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PROGRAMFILE ! prgfln D:\Easy_rob\EASY_ROB\proj\quanho.prg ! chuong trinh robot qua vang ERC sim_STEP 1.5 erc load body san6se.

bod erc load robot dna_pfiev1 erc load view view1a wait 1 erc load view view1b wait 1 erc load view view1se wait 5 PTP_AX 0.3940 -24.1788 PTP_AX 0.3400 -24.1788 PTP_AX 0.3400 -8.1360 erc grab body quanho.66 PTP_AX 0.3420 22.6891 erc release body quanho.66 PTP_AX 0.3820 22.6891 erc load body san6a.bod PTP_AX 0.4420 22.6891 erc load body san6a1.bod !PTP_AX 1.8120 22.6891 PTP_AX 1.80 22.6891 erc load robot dna_pfiev2 erc load view view5 wait 1 erc load tool tkepqua.tol wait 1 erc grab body quavang.84 PTP_AX 0.0000 -90.0689 !PTP_AX 0.7800 -90.0689 PTP_AX 1.0880 -90.0689 erc load body san6c.bod erc load robot dna_pfiev3 erc load view view7 wait 1 PTP_AX 0.7120 23.0329 PTP_AX 0.6780 23.0329 PTP_AX 0.6780 11.2300 erc grab body quanho.79 erc grab body quanho.81 PTP_AX 0.6780 -23.9496 erc release body quanho.79 erc release body quanho.81 PTP_AX 0.7100 -23.9496 erc load body san6c1.bod PTP_AX 0.8420 -23.9496 erc load body san6c2.bod PTP_AX 1.0220 -6.9900 erc grab body quanho.71 PTP_AX 1.1200 23.2621 erc release body quanho.71 erc robot_base_rel 0 -0.1 0.02 -2 0 0 erc robot_base_rel 0 -0.1 0.05 -4. 0 0 erc load body san6c3.bod erc robot_base_rel 0 -0.1 0.01 -2.5 0 0 erc robot_base_rel 0 -0.1 -0.01 -0.5 0 0 erc robot_base_rel 0 -0.1 0 -0.5 0 0 erc robot_base_rel 0 -0.1 0.01 -2.5 0 0

erc robot_base_rel 0 -0.1 -0.03 4 0 0 erc load view view2 erc robot_base_rel 0 -0.1 -0.01 1 0 0 erc robot_base_rel 0 -0.1 -0.01 1 0 0 erc robot_base_rel 0 -0.14 -0.03 4 0 0 erc robot_base_rel 0 -0.1 0 1.5 0 0 erc load body san6d.bod speed_ptp 20 PTP_AX 1.6100 23.2621 erc robot_base_rel 0 0.1 0 0 0 2 PTP_AX 1.7460 23.2621 erc robot_base_rel 0 0.1 0 0 0 4 PTP_AX 1.9860 23.2621 erc robot_base_rel 0 0.1 0 0 0 4 PTP_AX 2.2820 23.2621 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel -0.08 -0.55 0 0 0 0 wait 2 erc load view view6se wait 2 erc load body san6e.bod wait 1 erc robot_base_rel 0 -0.08 0 0 0 0.8 erc robot_base_rel 0 -0.25 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel 0 -0.25 0 0 0 0 erc robot_base_rel -0.01 -0.15 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 4 erc robot_base_rel 0 -0.25 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel -0.01 -0.25 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 4 erc robot_base_rel 0 -0.25 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel -0.02 -0.15 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 5 erc robot_base_rel -0.03 -0.25 0 0 0 0 erc robot_base_rel 0 0.1 0 0 0 4 erc robot_base_rel -0.03 -0.25 -0.02 0 0 0 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel -0.04 -0.25 -0.02 0 0 0 erc robot_base_rel 0 0.1 0 0 0 3 erc robot_base_rel 0 -0.25 -0.01 0 0 0 erc robot_base_rel 0 0.1 0 0 0 2 erc robot_base_rel -0.02 -0.05 0 0 0 0 !erc robot_base_rel 0 0.055 0 0 0 3.5 !erc robot_base_rel -0.01 0 0 0 0 1 !erc robot_base_rel -0.01 0.055 0 0 0 0 erc load view view3 erc load body san6f.bod erc load robot dna_pfiev5a3 wait 2 erc load robot dna_pfiev5a4 wait 2 speed_ptp 5 PTP_AX -0.0120 0.3040 erc grab body qua_vang1 PTP_AX -0.0120 0.670 erc release body qua_vang1

erc move_rel body qua_vang1 0 0 -0.03 0 0 0 PTP_AX -0.0120 0.2940 ! chuong trinh robot qua nho chay vung mot diem ERC load view quanho1 wait 5 ERC load view quanho2 ERC load robot quanho2 wait 2 ERC load tool taykep ERC load body san6 wait 2 ERC sim_STEP 1.5 erc robot_base_rel 1.6 0 0 0 0 0 PTP_AX -90.0000 0.0000 ERC load view quanho3 erc robot_base_rel 0 -0.3 0 0 0 0 ERC load tool taydong ERC GRAB BODY quanho.64 PTP_AX -90.0000 120.000 ERC load tool taykep ERC MOVE_rel body quanho.64 0 0.03 1.1 0 0 0 ERC release BODY quanho.64 PTP_AX -90.0000 0.0000 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -1.5 0 0 0 0 ERC load tool taydong ERC release BODY quanho.64 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 PTP_AX -90.0000 122.0000 ERC load tool taykep ERC sim_STEP 5 [sec] ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.73 0 0 0.08 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.08 0 0 0 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC sim_STEP 1.5 [sec] PTP_AX -90.0000 0.0000 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -1.55 0 0 0 0 ERC load tool taydong ERC GRAB BODY quanho.69 ERC GRAB BODY quanho.76 ERC GRAB BODY quanho.77 ERC load view quanho4 erc robot_base_rel 0 0.03 0 0 0 0 PTP_AX -180.0000 0.0000 erc robot_base_rel -2.4 0 0 0 0 0 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 PTP_AX -180.0000 44.0000

ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 erc robot_base_rel -0.6 0 0 0 0 0 erc robot_base_rel 0 0 0 0 0 90 ERC load tool taykep ERC load body san6_2 wait 5 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 ERC release BODY quanho.69 ERC release BODY quanho.76 ERC release BODY quanho.77 PTP_AX -180.0000 64.0000 PTP_AX -180.0000 44.5000 ERC load body san6_3 wait 5 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 ERC release BODY quanho.69 ERC release BODY quanho.76 ERC release BODY quanho.77 PTP_AX -180.0000 64.0000 PTP_AX -180.0000 44.5000 ERC load body san6_4 wait 5 ERC load view quanho5 wait 15 ! chuong trinh 2 diem ERC load view quanho2 ERC load robot quanho2 wait 2 ERC load tool taykep ERC load body san6 wait 2 ERC sim_STEP 1.5 erc robot_base_rel 1.6 0 0 0 0 0 PTP_AX -90.0000 0.0000 ERC load view quanho3 erc robot_base_rel 0 -0.3 0 0 0 0 ERC load tool taydong ERC GRAB BODY quanho.64 PTP_AX -90.0000 120.000 ERC load tool taykep ERC MOVE_rel body quanho.64 0 0.03 1.1 0 0 0 ERC release BODY quanho.64 PTP_AX -90.0000 0.0000 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -1.5 0 0 0 0 ERC load tool taydong ERC release BODY quanho.64 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 PTP_AX -90.0000 122.0000 ERC load tool taykep ERC sim_STEP 5 [sec] ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0

ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.73 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.2 0 0 0 ERC MOVE_rel body quanho.73 0 0 0.08 0 0 0 ERC MOVE_rel body quanho.70 0 0 0.08 0 0 0 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC sim_STEP 1.5 [sec] PTP_AX -90.0000 0.0000 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -1.5 0 0 0 0 ERC load view quanho6 ERC load tool taydong ERC GRAB BODY quanho.69 ERC GRAB BODY quanho.76 ERC GRAB BODY quanho.77 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 PTP_AX -90.0000 121.5000 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -3 0 0 0 0 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 PTP_AX -90.0000 52.5000 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 erc robot_base_rel 0 -1.5 0 0 0 0 erc robot_base_rel 0 0 0 0 0 17 erc robot_base_rel 0 -0.5 0 0 0 0 erc robot_base_rel 0 0.4 0 0 0 0 erc robot_base_rel 0 0 0 0 0 20 erc robot_base_rel 0 -1.35 0 0 0 0 ERC load robot quanho3 ERC load body san7 wait 2 ERC load view quanho7 ERC load body san7_2 wait 2 ERC release BODY quanho.70 ERC release BODY quanho.73 ERC release BODY quanho.64 ERC release BODY quanho.69 ERC release BODY quanho.76 ERC release BODY quanho.77 PTP_AX -181.0000 85.0000 PTP_AX -181.0000 55.0000 ERC GRAB BODY quanho.70 ERC GRAB BODY quanho.73 ERC GRAB BODY quanho.64 PTP_AX -165.5000 55.0000 ERC load body san7_3 wait 2

ERC release BODY quanho.73 ERC release BODY quanho.64 PTP_AX -165.50000 PTP_AX -165.50000 ERC load body san7_4 wait 2 ERC release BODY quanho.70 PTP_AX -165.50000 PTP_AX -165.50000 erc robot_base_rel 0.5 0 0 ERC load view quanho8 ENDPROGRAMFILE

85.0000 55.0000

85.0000 55.0000 0 0 0