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byABBRAPID-1.88.MoveAbsJMoveAbsJllIR6400CMoveAbsJTCPT_ROB12071MoveAbsJp50,v1000,z50,tool2;tool2p50v1000zonez502MoveAbsJ*,v1000\T:=5,fine,grip3;grip3*5MoveAbsJ[\Conc]ToJointPos[\ID][\NoEOffs]Speed[\V]|[\T]Zone[\Z][\Inpos]Tool[\Wobj][\Conc]:switch\Conc5StorePath-RestoPath\ConcToJointPoszonebyToJointPosjointtarget*[\ID]IDidentnoIDIDroutine[\NoEOffs]switch\NoEOffs1MoveAbsJSpeedspeeddataTCP[\V]numTCPmm/s[\T]numZonezonedatazoneZone[\z]ZonebynumTCPzone[\Inpos]stoppointdataTCPzonezoneTooltooldataTCPTCP[\Wobj]wobjdataMoveAbsJ\NoEOffs\NoEOffsTCPTCPTCPZoneby1MoveAbsJ*,v2000\V:=2200,z40\Z:=45,grip3;Grip3v2000z40TCP2200mm/szone45mm2MoveAbsJp5,v2000,fine\Inpos:=inpos50,grip3;Grip3p5fine50%50%2stoppointdatainpos503MoveAbsJ\Conc,*,v2000,z40,grip3;Grip34MoveAbsJ\Conc,*\NoEOffs,v2000,z40,grip3;5GripLoadobj_mass;MoveAbsJstart,v2000,z40,grip3\Wobj:=obj;grip3objstartMoveAbsJMoveAbsJMoveAbsJ[Conc,][ToJointPos:=]IN[ID:=identno(IN)][NoEOffs],[Speed:=]speeddata(IN)[V:=numIN]|[T:=num(IN)],[Z:=]num(IN)[Inpos:=stoppointdata(IN)],[Tool:=]tooldata(PERS)[Wobj:=wobjdata(PRS)];byRAPIDRAPIDRAPID959Jointtarget1010speeddataZone1047zonedatazone1014stoppointdata1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/O189MoveCTCPT_ROB12121Movep1,p2,v500,z30,tool2;Tool2TCPp2v500,zonez30.p1p22MoveC*,*,v500\T:=5,fine,grip3;Grip3TCPfine**53MoveLp1,v500,fine,tool1;MoveCp2,p3,v500,z20,tool1;MoveCp4,p1,v500,fine,tool1;MoveCbyMoveC[\Conc]CirPointToPoint[\ID]Speed[\V]|[\T]Zone[\z][\Inpos]Tool[\Wobj][\Corr][\Conc]switchflybypointsCPU\Conc5StorePathRestorePath\ConcToPointzoneCirPointrobtarget*ToPointrobtarget*[\ID]IDidentnoP1P2P3P4byIDIDroutineSpeedspeeddataTCP[\V]numTCPmm/s[\T]numZonezonedatazone[\Z]ZonenumTCPzonezone[\Inpos]stoppointdataTCPzonezoneTooltooldataTCP[\Wobj]bywobjdataTCP[\Corr]switchCorrWritelTCPllCirPathModeTCPzone1MoveC*,*,v500\V:=550,z40\Z:=45,grip3;Grip3TCPv500z40TCP550mm/szone45mm2MoveCp5,p6,v2000,fine\Inpos:=inpos50,grip3;Grip3TCPp6fine50%50%bystoppointdatainpos503MoveC\Conc,*,*,v500,z40,grip3;Grip3TCP4MoveCcir1,p15,v500,z40,grip3\Wobj:=fixture;Grip3TCPcir1p15fixturecirPointTopointlToPoint0.1lCirPoint0.1lCirPointToPoint1ToPointCirclePointTCPMoveCMoveC[Conc,][CirPoint:=]robtarget(IN),[ToPoint:=]robtargetIN,[ID:=identnoIN],[Speed:=]speeddataIN[V:=numIN][T:=numIN],[zone:=]zonedataIN[Z:=num(IN)][Inpos:=stoppointdataIN],[Tool:=]tooldataPERSby[Wobj:=wobjdataPERS][Corr];RAPIDRAPIDRAPID1010speeddataZone1047zonedatazone1014stoppointdata1031tooldata1039wobjdata67CorrWrite32CirPathModeRAPIDRAPIDI/ORAPIDRAPIDI/ORAPIDRAPIDI/O1.90MoveCDOMoveCDOTCP/T_ROB11MoveCDOp1,p2,v500,z30,tool2,do1,1;Tool2TCPp2,v500zonez30p1p2p2do1MoveCDOCirPointToPoint[\ID]Speed[\T]ZoneTool[\Wobj]SignalValueCirPointrobtargetby*ToPointrobtarget*[\ID]IDidentnoIDIDroutineSpeedspeeddataTCP[\T]numZonezonedatazoneZoneTooltooldata[\Wobj]wobjdataTCPSignalsignaldobyValuedionum01MoveC/MoveC/MoveCSetDOMoveCDO/I/O/MoveCMoveCDO[CirPoint:=]robtargetIN,[ToPoint:=]robtargetIN,[ID:=identnoIN],[Speed:=]speeddataIN[T:=numIN],[Zone:=]zonedataIN,[Tool:=]tooldataPERS[Wobj:=wobjdataPERS],[Signal:=]signaldoVAR],[Value:=]dionumIN];RAPIDRAPIDRAPID209MoveC1010speeddataZone1047zonedatazoneby1031tooldata1039wobjdataRAPIDRAPIDI/ORAPIDRAPIDI/OI/ORAPIDRAPIDI/O1.91MoveCSyncRAPIDMoveCSyncTCPRAPIDT_ROB12MoveCSyncp1,p2,v500,z30,tool2,proc1;Tool2TCPp2,v500zonez30p1p2p2proc1MoveCSyncCirPointToPoint[\ID]Speed[\T]ZoneTool[\Wobj]ProcNameCirPointrobtarget*ToPointrobtarget*[\ID]IDidentnobyIDIDroutineSpeedspeeddataTCP[\T]numZonezonedatazoneZoneTooltooldata[\Wobj]wobjdataTCPProcNamestringRAPIDMoveCTCPMoveCSyncRAPIDRAPIDbyMoveCRAPIDRAPIDRAPIDMoveCRAPIDMoveCSyncTRAPRAPIDMoveCSync[CirPoint:=]robtargetIN,[ToPoint:=]robtargetIN,[ID:=identnoIN],[Speed:=]speeddataIN[T:=numIN],[Zone:=]zonedataIN,[Tool:=]tooldataPERS[Wobj:=wobjdataPERS],[ProcName:=]stingIN];RAPIDRAPIDRAPID209MoveC1010speeddataZone1047zonedatazone1031tooldata1039wobjdataRAPIDRAPIDI/O