P1 coger pieza
PTP{X 340, Y 120, Z 90, A 0, B -90, C -180, S 'B110', T 'B110010'}
Declaraciones
DECL INT I, J
DECL POS CINTA, PALET
DECL REAL LARGO, ANCHO, ALTO
Inicializar
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Conf. TOOL ventosa (2)
Conf. ACC 50% (A1-A6)
Conf. VEL 25% (A1-A6)
LARGO = 80
ANCHO = 40
ALTO = 40
CINTA.X = (9 x ANCHO) - (ANCHO / 2)
CINTA.Y = (2 x LARGO) - (LARGO / 2)
CINTA_Z = ALTO + 50
PALET.X = 0
PALET.Y = 0
PALET.Z = 400