MotionLib.attachObj( "Robot" )
if MotionLib.getKinPLCOpenState("Robot") == "STANDBY":
    for i in range(5):
        MotionLib.kinCmdMoveLinAbs(kin="Robot",pos=[0, 0, -45],vel=250,acc=250, dec=250,jrkAcc=100, jrkDec=100)
        while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
                pass
        MotionLib.kinCmdMoveLinAbs("Robot", [120, 95, 0], 250, 250, 250)
        while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
                pass
        MotionLib.kinCmdMoveLinAbs("Robot", [150, 20, -45], 250, 250, 250)
        while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
                pass
        MotionLib.kinCmdMoveLinAbs("Robot", [250, 20, -45], 250, 250, 250)
        while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
                pass
        MotionLib.kinCmdMoveLinAbs("Robot", [320, 120, -25], 250, 250, 250)
        while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
                pass
        MotionLib.kinCmdMoveLinAbs("Robot", [400, 0, -45], 250, 250, 250)
    MotionLib.kinCmdMoveLinAbs("Robot", [0, 0, -45], 250, 250, 250)
    MotionLib.kinCmdMoveLinAbs("Robot", [0, 0, 0], 250, 250, 250)
    MotionLib.kinCmdMoveLinAbs("Robot", [20, 20, 20], 250, 250, 250)
    while MotionLib.getKinPLCOpenState("Robot") == "MOVING":
            pass

else:
    tools.log("Robot is not configured.")