Practica2_Robotstudio_part2

PROC rutina3()


        p100:=p10;


        FOR i FROM 1 TO 3 DO

            MoveJ p40, v1000, z50, MyTool;
            WaitTime i*2;

            MoveJ p100, v1000, fine, MyTool;
                MoveL Offs(p100,0,i*(-40),0), v1000, fine, MyTool;
                MoveL Offs(p100,i*(40),i*(-40),0), v1000, fine, MyTool;
                MoveL Offs(p100,i*(40),0,0), v1000, fine, MyTool;
                MoveL Offs(p100,0,0,0), v1000, fine, MyTool;


         p100 := Offs(p10,0,i*(-40) + (-30),0);

        ENDFOR




    ENDPROC