def DrillingPart():
    # default parameters:
    global speed_mms    = 0.300
    global speed_degs   = 0.750
    global accel_mmss   = 3.000
    global accel_degss  = 1.200
    global smooth_radius_mm = 0.001
    # Program generated by RoboDK v4.0.1 for KUKA KR 10 R900 sixx on 02/12/2019 12:10:10
    # Using nominal kinematics.
    set_reference(pose([640.289000, -290.000000, 0.000000, 1.570796, 0.000000, -0.000000]))
    set_tcp(pose([116.058000, 0.000000, 219.481000, -0.000000, 1.047198, -0.000000]))
    movej([40.166272, -71.394929, 131.333329, 60.014894, -40.159017, -30.066576],accel_degss,speed_degs,0,smooth_radius_mm) # move_id = 1
    movel([9.438283, -44.942640, 125.087243, 9.577051, -80.279322, -1.631827],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 2
    movel([9.438283, -40.700206, 124.039821, 9.501249, -83.430178, -1.097016],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 3
    movel([9.438283, -44.942640, 125.087243, 9.577051, -80.279322, -1.631827],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 4
    movel([-57.379302, -42.811088, 155.099592, -132.596228, -35.902264, -20.405329],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 5
    movel([-57.379302, -35.838307, 153.203991, -126.860991, -32.651850, -27.340520],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 6
    movel([-57.379302, -42.811088, 155.099592, -132.596228, -35.902264, -20.405329],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 7
    movel([-40.958209, -45.849800, 146.604318, -123.740494, -46.654401, -11.173239],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 8
    movel([-40.958209, -39.896281, 145.068098, -120.050829, -44.318370, -16.433106],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 9
    movel([-40.958209, -45.849800, 146.604318, -123.740494, -46.654401, -11.173239],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 10
    movel([-52.695030, -46.065800, 136.671448, -142.417182, -52.723107, -0.461288],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 11
    movel([-52.695030, -41.042323, 135.387284, -140.548145, -49.796603, -3.446590],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 12
    movel([-52.695030, -46.065800, 136.671448, -142.417182, -52.723107, -0.461288],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 13
    movel([-67.057250, -46.186743, 143.579581, -154.492881, -46.458868, -3.967718],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 14
    movel([-67.057250, -40.547707, 142.134408, -152.596046, -42.703338, -6.629182],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 15
    movel([-67.057250, -46.186743, 143.579581, -154.492881, -46.458868, -3.967718],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 16
    movel([-85.160923, -45.815407, 146.812897, 5.765783, 42.252893, 178.628619],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 17
    movel([-85.160923, -39.839149, 145.269825, 6.321352, 37.844269, 177.903399],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 18
    movel([-85.160923, -45.815407, 146.812897, 5.765783, 42.252893, 178.628619],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 19
    movel([40.166272, -71.394929, 131.333329, 60.014894, -40.159017, -30.066576],accel_mss,speed_mms,0,smooth_radius_mm) # move_id = 20

DrillingPart()