-- program: P26()
-- Program generated by RoboDK v5.9.5 for FAIRINO FR20 on 15/05/2026 13:38:49
-- Using nominal kinematics.
-- Setting reference frame:
-- 3FAIRINO FR20 Base: 0.000,0.000,2200.000,179.846,-0.231,-22.620
SetWObjCoord(0,0.000,0.000,2200.000,179.846,-0.231,-22.620,0)
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(129.920,-83.030,-58.260,-221.040,-64.510,-27.010)
MoveJ(129.920,-83.030,-58.260,-221.040,-64.510,-27.010,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,-451.983,-552.874,956.025,-87.917,-27.906,141.990,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-451.983,-552.874,956.025,-87.917,-27.906,141.990,0,0,30,100,10,-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,-451.983,-712.874,1316.030,-87.917,-27.906,141.990,-1)
MoveL(tj1,tj2,tj3,tj4,tj5,tj6,-451.983,-712.874,1316.030,-87.917,-27.906,141.990,0,0,30,100,10,-1,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0)
-- program end