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example_data.ls
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example_data.ls
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/PROG data
/ATTR
OWNER = ROBCAD_U;
COMMENT = " ";
PROG_SIZE = 8943;
CREATE = DATE 19-09-22 TIME 17:18:06;
MODIFIED = DATE 19-09-22 TIME 18:46:16;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 163;
MEMORY_SIZE = 9303;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 500,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL
SPOT : TRUE ;
SPOT Welding Equipment Number : 1 ;
/MN
1: !******************************** ;
2: ! ;
3: !;
4: !******************************** ;
5: !ASSEMBLY:;
6: !ROBOT ID:;
7: !DESC: ;
8: !******************************** ;
9: !Modified: ;
10: !Date: ;
11: !******************************** ;
12: ;
13: UFRAME_NUM=3 ;
14: UTOOL_NUM=1 ;
15: PAYLOAD[1:SAND UNIT] ;
16: ;
17: R[1:SPD]=700 ;
18: ;
19:J P[1] 70% CNT100 ;
20:J P[2] 70% CNT100 ;
21: ;
22: ! ;
23:L P[3] R[1:SPD]mm/sec CNT100 ;
24:L P[4] R[1:SPD]mm/sec CNT100 ;
25:L P[5] R[1:SPD]mm/sec CNT100 ;
26:L P[6] R[1:SPD]mm/sec CNT100 ;
27:L P[7] R[1:SPD]mm/sec CNT100 ;
28:L P[8] R[1:SPD]mm/sec CNT100 ;
29:L P[9] R[1:SPD]mm/sec CNT100 ;
30:L P[10] R[1:SPD]mm/sec CNT50 ;
31:L P[11] R[1:SPD]mm/sec CNT50 ;
32:L P[12] R[1:SPD]mm/sec CNT100 ;
33: ;
34: ! ;
35:L P[13] R[1:SPD]mm/sec CNT100 ;
36:L P[14] R[1:SPD]mm/sec CNT100 ;
37:L P[15] R[1:SPD]mm/sec CNT100 ;
38:L P[16] R[1:SPD]mm/sec CNT100 ;
39:L P[17] R[1:SPD]mm/sec CNT100 ;
40:L P[18] R[1:SPD]mm/sec CNT100 ;
41:L P[19] R[1:SPD]mm/sec CNT100 ;
42:L P[20] R[1:SPD]mm/sec CNT100 ;
43:L P[21] R[1:SPD]mm/sec CNT100 ;
44:L P[22] R[1:SPD]mm/sec CNT100 ;
45:L P[23] R[1:SPD]mm/sec CNT100 ;
46: ;
/POS
P[1]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -188.055 mm, Y = -964.814 mm, Z = 928.049 mm,
W = -178.471 deg, P = -12.357 deg, R = -.502 deg,
E1= 2690.900 mm
};
P[2]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 24.901 mm, Y = -27.261 mm, Z = 866.183 mm,
W = 179.460 deg, P = -7.101 deg, R = -.481 deg,
E1= 2690.900 mm
};
P[3]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -178.653 mm, Y = 27.366 mm, Z = 804.185 mm,
W = 179.460 deg, P = -7.101 deg, R = -.481 deg,
E1= 2690.900 mm
};
P[4]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -259.669 mm, Y = 27.995 mm, Z = 785.342 mm,
W = 179.326 deg, P = -6.782 deg, R = -.339 deg,
E1= 2690.900 mm
};
P[5]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -341.724 mm, Y = 28.713 mm, Z = 770.462 mm,
W = 179.407 deg, P = -8.315 deg, R = -.379 deg,
E1= 2690.900 mm
};
P[6]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -549.162 mm, Y = 30.456 mm, Z = 733.179 mm,
W = 179.683 deg, P = -12.192 deg, R = -.461 deg,
E1= 2690.900 mm
};
P[7]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -633.129 mm, Y = 31.263 mm, Z = 712.304 mm,
W = -179.819 deg, P = -14.036 deg, R = -.501 deg,
E1= 2690.900 mm
};
P[8]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -676.348 mm, Y = 31.907 mm, Z = 701.081 mm,
W = 179.704 deg, P = -16.257 deg, R = -.550 deg,
E1= 2690.900 mm
};
P[9]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -720.318 mm, Y = 32.558 mm, Z = 686.426 mm,
W = 179.818 deg, P = -20.151 deg, R = -.637 deg,
E1= 2690.900 mm
};
P[10]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -776.249 mm, Y = 19.054 mm, Z = 660.411 mm,
W = -179.581 deg, P = -28.085 deg, R = -.806 deg,
E1= 2690.900 mm
};
P[11]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -810.038 mm, Y = 71.517 mm, Z = 635.851 mm,
W = -179.663 deg, P = -34.903 deg, R = -.830 deg,
E1= 2690.900 mm
};
P[12]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -846.735 mm, Y = 125.027 mm, Z = 604.385 mm,
W = -179.749 deg, P = -32.999 deg, R = -.845 deg,
E1= 2690.900 mm
};
P[13]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -846.772 mm, Y = 158.500 mm, Z = 603.926 mm,
W = -179.741 deg, P = -31.763 deg, R = .034 deg,
E1= 2690.900 mm
};
P[14]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -850.696 mm, Y = 221.272 mm, Z = 598.865 mm,
W = 179.459 deg, P = -31.034 deg, R = 2.295 deg,
E1= 2690.900 mm
};
P[15]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -845.667 mm, Y = 284.003 mm, Z = 600.109 mm,
W = -179.774 deg, P = -31.431 deg, R = -1.168 deg,
E1= 2690.900 mm
};
P[16]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -822.675 mm, Y = 416.517 mm, Z = 607.364 mm,
W = 178.374 deg, P = -31.999 deg, R = -.934 deg,
E1= 2690.900 mm
};
P[17]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -811.447 mm, Y = 459.198 mm, Z = 607.935 mm,
W = 178.746 deg, P = -32.541 deg, R = -13.829 deg,
E1= 2690.900 mm
};
P[18]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -766.504 mm, Y = 529.544 mm, Z = 617.757 mm,
W = -176.228 deg, P = -36.692 deg, R = -35.828 deg,
E1= 2690.900 mm
};
P[19]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -722.846 mm, Y = 585.215 mm, Z = 619.038 mm,
W = -173.721 deg, P = -44.551 deg, R = -46.405 deg,
E1= 2690.900 mm
};
P[20]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -681.507 mm, Y = 637.068 mm, Z = 622.657 mm,
W = -174.557 deg, P = -42.419 deg, R = -46.954 deg,
E1= 2690.900 mm
};
P[21]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -612.521 mm, Y = 705.515 mm, Z = 628.197 mm,
W = -170.914 deg, P = -43.995 deg, R = -56.629 deg,
E1= 2690.900 mm
};
P[22]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -535.047 mm, Y = 769.126 mm, Z = 636.475 mm,
W = -172.344 deg, P = -45.783 deg, R = -58.092 deg,
E1= 2690.900 mm
};
P[23]{
GP1:
UF : 3, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = -459.682 mm, Y = 863.018 mm, Z = 675.270 mm,
W = -171.899 deg, P = -48.755 deg, R = -58.698 deg,
E1= 2690.900 mm
};
/END