language grl 0.1
module A120OperationProcess
  const speed v = joint(35 %)
  const zone zf = fine
  target home = joint_target { joints: [0 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
  path op_path {
    defaults { speed: v, zone: zf }
    point p0 movej home
  }
  operation pick_op {
    kind: handling
    path: op_path
    process {
      dwell_ms: 50 + 50 ms,
      clamp_force: max(20, 10)
    }
    start_action:
      io.do[1] = true
    end_action:
      io.do[1] = false
  }
  proc main()
    run_operation pick_op
  end
end
