PROGRAMFILE ! prgfln c:\bc4work\simrob\my_proj\amtec.prg ERC LOAD TOOL AM_GRF_O ERC LOAD VIEW am0 ERC ROBOT_BASE 0 0 0 0 0 0 ERC ROBOT_BASE_REL 0.5 0 0 0 0 180 ERC ROBOT_BASE_REL 0.5 0 0 0 0 180 Config 1 PTP 0.4954 0.0000 0.3968 0.0000 105.0000 0.0000 ERC LOAD VIEW am1 PTP 0.3503 0.3503 0.3968 -110.7536 43.0795 104.5108 PTP 0.1896 -0.4577 0.3968 106.1735 21.6937 -96.1191 PTP 0.4610 -0.0607 0.1395 -7.4366 135.4881 10.5468 SPEED_PTP 100.0 PTP 0.4065 -0.0535 0.2179 -7.4366 115.4881 10.5468 PTP 0.4693 -0.0875 0.4304 -76.4465 102.1930 6.7875 PTP 0.4223 -0.0076 0.5221 -26.6626 28.5647 -7.3948 PTP 0.4262 -0.0995 0.3652 145.8649 31.0114 -12.4211 ERC TRACK ON ERC PRG_WIN OFF ERC ROBOTJOINTS ON ERC TCP_COORSYS OFF ERC FLOOR OFF LIN 0.3438 -0.0225 0.4787 145.8649 31.0114 -12.4211 LIN 0.2768 -0.0594 0.4550 145.8649 31.0114 -12.4212 LIN 0.2500 0.0000 0.4000 0.0000 180.0000 0.0000 LIN 0.2500 0.0000 0.2000 0.0000 180.0000 0.0000 ERC PRG_WIN ON LIN 0.2500 -0.2400 0.4000 0.0000 180.0000 0.0000 LIN 0.2500 -0.2400 0.4000 0.0000 90.0000 0.0000 LIN 0.3700 -0.2400 0.4000 0.0000 90.0000 0.0000 MSG Schliesse Greifer ERC LOAD TOOL AM_GRF_C WAIT 1.0 MSG oeffne Greifer ERC LOAD TOOL AM_GRF_O WAIT 1.0 LIN 0.3700 -0.2400 0.4000 118.8295 40.7758 -82.0539 Config 2 PTP 0.3700 -0.2400 0.4000 118.8295 40.7758 -82.0539 ERC TRACK OFF ERC ROBOTJOINTS OFF ERC TCP_COORSYS ON ERC FLOOR ON ERC RENDER WIRE ERC DISPLAY_ROBOT_COORSYS ON Config 3 PTP 0.3700 -0.2400 0.4000 118.8295 40.7758 -82.0539 ERC DISPLAY_ROBOT OFF Config 5 PTP 0.3700 -0.2400 0.4000 118.8295 40.7758 -82.0539 Config 1 PTP 0.3996 0.0000 0.4558 0.0000 95.0000 0.0000 ERC LOAD VIEW am0 ERC RENDER FLAT ERC DISPLAY_ROBOT_COORSYS OFF ERC DISPLAY_ROBOT ON ERC ROBOT_BASE 0.4 0 0 0 0 0 ERC ROBOT_BASE_REL 0 0 0 0 0 180 ERC ROBOT_BASE_REL 0 0 0.4 180 0 0 ERC STOP ENDPROGRAMFILE