNT	= 54;
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:  !--------------------------KORIVEK CNT1------------------------------------;
   2:  !--------------------------ELSO MOZGAS LMOVE------------------------------------;
   3:  Instruction: MoveL 7 | Target pose: Pose(37.932, 80.553, -0.000,  -180.000, -0.000, 180.000):
[[ -1.000, -0.000, -0.000, 37.932 ],
 [ -0.000, 1.000, 0.000, 80.553 ],
 [ 0.000, 0.000, -1.000, -0.000 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

   4:  Instruction: MoveL 8 | Target pose: Pose(37.932, 130.553, 0.000,  180.000, 0.000, -180.000):
[[ -1.000, 0.000, 0.000, 37.932 ],
 [ -0.000, 1.000, -0.000, 130.553 ],
 [ -0.000, -0.000, -1.000, 0.000 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

   5:  Instruction: MoveL 9 | Target pose: Pose(-12.068, 130.553, -0.000,  -180.000, 0.000, -180.000):
[[ -1.000, 0.000, 0.000, -12.068 ],
 [ 0.000, 1.000, 0.000, 130.553 ],
 [ -0.000, 0.000, -1.000, -0.000 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

   6:  Instruction: MoveL 10 | Target pose: Pose(-12.068, 80.553, 0.000,  -180.000, 0.000, -180.000):
[[ -1.000, 0.000, 0.000, -12.068 ],
 [ 0.000, 1.000, 0.000, 80.553 ],
 [ -0.000, -0.000, -1.000, 0.000 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

   7:  Instruction: MoveC 15 | Target pose: None
   8:  Instruction: MoveC 16 | Target pose: None
   9:  Length: 200.0
  10:  Length: 0
  11:  CALL jumplbl ;
  12:  PR[9,1]=-476.124 ;
  13:  PR[9,2]=-1807.310 ;
  14:  PR[9,3]=-277.312 ;
  15:  PR[9,4]=0.000 ;
  16:  PR[9,5]=0.000 ;
  17:  PR[9,6]=0.000 ;
  18:  UFRAME[9]=PR[9] ;
  19:  UFRAME_NUM=9 ;
  20:  PR[9,1]=313.800 ;
  21:  PR[9,2]=-0.139 ;
  22:  PR[9,3]=144.807 ;
  23:  PR[9,4]=-90.000 ;
  24:  PR[9,5]=0.000 ;
  25:  PR[9,6]=-90.000 ;
  26:  UTOOL[9]=PR[9] ;
  27:  UTOOL_NUM=9 ;
  28:  DO[72] = ON;
  29:L P[1] 150mm/sec FINE  ;
  30:L P[2] 150mm/sec FINE ACC1 ;
  31:L P[3] 150mm/sec FINE ACC1 ;
  32:L P[4] 8mm/sec FINE ACC1 ;
  33:  DO[76] = ON;
  34:  WAIT 1.0(sec) ;
  35:  DO[70] = ON;
  36:L P[5] 8mm/sec FINE ACC1 ;
  37:L P[6] 8mm/sec FINE ACC1 ;
  38:L P[7] 8mm/sec FINE ACC1 ;
  39:L P[8] 8mm/sec FINE ACC1 ;
  40:  DO[70] = OFF;
  41:  DO[76] = OFF;
  42:L P[9] 150mm/sec FINE ACC1 ;
  43:L P[10] 150mm/sec FINE ACC1 ;
  44:L P[11] 150mm/sec FINE ACC1 ;
  45:L P[12] 8mm/sec FINE ACC1 ;
  46:  DO[76] = ON;
  47:  WAIT 1.0(sec) ;
  48:  DO[70] = ON;
  49:C P[13] 
       P[14] 8mm/sec FINE ACC1 ;
  50:C P[15] 
       P[16] 8mm/sec FINE ACC1 ;
  51:  DO[70] = OFF;
  52:  DO[76] = OFF;
  53:L P[17] 150mm/sec FINE ACC1 ;
  54:L P[18] 150mm/sec FINE ACC1 ;
  55:  DO[72] = OFF;
/POS
P[1]{
   GP1:
    UF : 9, UT : 9,    
	J1=    -108.228 deg,	J2=    50.876 deg,	J3=    -40.487 deg,
	J4=    26.895 deg,	J5=    43.748 deg,	J6=    159.876 deg
};
P[2]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =    80.553  mm,	Z =    10.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[3]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =    80.553  mm,	Z =     5.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[4]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =    80.553  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[5]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    37.932  mm,	Y =    80.553  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[6]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    37.932  mm,	Y =   130.553  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[7]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =   130.553  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[8]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =    80.553  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[9]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   -12.068  mm,	Y =    80.553  mm,	Z =    10.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =   180.000 deg
};
P[10]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =    10.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[11]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =     5.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[12]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[13]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =   101.368  mm,	Y =   104.300  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[14]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =    79.300  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[15]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    51.368  mm,	Y =   104.300  mm,	Z =     0.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[16]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =     0.000  mm,
	W =  -180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[17]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =    10.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
P[18]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'F U T, 0, 0, 0',
	X =    76.368  mm,	Y =   129.300  mm,	Z =   110.000  mm,
	W =   180.000 deg,	P =     0.000 deg,	R =  -180.000 deg
};
/END