//Meca500 Fun with Diodes SetWRF(0.000, 0.000, 0.000, -0.000, 0.000, -0.000) SetTRF(17.000, 0.000, 14.000, 0.000, 90.000, 0.000) MoveJoints(-6.825, 10.722, 0, 4.938, -6.906, 0) SetJointAcc(100.000) SetJointVel(50.000) SetCartAcc(100.000) SetCartLinVel(50.000) delay(1.000) //pick diode 1 gripperopen delay(0.500) MoveJoints(17.128, 56.93, 0.329, -77.161, -81.55, 34.837) SetJointAcc(10.000) SetJointVel(10.000) SetCartAcc(10.000) SetCartLinVel(10.000) MoveJoints(17.62, 64.363, -0.927, -75.896, -82.753, 28.715) delay(1.500) gripperclose delay(1.500) MoveJoints(17.128, 56.644, 0.351, -77.199, -81.492, 35.097) delay(0.250) SetJointAcc(100.000) SetJointVel(50.000) SetCartAcc(100.000) SetCartLinVel(50.000) MoveJoints(18.694, 55.16, 12.284, -74.433, -83.349, 24.698) MoveJoints(18.694, 55.73, 12.166, -74.382, -83.47, 24.26) //shimmy diode1 place SetJointAcc(5.000) SetJointVel(5.000) SetCartAcc(5.000) SetCartLinVel(5.000) MoveJoints(18.703, 55.764, 12.121, -74.375, -83.464, 24.27) MoveJoints(18.694, 55.763, 12.159, -74.38, -83.477, 24.235) MoveJoints(18.703, 55.796, 12.114, -74.372, -83.471, 24.245) MoveJoints(18.694, 55.795, 12.152, -74.377, -83.484, 24.21) MoveJoints(18.703, 55.829, 12.107, -74.369, -83.478, 24.22) MoveJoints(18.694, 55.828, 12.144, -74.374, -83.491, 24.185) MoveJoints(18.675, 55.827, 12.22, -74.383, -83.517, 24.116) MoveJoints(18.694, 55.894, 12.13, -74.368, -83.505, 24.135) MoveJoints(18.675, 55.893, 12.205, -74.378, -83.531, 24.066) MoveJoints(18.694, 55.96, 12.116, -74.363, -83.519, 24.086) MoveJoints(18.675, 55.958, 12.191, -74.372, -83.545, 24.016) MoveJoints(18.694, 56.026, 12.101, -74.357, -83.532, 24.036) MoveJoints(18.694, 56.521, 11.986, -74.316, -83.635, 23.667) MoveJoints(18.712, 56.588, 11.896, -74.301, -83.622, 23.688) MoveJoints(18.694, 56.587, 11.971, -74.311, -83.649, 23.618) MoveJoints(18.712, 56.654, 11.88, -74.295, -83.636, 23.639) MoveJoints(18.694, 56.654, 11.955, -74.305, -83.662, 23.57) MoveJoints(18.694, 57.889, 11.635, -74.209, -83.911, 22.683) MoveJoints(18.694, 58.363, 11.501, -74.174, -84.004, 22.354) delay(1.500) gripperopen delay(0.500) MoveJoints(18.694, 55.73, 12.166, -74.382, -83.47, 24.26) SetJointAcc(100.000) SetJointVel(50.000) SetCartAcc(100.000) SetCartLinVel(50.000) MoveJoints(18.353, 51.268, 12.159, -75.231, -82.434, 28.642) //clear diode1 move to diode2 pick MoveJoints(21.401, 54.689, -4.132, -74.793, -77.481, 40.823) MoveJoints(21.025, 63.36, -3.816, -73.402, -80.156, 32.073) SetJointAcc(5.000) SetJointVel(5.000) SetCartAcc(5.000) SetCartLinVel(5.000) //shimmy pick diode2 MoveJoints(21.097, 64.664, -3.745, -73.114, -80.518, 30.728) MoveJoints(21.082, 65.664, -3.73, -72.967, -80.821, 29.744) MoveJoints(21.121, 65.85, -4.009, -72.947, -80.776, 29.83) MoveJoints(21.159, 66.035, -4.289, -72.927, -80.731, 29.916) MoveJoints(21.198, 66.221, -4.571, -72.907, -80.686, 30.003) MoveJoints(21.159, 66.195, -4.349, -72.911, -80.76, 29.82) delay(1.500) gripperclose delay(1.000) MoveJoints(21.025, 63.36, -3.816, -73.402, -80.156, 32.073) MoveJoints(21.025, 60.569, -3.174, -73.771, -79.549, 34.167) SetJointAcc(100.000) SetJointVel(50.000) SetCartAcc(100.000) SetCartLinVel(50.000) MoveJoints(23.169, 55.415, 8.394, -70.768, -80.5, 27.64) SetJointAcc(5.000) SetJointVel(5.000) SetCartAcc(5.000) SetCartLinVel(5.000) MoveJoints(23.169, 56.695, 8.166, -70.605, -80.848, 26.633) //shimmy place diode2 MoveJoints(23.207, 56.87, 7.928, -70.579, -80.811, 26.689) MoveJoints(23.169, 56.853, 8.135, -70.586, -80.89, 26.512) MoveJoints(23.207, 57.028, 7.896, -70.56, -80.853, 26.568) MoveJoints(23.169, 57.011, 8.102, -70.567, -80.931, 26.392) MoveJoints(23.207, 57.186, 7.863, -70.541, -80.895, 26.448) MoveJoints(23.169, 57.17, 8.068, -70.548, -80.973, 26.273) MoveJoints(23.169, 57.33, 8.034, -70.529, -81.015, 26.153) MoveJoints(23.207, 57.504, 7.794, -70.504, -80.978, 26.211) MoveJoints(23.169, 57.489, 7.999, -70.511, -81.056, 26.035) MoveJoints(23.207, 57.664, 7.758, -70.485, -81.019, 26.092) MoveJoints(23.169, 57.649, 7.963, -70.492, -81.098, 25.917) MoveJoints(23.207, 57.824, 7.721, -70.467, -81.061, 25.975) MoveJoints(23.169, 57.809, 7.926, -70.474, -81.139, 25.799) MoveJoints(23.207, 57.984, 7.684, -70.449, -81.102, 25.858) MoveJoints(23.169, 57.97, 7.888, -70.456, -81.18, 25.682) MoveJoints(23.207, 58.144, 7.646, -70.431, -81.143, 25.741) MoveJoints(23.169, 58.131, 7.849, -70.438, -81.221, 25.566) MoveJoints(23.207, 58.305, 7.607, -70.413, -81.183, 25.625) MoveJoints(23.169, 58.292, 7.81, -70.421, -81.261, 25.45) MoveJoints(23.207, 58.466, 7.567, -70.395, -81.224, 25.51) MoveJoints(23.169, 58.453, 7.769, -70.403, -81.302, 25.334) MoveJoints(23.207, 58.628, 7.526, -70.378, -81.264, 25.395) MoveJoints(23.169, 58.615, 7.728, -70.386, -81.343, 25.219) MoveJoints(23.169, 59.051, 7.613, -70.34, -81.451, 24.913) MoveJoints(23.169, 59.471, 7.497, -70.297, -81.553, 24.623) delay(1.500) gripperopen delay(1.000) MoveJoints(23.169, 56.695, 8.166, -70.605, -80.848, 26.633) SetJointAcc(100.000) SetJointVel(50.000) SetCartAcc(100.000) SetCartLinVel(50.000) MoveJoints(23.169, 54.42, 8.533, -70.905, -80.219, 28.458) delay(1.000) MoveJoints(0.96, 25.822, 3.024, -90.642, -90.605, 64.158) delay(1.000)