# RoboDK Python Intermediate file to generate robot programs.
# Program name: Viereck_20kg
# This file requires the post processor: 
#   GCode_NCP_TC
# to generate your robot program.
# This is a temporary file and you can delete it once you have generated your program.
# 
# Post processor documentation: https://robodk.com/doc/en/PythonAPI/postprocessor.html

import sys
import os
import robodk
sys.path.append(os.path.abspath(r"""C:/Programme/RoboDK/Posts/""")) # temporarily add path to POSTS folder

from GCode_NCP_TC import *

try:
  from robodk.robomath import PosePP as p
except:
  # This will be removed in future versions of RoboDK
  from robodk import PosePP as p


print('Total instructions: 7')
r = RobotPost(r"""GCode_NCP_TC""",r"""autonox articc6-1803-20kg (AT-00014)""",6, axes_type=['R','R','R','R','R','R'], native_name=r"""""", ip_com=r"""127.0.0.1""", api_port=20500, prog_ptr=2456849030688, robot_ptr=2456752966256)

r.ProgStart(r"""Viereck_20kg""")
r.RunMessage(r"""Program generated by RoboDK v5.7.4 for autonox articc6-1803-20kg (AT-00014) on 17/09/2024 10:20:04""",True)
r.RunMessage(r"""Using nominal kinematics.""",True)
r.setZoneData(1.000)
r.setSpeed(1000.000)
r.setFrame(p(556,1112,500,0,0,0),-1,r"""NP-20kg""")
r.setTool(p(0,0,0,0,0,0),-1,r"""Werkzeug setzen""")
r.MoveJ(None,[70.4557,0.024355,126.168,0,53.8078,70.4557],None)
r.MoveL(p(-250,-250,20,-180,0,180),[70.4557,4.97358,129.184,0,45.8422,70.4557],[0,0,0])
r.setSpeed(50.000)
r.MoveL(p(250,-250,20,-180,0,180),[46.9229,24.2295,105.019,0,50.752,46.9229],[0,0,0])
r.MoveL(p(250,250,20,180,0,180),[59.3839,57.3098,52.4592,0,70.231,59.3839],[0,0,0])
r.MoveL(p(-250,250,20,-180,0,180),[77.3376,40.1066,81.118,0,58.7754,77.3376],[0,0,0])
r.MoveL(p(-250,-250,20,-180,0,180),[70.4557,4.97358,129.184,0,45.8422,70.4557],[0,0,0])
r.setSpeed(1000.000)
r.MoveL(p(-250,-250,120,-180,0,180),[70.4557,0.024355,126.168,0,53.8078,70.4557],[0,0,0])
r.ProgFinish(r"""Viereck_20kg""")
r.ProgSave(r"""C:/Users/frank/Documents/RoboDK/Programs/""",r"""Viereck_20kg""",False,r"""C:/Programme/RoboDK/Other/VSCodium/VSCodium.exe""")