/PROG  Sphere
/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	= Sphere;
VERSION		= 0;
LINE_COUNT	= 27;
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 v5.6.8 for F ;
   3:  ! anuc M-710iC/50 on 0 ;
   4:  ! 4/01/2024 16:47:58 ;
   5:  ! Using nominal kinema ;
   6:  ! tics. ;
   7:  PR[9,1]=1200.000 ;
   8:  PR[9,2]=0.000 ;
   9:  PR[9,3]=-320.000 ;
  10:  PR[9,4]=0.000 ;
  11:  PR[9,5]=0.000 ;
  12:  PR[9,6]=0.000 ;
  13:  UFRAME[9]=PR[9] ;
  14:  UFRAME_NUM=9 ;
  15:  PR[9,1]=400.000 ;
  16:  PR[9,2]=0.000 ;
  17:  PR[9,3]=90.000 ;
  18:  PR[9,4]=0.000 ;
  19:  PR[9,5]=90.000 ;
  20:  PR[9,6]=0.000 ;
  21:  UTOOL[9]=PR[9] ;
  22:  UTOOL_NUM=9 ;
  23:J P[1] 20% FINE  ;
  24:J P[2] 20% FINE  ;
  25:C P[3] 
       P[4] 200mm/sec FINE  ;
  26:C P[5] 
       P[6] 200mm/sec FINE  ;
  27:J P[7] 20% FINE  ;
/POS
P[1]{
   GP1:
    UF : 9, UT : 9,    
	J1=    0.000 deg,	J2=    0.000 deg,	J3=    0.000 deg,
	J4=    0.000 deg,	J5=    -90.000 deg,	J6=    0.000 deg
};
P[2]{
   GP1:
    UF : 9, UT : 9,    
	J1=    -0.798 deg,	J2=    12.781 deg,	J3=    -12.036 deg,
	J4=    3.358 deg,	J5=    -78.726 deg,	J6=    76.619 deg
};
P[3]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -150.289  mm,	Y =   483.519  mm,	Z =   513.753  mm,
	W =   136.463 deg,	P =   -85.340 deg,	R =    48.132 deg
};
P[4]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -102.793  mm,	Y =   610.605  mm,	Z =   515.334  mm,
	W =   140.285 deg,	P =   -82.704 deg,	R =    -5.056 deg
};
P[5]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =   -57.071  mm,	Y =   519.697  mm,	Z =   639.390  mm,
	W =  -171.200 deg,	P =   -21.006 deg,	R =   -41.358 deg
};
P[6]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =    22.730  mm,	Y =   447.191  mm,	Z =   640.604  mm,
	W =   157.819 deg,	P =     2.956 deg,	R =  -150.291 deg
};
P[7]{
   GP1:
    UF : 9, UT : 9,    
	J1=    0.000 deg,	J2=    0.000 deg,	J3=    0.000 deg,
	J4=    0.000 deg,	J5=    -90.000 deg,	J6=    0.000 deg
};
/END