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KR_120_R2500_pro_Program.rsi
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<rrs2_Program version="3.6">
<rrs2_ProgramName value="KR 120 R2500 pro_Program"/>
<rrs2_MainRoutine>
<rrs2_RoutineBody>
<rrs2_SubRoutineCallStatement name="RC1">
<rrs2_SubRoutineName value="whatever"/>
</rrs2_SubRoutineCallStatement>
</rrs2_RoutineBody>
</rrs2_MainRoutine>
<rrs2_SubRoutine>
<rrs2_SubRoutineName value="whatever"/>
<rrs2_RoutineBody>
<rrs2_PureMotionStatement name="P1">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300" py="0" pz="1500"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="0"/>
<DOUBLE value="-100.954806633894"/>
<DOUBLE value="116.292302485248"/>
<DOUBLE value="-180"/>
<DOUBLE value="15.3374958513541"/>
<DOUBLE value="-180"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P2">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300" py="0" pz="1748"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="0"/>
<DOUBLE value="-103.31128932206"/>
<DOUBLE value="103.6037333374"/>
<DOUBLE value="-180"/>
<DOUBLE value="0.292444015339271"/>
<DOUBLE value="-180"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P3">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="15.5720488432697" pz="1747.51062865021"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-0.82225937728424"/>
<DOUBLE value="-103.304330298406"/>
<DOUBLE value="103.626662352745"/>
<DOUBLE value="-248.595874589638"/>
<DOUBLE value="0.883176824823408"/>
<DOUBLE value="-111.406438371321"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P4">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="31.0826419239475" pz="1746.04444592599"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-1.64093755864508"/>
<DOUBLE value="-103.283469587027"/>
<DOUBLE value="103.695349459973"/>
<DOUBLE value="-255.913510238349"/>
<DOUBLE value="1.6918258525701"/>
<DOUBLE value="-104.092388261249"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P5">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="46.4705660172597" pz="1743.60723818071"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-2.45248019704417"/>
<DOUBLE value="-103.248756138997"/>
<DOUBLE value="103.809495648706"/>
<DOUBLE value="-257.128969113044"/>
<DOUBLE value="2.51572968757785"/>
<DOUBLE value="-102.88303372149"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P6">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="61.675092016884" pz="1740.2086239599"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-3.25338600293787"/>
<DOUBLE value="-103.200271121763"/>
<DOUBLE value="103.968605233654"/>
<DOUBLE value="-256.726400742265"/>
<DOUBLE value="3.34278673962902"/>
<DOUBLE value="-103.295419335525"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P7">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="76.636214604987" pz="1735.8620160412"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-4.04023170294204"/>
<DOUBLE value="-103.138127319963"/>
<DOUBLE value="104.171989778501"/>
<DOUBLE value="-255.670040899776"/>
<DOUBLE value="4.17020042044152"/>
<DOUBLE value="-104.366426784723"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P8">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="91.2948890658001" pz="1730.58456850029"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-4.80969519790483"/>
<DOUBLE value="-103.062468349794"/>
<DOUBLE value="104.418773444905"/>
<DOUBLE value="-254.288441218484"/>
<DOUBLE value="4.99683982374"/>
<DOUBLE value="-105.768522417312"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P9">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="105.593264308138" pz="1724.39710901157"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-5.55857645296703"/>
<DOUBLE value="-102.973467736899"/>
<DOUBLE value="104.70789963081"/>
<DOUBLE value="-252.724253036946"/>
<DOUBLE value="5.82207710186501"/>
<DOUBLE value="-107.359952783771"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P10">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="119.474911177225" pz="1717.32405665088"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="-6.28381575391546"/>
<DOUBLE value="-102.871327917711"/>
<DOUBLE value="105.038138735022"/>
<DOUBLE value="-251.049653196723"/>
<DOUBLE value="6.64549232121422"/>
<DOUBLE value="-109.069300800543"/>
</LocalJoints>
<MotionParameters>
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name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300" py="248"
pz="1500"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="0"/>
<DOUBLE value="-90"/>
<DOUBLE value="90"/>
<DOUBLE value="0"/>
<DOUBLE value="0"/>
<DOUBLE value="0"/>
</LocalJoints>
<MotionParameters>
<VALUE name="MotionType" value="Linear"/>
<VALUE name="JointSpeed" value="100"/>
<VALUE name="JointForce" value="100"/>
<VALUE name="Synchronize" value="1"/>
<VALUE name="CycleTime" value="0"/>
<VALUE name="MaxSpeed" value="2000"/>
<VALUE name="Acceleration" value="2300"/>
<VALUE name="Deceleration" value="2300"/>
<VALUE name="MaxAngularSpeed" value="180"/>
<VALUE name="AngularAcceleration" value="360"/>
<VALUE name="AngularDeceleration" value="360"/>
<VALUE name="OrientationInterpolationMode" value="1"/>
<VALUE name="ConfigurationMode" value="0"/>
</MotionParameters>
</FrameTarget>
</rrs2_PureMotionStatement>
<rrs2_PureMotionStatement name="P28">
<FrameTarget>
<TargetParameters>
<VALUE name="Base" value=""/>
<VALUE name="Tool" value=""/>
<VALUE aw="0" ax="1" ay="0" az="6.12303176911189e-17"
name="Target" nw="0" nx="6.12303176911189e-17" ny="0" nz="-1"
ow="0" ox="0" oy="1" oz="0" pw="1" px="1300"
py="247.510628650211" pz="1484.42795115673"/>
<VALUE name="ExternalTCP" value="0"/>
</TargetParameters>
<LocalJoints>
<DOUBLE value="0"/>
<DOUBLE value="-90"/>
<DOUBLE value="90"/>
<DOUBLE value="0"/>
<DOUBLE value="0"/>
<DOUBLE value="0"/>