/PROG  curve
/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	= curve;
VERSION		= 0;
LINE_COUNT	= 38;
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 v5.6.0 for F ;
   3:  ! anuc M-900iA/350 on  ;
   4:  ! 08/09/2023 07:46:16 ;
   5:  ! Using nominal kinema ;
   6:  ! tics. ;
   7:  UFRAME_NUM=0 ;
   8:  ! UF0:2699.5,24.1,1159 ;
   9:  ! .0,-180.0,0.0,-180.0 ;
  10:  UTOOL_NUM=1 ;
  11:  ! UT1:0.0,0.0,0.0,0.0, ;
  12:  ! 0.0,0.0 ;
  13:  ! Show curve0 ;
  14:J P[1] 14% CNT100  ;
  15:L P[2] 700mm/sec CNT100  ;
  16:  WAIT  10.00(sec)  ;
  17:  CALL WELDON;
  18:L P[3] 50mm/sec CNT100  ;
  19:L P[4] 50mm/sec CNT100  ;
  20:L P[5] 50mm/sec CNT100  ;
  21:L P[6] 50mm/sec CNT100  ;
  22:L P[7] 50mm/sec CNT100  ;
  23:L P[8] 50mm/sec CNT100  ;
  24:L P[9] 50mm/sec CNT100  ;
  25:L P[10] 50mm/sec CNT100  ;
  26:L P[11] 50mm/sec CNT100  ;
  27:L P[12] 50mm/sec CNT100  ;
  28:L P[13] 50mm/sec CNT100  ;
  29:L P[14] 50mm/sec CNT100  ;
  30:L P[15] 50mm/sec CNT100  ;
  31:L P[16] 50mm/sec CNT100  ;
  32:L P[17] 50mm/sec CNT100  ;
  33:L P[18] 50mm/sec CNT100  ;
  34:L P[19] 50mm/sec CNT100  ;
  35:L P[20] 50mm/sec CNT100  ;
  36:L P[21] 50mm/sec FINE  ;
  37:  CALL WELDOFF ;
  38:L P[22] 700mm/sec CNT100  ;
/POS
P[1]{
   GP1:
    UF : 0, UT : 1,    
	J1=    23.613 deg,	J2=    27.987 deg,	J3=    -65.566 deg,
	J4=    -24.712 deg,	J5=    72.649 deg,	J6=    -80.004 deg
};
P[2]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   716.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[3]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   717.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[4]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   712.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[5]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   711.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[6]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   706.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[7]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   707.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[8]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   702.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[9]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   701.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[10]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   696.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[11]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   697.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[12]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   692.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[13]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   691.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[14]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   686.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[15]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   687.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[16]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   682.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[17]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   681.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[18]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   676.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[19]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   677.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[20]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   672.001  mm,	Y =  -601.499  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[21]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   671.999  mm,	Y =   601.501  mm,	Z =   -15.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
P[22]{
   GP1:
    UF : 0, UT : 1,        CONFIG : 'F U T, 0, 0, 0',
	X =   971.999  mm,	Y =   601.502  mm,	Z =   285.000  mm,
	W =    90.000 deg,	P =     0.000 deg,	R =   -90.000 deg
};
/END