-- program: A5()
-- Program generated by RoboDK v5.9.5 for FAIRINO FR20 on 15/05/2026 14:31:50
-- Using nominal kinematics.
-- 
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,-466.628,-121.517,728.897,73.540,19.470,-104.971,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-466.628,-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,-495.295,-787.569,740.453,85.614,1.112,-87.530,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-495.295,-787.569,740.453,85.614,1.112,-87.530,0,0,1,100,10,-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,-726.822,-803.509,723.724,89.281,-3.482,-91.252,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-726.822,-803.509,723.724,89.281,-3.482,-91.252,0,0,1,100,10,-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,-855.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-855.000,579.046,72.032,26.029,-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,-885.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-885.000,579.046,72.032,26.029,-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,-856.945,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-856.945,712.071,65.260,4.680,-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,-67.049,-856.945,718.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-67.049,-856.945,718.000,65.260,4.680,-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,-77.049,-746.945,848.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-746.945,848.000,65.260,4.680,-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(0,631.679,-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,-400.103,-784.093,647.454,42.265,87.649,-97.167,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-400.103,-784.093,647.454,42.265,87.649,-97.167,0,0,1,100,10,-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,-515.322,-887.607,740.436,85.614,1.116,-87.535,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-515.322,-887.607,740.436,85.614,1.116,-87.535,0,0,1,100,10,-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,-753.544,-900.129,718.323,90.481,8.474,-87.161,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-753.544,-900.129,718.323,90.481,8.474,-87.161,0,0,1,100,10,-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,-945.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-945.000,579.046,72.032,26.029,-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,-975.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-975.000,579.046,72.032,26.029,-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,-936.945,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-936.945,712.071,65.260,4.680,-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,-57.049,-936.945,718.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-57.049,-936.945,718.000,65.260,4.680,-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,-77.049,-746.945,848.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-746.945,848.000,65.260,4.680,-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(0,631.679,-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,-480.103,-794.093,647.454,42.265,87.649,-97.167,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-480.103,-794.093,647.454,42.265,87.649,-97.167,0,0,1,100,10,-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,-515.258,-987.305,740.441,85.610,2.108,-87.604,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-515.258,-987.305,740.441,85.610,2.108,-87.604,0,0,1,100,10,-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,-723.848,-995.383,719.809,90.506,22.462,-87.038,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-723.848,-995.383,719.809,90.506,22.462,-87.038,0,0,1,100,10,-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,-1035.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1035.000,579.046,72.032,26.029,-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,-1065.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1065.000,579.046,72.032,26.029,-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,-1026.940,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-1026.940,712.071,65.260,4.680,-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,-67.049,-1036.940,718.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-67.049,-1036.940,718.000,65.260,4.680,-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,-77.049,-746.945,848.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-746.945,848.000,65.260,4.680,-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(0,631.679,-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,-480.103,-674.093,647.454,42.262,87.649,-97.170,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-480.103,-674.093,647.454,42.262,87.649,-97.170,0,0,1,100,10,-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,-515.377,-1067.560,740.376,85.614,1.117,-87.534,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-515.377,-1067.560,740.376,85.614,1.117,-87.534,0,0,1,100,10,-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,-713.687,-1079.000,718.674,90.476,11.465,-87.138,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-713.687,-1079.000,718.674,90.476,11.465,-87.138,0,0,1,100,10,-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,-1125.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1125.000,579.046,72.032,26.029,-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,-1155.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1155.000,579.046,72.032,26.029,-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,-1116.940,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-1116.940,712.071,65.260,4.680,-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,-57.049,-1126.940,718.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-57.049,-1126.940,718.000,65.260,4.680,-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,-77.049,-746.945,848.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-746.945,848.000,65.260,4.680,-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(0,631.679,-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,-480.103,-674.093,647.454,42.262,87.649,-97.170,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-480.103,-674.093,647.454,42.262,87.649,-97.170,0,0,1,100,10,-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,-505.366,-1166.940,740.430,85.606,3.103,-87.685,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-505.366,-1166.940,740.430,85.606,3.103,-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,-733.760,-1177.090,719.049,90.495,17.465,-87.084,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-733.760,-1177.090,719.049,90.495,17.465,-87.084,0,0,1,100,10,-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,-1215.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1215.000,579.046,72.032,26.029,-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,-1245.000,579.046,72.032,26.029,-91.126,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-705.592,-1245.000,579.046,72.032,26.029,-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,-1206.940,712.071,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-665.000,-1206.940,712.071,65.260,4.680,-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,-77.049,-1216.940,718.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-1216.940,718.000,65.260,4.680,-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,-77.049,-746.945,848.000,65.260,4.680,-91.934,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-77.049,-746.945,848.000,65.260,4.680,-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(0,631.679,-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,-340.103,-674.093,647.454,42.265,87.649,-97.167,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-340.103,-674.093,647.454,42.265,87.649,-97.167,0,0,1,100,10,-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