RAPID:
MODULE MainModule
CONST robtarget P10:=[[353.02,0.00,472.37],[0.259767,-0.00800538,-0.96518,-0.0297443],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P20:=[[549.76,-147.95,63.67],[0.0260292,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P30:=[[549.76,-147.95,63.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P40:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P50:=[[549.59,148.74,13.54],[0.0152304,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P20_2:=[[549.76,-147.95,13.67],[0.0260293,0.13205,0.990172,0.0380167],[-1,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
CONST robtarget P50_2:=[[549.59,148.74,63.55],[0.0152303,-0.130504,0.990377,0.0434864],[0,-1,0,1],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
PROC main()
MoveJ P10, v1000, fine, tool1_Pen;
MoveJ P20, v500, fine, tool1_Pen;
MoveL P20_2, v500, fine, tool1_Pen;
WaitTime 2;
MoveL P30, v500, fine, tool1_Pen;
MoveL P40, v500, fine, tool1_Pen;
MoveL P50, v500, fine, tool1_Pen;
WaitTime 2;
MoveL P50_2, v500, fine, tool1_Pen;
MoveJ P10, v1000, fine, tool1_Pen;
ENDPROC
ENDMODULE
