%%%
  VERSION:1
  LANGUAGE:  ENGLISH
%%%

MODULE posit
  CONST jointtarget jp1:=[[0.0,-45.0,-40.0,0.0,78.0,0.0],[-20.0,-180.0,9E+009,9E+009,9E+009,9E+009]];
  CONST robtarget P1:=[[1008.347,-253.265,248.410],[0.019185,-0.043541,0.997367,0.054729],[0,1,0,0],[30.45,54.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P2:=[[1021.266,-248.631,254.201],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,45.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P3:=[[1035.185,-245.317,258.343],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P4:=[[1049.764,-243.403,260.734],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,27.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P5:=[[1064.642,-242.939,261.315],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,18.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P6:=[[1079.453,-243.934,260.071],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,9.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P7:=[[1093.832,-246.364,257.034],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,0.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P8:=[[1107.426,-250.170,252.277],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-9.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P9:=[[1119.900,-255.258,245.919],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-18.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P10:=[[1130.946,-261.502,238.115],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-27.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P11:=[[1140.292,-268.749,229.058],[0.016114,0.011944,0.998245,0.055710],[0,1,0,0],[30.45,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P12:=[[1138.617,-274.291,278.722],[0.016114,0.011944,0.998245,0.055710],[0,1,0,0],[30.45,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P13:=[[1123.655,-274.862,278.056],[0.016372,0.007329,0.998290,0.055635],[0,1,0,0],[30.47,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P14:=[[1108.694,-275.433,277.390],[0.016628,0.002715,0.998313,0.055559],[0,1,0,0],[30.5,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P15:=[[1093.734,-276.004,276.723],[0.016885,-0.001897,0.998315,0.055481],[0,1,0,0],[30.52,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P16:=[[1078.774,-276.573,276.057],[0.017141,-0.006507,0.998296,0.055403],[0,1,0,0],[30.55,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P17:=[[1063.814,-277.142,275.390],[0.017397,-0.011115,0.998255,0.055323],[0,1,0,0],[30.57,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P18:=[[1048.855,-277.710,274.724],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P19:=[[1050.530,-272.168,225.060],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P20:=[[1047.300,-272.263,224.941],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P21:=[[1044.069,-272.358,224.821],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P22:=[[1040.839,-272.453,224.702],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P23:=[[1037.608,-272.549,224.582],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P24:=[[1034.378,-272.644,224.462],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P25:=[[1031.147,-272.739,224.343],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P26:=[[1027.917,-272.834,224.223],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P27:=[[1024.686,-272.929,224.104],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P28:=[[1023.011,-278.471,273.767],[0.017652,-0.015721,0.998193,0.055242],[0,1,0,0],[30.59,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P29:=[[1008.984,-278.759,273.361],[0.017908,-0.020354,0.998109,0.055160],[0,1,0,0],[30.57,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P30:=[[994.957,-279.047,272.954],[0.018164,-0.024989,0.998004,0.055076],[0,1,0,0],[30.55,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P31:=[[980.929,-279.337,272.547],[0.018419,-0.029625,0.997877,0.054991],[0,1,0,0],[30.52,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P32:=[[966.900,-279.627,272.140],[0.018675,-0.034263,0.997729,0.054905],[0,1,0,0],[30.5,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P33:=[[952.871,-279.918,271.732],[0.018930,-0.038901,0.997559,0.054817],[0,1,0,0],[30.47,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P34:=[[938.842,-280.211,271.323],[0.019185,-0.043541,0.997367,0.054729],[0,1,0,0],[30.45,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P35:=[[940.517,-274.669,221.659],[0.019185,-0.043541,0.997367,0.054729],[0,1,0,0],[30.45,-36.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P36:=[[948.911,-263.142,236.065],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-45.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P37:=[[960.088,-252.578,249.269],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-54.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P38:=[[973.773,-243.235,260.944],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-63.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P39:=[[989.629,-235.346,270.804],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-72.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P40:=[[1007.264,-229.103,278.606],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-81.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P41:=[[1026.246,-224.661,284.158],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-90.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P42:=[[1046.106,-222.128,287.323],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-99.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P43:=[[1066.356,-221.568,288.023],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-108.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P44:=[[1086.497,-222.994,286.241],[0.017656,-0.015804,0.998192,0.055241],[0,1,0,0],[30.45,-117.0,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget P45:=[[1106.033,-226.371,282.021],[0.016114,0.011944,0.998245,0.055710],[0,1,0,0],[30.45,-126.0,9E+09,9E+09,9E+09,9E+09]];

  PROC Motion1()
  ConfJ\OFF;
  ConfL\OFF;
    MoveAbsJ jp1,500,fine,Sili3; 
    MoveJ P1,v500,z50,Sili3;
    MoveL P2,v100,z1,Sili3;
    MoveL P3,v100,z1,Sili3;
    MoveL P4,v100,z1,Sili3;
    MoveL P5,v100,z1,Sili3;
    MoveL P6,v100,z1,Sili3;
    MoveL P7,v100,z1,Sili3;
    MoveL P8,v100,z1,Sili3;
    MoveL P9,v100,z1,Sili3;
    MoveL P10,v100,z1,Sili3;
    MoveL P11,v100,z1,Sili3;
    MoveJ P12,v500,z50,Sili3;
    MoveJ P13,v500,z50,Sili3;
    MoveJ P14,v500,z50,Sili3;
    MoveJ P15,v500,z50,Sili3;
    MoveJ P16,v500,z50,Sili3;
    MoveJ P17,v500,z50,Sili3;
    MoveJ P18,v500,z50,Sili3;
    MoveL P19,v100,z1,Sili3;
    MoveL P20,v100,z1,Sili3;
    MoveL P21,v100,z1,Sili3;
    MoveL P22,v100,z1,Sili3;
    MoveL P23,v100,z1,Sili3;
    MoveL P24,v100,z1,Sili3;
    MoveL P25,v100,z1,Sili3;
    MoveL P26,v100,z1,Sili3;
    MoveL P27,v100,z1,Sili3;
    MoveJ P28,v500,z50,Sili3;
    MoveJ P29,v500,z50,Sili3;
    MoveJ P30,v500,z50,Sili3;
    MoveJ P31,v500,z50,Sili3;
    MoveJ P32,v500,z50,Sili3;
    MoveJ P33,v500,z50,Sili3;
    MoveJ P34,v500,z50,Sili3;
    MoveL P35,v100,z1,Sili3;
    MoveL P36,v100,z1,Sili3;
    MoveL P37,v100,z1,Sili3;
    MoveL P38,v100,z1,Sili3;
    MoveL P39,v100,z1,Sili3;
    MoveL P40,v100,z1,Sili3;
    MoveL P41,v100,z1,Sili3;
    MoveL P42,v100,z1,Sili3;
    MoveL P43,v100,z1,Sili3;
    MoveL P44,v100,z1,Sili3;
    MoveL P45,v100,z1,Sili3;
  ENDPROC

ENDMODULE