Hi,
I have KUKA KR30L16 robot that is used in production.
KRC V8.3.17
I have been also using RoboDK software which helps me alot to create trajectories much faster.
I have achieved optimal trajectories but now I can't speed it up. Firstly I have been using LIN function, then SPLINE because u can define speed in spline and robot will calculate trajectories and axes movement to achieve that speed and going through all points. When I am using SPLINE motion, I keep getting weird movement, almost like jerk.
Description of problem:
- I have 6 points in one line at each point the angle of TCP changes because that is how surface goes, and whenever it comes from one point to another it „jumps“ while changing TCP angle.
- It looks like it doesnt change TCP angle slowly between 2 points rather when it reaches 2 point then and it looks like TCP jumps/jerk.
How to smooth it so that when going from one point to another it goes smooth and no jumps/jerks?
DEF SPL ( )
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)
;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,50)
;ENDFOLD
;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,50)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD
;FOLD PTP FIRST POSITION
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
$ADVANCE = 5
;ENDFOLD
PTP $AXIS_ACT ; skip BCO quickly
; Program generated by RoboDK 3.2.4 for KUKA KR 30 L16
; Using nominal kinematics.
$APO.CPTP = 100.000
$APO.CDIS = 100.000
$BASE = {FRAME: X 1890.000,Y -629.650,Z 955.000,A 89.200,B -0.200,C 0.500}
$TOOL = {FRAME: X 0.000,Y 0.000,Z 405.000,A 0.000,B 0.000,C 0.000}
; Show TCP
$VEL.CP = 0.10000
LIN {X 15.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498}
LIN {X 5.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498}
$VEL.CP = 0.15000
SPLINE WITH $VEL.CP=0.15
SPL {X 15.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 15.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 15.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 15.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 15.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 15.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 15.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 15.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 15.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 65.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 65.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 65.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 65.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 65.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 65.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 65.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 65.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 65.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 165.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 165.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 165.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 165.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 165.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 165.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 165.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 165.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 165.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 165.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 215.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 215.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 215.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 215.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 215.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 215.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 215.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 265.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 265.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 265.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 265.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 265.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 265.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 265.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 265.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 265.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 265.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 315.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 315.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 315.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 315.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 315.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 315.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 315.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 365.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 365.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 365.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 365.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 365.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 365.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 365.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 365.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 365.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 365.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 415.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 415.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 415.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 415.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 415.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 415.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 415.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 465.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 465.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 465.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 465.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 465.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 465.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 465.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 465.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 465.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 465.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 515.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 515.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 515.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 515.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 515.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 515.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 515.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 565.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 565.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 565.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 565.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 565.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 565.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 565.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 565.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 565.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 565.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 615.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 615.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 615.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 615.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 615.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 615.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 615.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 665.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 665.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 665.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 665.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 665.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 665.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 665.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 665.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 665.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 665.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 715.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 715.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 715.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 715.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 715.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 715.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 715.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 765.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 765.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 765.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 765.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 765.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 765.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 765.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 765.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 765.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 765.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 815.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 815.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 815.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 815.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 815.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 815.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 815.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 865.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 865.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 865.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 865.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 865.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 865.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 865.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 865.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 865.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 865.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 915.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 915.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 915.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 915.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 915.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 915.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 915.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 965.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 965.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 965.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 965.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 965.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 965.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 965.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 965.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 965.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 965.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1015.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1015.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
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SPL {X 1115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
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SPL {X 1115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
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SPL {X 1115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1180.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1180.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
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SPL {X 1180.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 1180.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1180.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 1180.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
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SPL {X 1180.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 1180.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498}
ENDSPLINE
$VEL.CP = 0.10000
LIN {X 1180.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498}
END
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