-- program: A()
-- Program generated by RoboDK v5.9.5 for FAIRINO FR20 on 15/05/2026 14:29:33
-- Using nominal kinematics.
-- Setting reference frame:
-- FAIRINO FR20 Base : 0.000,0.000,0.000,0.000,0.000,0.000
SetWObjCoord(0,0.000,0.000,0.000,0.000,0.000,0.000,0)
WaitMs(500)
-- 
-- GripperB Opened: 0.000,-20.000,130.000,0.000,0.000,0.000
SetToolCoord(0,0.000,-20.000,130.000,0.000,0.000,0.000,0,0,0,0)
WaitMs(500)
tp1,tp2,tp3,tp4,tp5,tp6=GetForwardKin(-10.000,-110.000,90.000,-5.000,90.000,0.000)
MoveJ(-10.000,-110.000,90.000,-5.000,90.000,0.000,tp1,tp2,tp3,tp4,tp5,tp6,0,0,30,100,10,0.000,0.000,0.000,0.000,-1,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-476.628,-121.517,728.897,73.540,19.470,-104.971,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-476.628,-121.517,728.897,73.540,19.470,-104.971,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-475.363,-354.838,740.751,85.556,9.080,-88.150,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-475.363,-354.838,740.751,85.556,9.080,-88.150,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.363,-354.838,740.751,85.556,9.080,-88.150,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.363,-354.838,740.751,85.556,9.080,-88.150,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-405.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-405.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-435.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-435.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-665.000,-406.945,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-406.945,712.071,65.260,4.680,-91.934,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-24.758,-430.437,686.088,71.497,4.136,-92.794,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-24.758,-430.437,686.088,71.497,4.136,-92.794,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,60.481,-394.531,781.519,55.355,0.287,-92.489,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,60.481,-394.531,781.519,55.355,0.287,-92.489,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,629.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,629.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-299.967,-387.492,642.981,65.132,88.228,-83.108,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-299.967,-387.492,642.981,65.132,88.228,-83.108,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-505.451,-444.775,740.730,85.562,9.093,-88.156,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-505.451,-444.775,740.730,85.562,9.093,-88.156,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.000,-444.775,740.730,85.562,9.093,-88.156,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.000,-444.775,740.730,85.562,9.093,-88.156,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-495.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-495.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-525.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-525.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-665.000,-501.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-501.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-55.691,-501.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-55.691,-501.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,57.897,-443.142,880.212,69.419,13.536,-94.471,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,57.897,-443.142,880.212,69.419,13.536,-94.471,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,629.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,629.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-279.035,-436.234,643.180,61.216,88.442,-76.024,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-279.035,-436.234,643.180,61.216,88.442,-76.024,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-485.404,-536.906,740.483,85.617,3.112,-87.685,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-485.404,-536.906,740.483,85.617,3.112,-87.685,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-675.000,-538.791,762.850,85.072,27.020,-89.691,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-675.000,-538.791,762.850,85.072,27.020,-89.691,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-585.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-585.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-615.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-615.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-665.000,-591.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-591.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-155.691,-591.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-155.691,-591.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,47.709,-441.698,899.477,69.563,13.469,-94.731,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,47.709,-441.698,899.477,69.563,13.469,-94.731,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,629.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,629.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-269.035,-516.234,643.180,61.216,88.442,-76.024,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-269.035,-516.234,643.180,61.216,88.442,-76.024,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-515.349,-617.633,740.446,85.619,1.110,-87.526,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-515.349,-617.633,740.446,85.619,1.110,-87.526,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.000,-618.791,762.850,85.072,27.020,-89.691,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.000,-618.791,762.850,85.072,27.020,-89.691,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-675.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-675.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-705.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-705.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-665.000,-681.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-681.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-135.691,-681.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-135.691,-681.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,50.153,-439.900,918.331,67.506,13.060,-95.557,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,50.153,-439.900,918.331,67.506,13.060,-95.557,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,629.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,629.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-319.035,-616.234,643.180,61.216,88.442,-76.024,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-319.035,-616.234,643.180,61.216,88.442,-76.024,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-525.309,-697.968,740.561,85.615,0.105,-87.452,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-525.309,-697.968,740.561,85.615,0.105,-87.452,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.000,-698.791,762.850,85.072,27.020,-89.691,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.000,-698.791,762.850,85.072,27.020,-89.691,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-765.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-765.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-705.592,-795.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-795.000,579.046,72.032,26.029,-91.126,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-665.000,-771.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-771.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-55.691,-771.926,724.318,66.506,5.783,-91.922,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-55.691,-771.926,724.318,66.506,5.783,-91.922,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-76.609,-649.073,912.264,60.417,0.635,-92.891,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-76.609,-649.073,912.264,60.417,0.635,-92.891,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,629.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,629.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,631.679,-834.253,659.931,65.538,88.316,-16.914,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,631.679,-834.253,659.931,65.538,88.316,-16.914,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-479.035,-756.234,643.180,61.216,88.442,-76.024,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-479.035,-756.234,643.180,61.216,88.442,-76.024,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
tj1,tj2,tj3,tj4,tj5,tj6=GetInverseKin(0,-643.494,-55.096,1362.040,65.000,0.000,-100.000,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-643.494,-55.096,1362.040,65.000,0.000,-100.000,0,0,1,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
-- program end