/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	= 31;
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	= 1,1,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL

LINE_TRACK;
LINE_TRACK_SCHEDULE_NUMBER      : 0;
LINE_TRACK_BOUNDARY_NUMBER      : 0;
CONTINUE_TRACK_AT_PROG_END      : FALSE;

/MN
   1:  ! Program generated by ;
   2:  !  RoboDK v5.6.8 for F ;
   3:  ! anuc M-710iC/50 on 0 ;
   4:  ! 5/01/2024 16:08:14 ;
   5:  ! Using nominal kinema ;
   6:  ! tics. ;
   7:  PR[9,1]=0.000 ;
   8:  PR[9,2]=0.000 ;
   9:  PR[9,3]=-639.500 ;
  10:  PR[9,4]=0.000 ;
  11:  PR[9,5]=0.000 ;
  12:  PR[9,6]=0.000 ;
  13:  PR[9,7]=0.000 ;
  14:  PR[9,8]=0.000 ;
  15:  UFRAME[9]=PR[9] ;
  16:  UFRAME_NUM=9 ;
  17:  PR[9,1]=393.477 ;
  18:  PR[9,2]=0.698 ;
  19:  PR[9,3]=95.037 ;
  20:  PR[9,4]=0.000 ;
  21:  PR[9,5]=90.000 ;
  22:  PR[9,6]=0.000 ;
  23:  PR[9,7]=0.000 ;
  24:  PR[9,8]=0.000 ;
  25:  UTOOL[9]=PR[9] ;
  26:  UTOOL_NUM=9 ;
  27:J P[1] 4% FINE  ;
  28:J P[2] 4% FINE  ;
  29:C P[3] 
       P[4] 200mm/sec FINE  ;
  30:C P[5] 
       P[6] 200mm/sec FINE  ;
  31:J P[7] 4% 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
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
P[2]{
   GP1:
    UF : 9, UT : 9,    
	J1=    -15.113 deg,	J2=    -5.760 deg,	J3=    -29.187 deg,
	J4=    -6.109 deg,	J5=    -62.413 deg,	J6=    108.020 deg
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
P[3]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -942.100  mm,	Y =   246.399  mm,	Z =   667.710  mm,
	W =   -56.836 deg,	P =   -83.820 deg,	R =  -100.511 deg
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
P[4]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -917.547  mm,	Y =   394.957  mm,	Z =   684.872  mm,
	W =  -122.321 deg,	P =   -83.676 deg,	R =   -98.337 deg
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
P[5]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -879.823  mm,	Y =   365.290  mm,	Z =   781.657  mm,
	W =  -173.065 deg,	P =   -40.535 deg,	R =   -46.601 deg
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
P[6]{
   GP1:
    UF : 9, UT : 9,        CONFIG : 'N U T, 0, 0, 0',
	X =  -764.673  mm,	Y =   312.100  mm,	Z =   817.276  mm,
	W =   166.923 deg,	P =    -0.765 deg,	R =   -57.879 deg
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 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
   GP2:
    UF : 9, UT : 9,
	J1=     0.000 deg,	J2=     0.000 deg
};
/END