MODULE MainModule
    CONST robtarget Target_50:=[[298.36,100.97,250.58],[0.000000269,0.707107,0.707107,-0.000000268],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Target_10:=[[0,0,0],[0,0.707106781,0.707106781,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Target_20:=[[300,0,0],[0,0.707106781,0.707106781,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Target_30:=[[300,150,0],[0,0.707106781,0.707106781,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget Target_40:=[[0,150,0],[0,0.707106781,0.707106781,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    TASK PERS wobjdata Workobject_1_m:=[FALSE,TRUE,"",[[500.1848,227.1942,115.53],[0.707106781,0,0,-0.707106781]],[[0,0,0],[1,0,0,0]]];
    PERS tooldata t3Jaw_RobStudio_m:=[TRUE,[[0,0,158],[1,0,0,0]],[1,[0,0,130],[1,0,0,0],0,0,0]];
    CONST robtarget Target_50_m:=[[298.36,-100.97,250.58],[2.69E-07,-0.707107,0.707107,2.68E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_10_m:=[[0,0,0],[0,-0.707106781,0.707106781,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_20_m:=[[300,0,0],[0,-0.707106781,0.707106781,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_30_m:=[[300,-150,0],[0,-0.707106781,0.707106781,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_40_m:=[[0,-150,0],[0,-0.707106781,0.707106781,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_50_m0:=[[298.3607,100.9702,-250.5806],[0.70710721881225,0.000963507654349458,-0.00096350944356938,0.707108531696115],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_10_m0:=[[0,0,0],[0.707107218812979,0.000786533135736088,0.000786534108887692,0.707108093695183],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_20_m0:=[[300.0007,0,0],[0.707107218812979,0.000786533135736088,0.000786534108887692,0.707108093695183],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_30_m0:=[[300.0007,150.0004,0],[0.707107218812979,0.000786533135736088,0.000786534108887692,0.707108093695183],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_40_m0:=[[0,150.0004,0],[0.707107218812979,0.000786533135736088,0.000786534108887692,0.707108093695183],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PROC main()
        ConfL\Off;
        TPErase;
        TPReadNum reg1, "wpisz numer procedury do wykonania ";
        IF reg1 = 0 THEN
            TPWrite "Viola_Michal1";
            Viola_Michal1;
        ENDIF
        IF reg1 = 1 THEN
            TPWrite "Viola_Michal1_Copy";
            Viola_Michal1Copy;
        ENDIF
        IF reg1 = 2 THEN
            TPWrite "Viola_Michal1_mirror_base";
            Viola_Michal1_mirror_base;
        ENDIF
        IF reg1 = 3 THEN
            TPWrite "Viola_Michal1_mirrorx";
            Viola_Michal1_mirrorx;
        ENDIF
    ENDPROC
    PROC Viola_Michal1()
        MoveL Target_50, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_10, v300, z0, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_20, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_30, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_40, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_10, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
    ENDPROC
    PROC Viola_Michal1_mirrorx()
        MoveL Target_50_m0, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_10_m0, v300, z0, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_20_m0, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_30_m0, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_40_m0, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Target_10_m0, v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
    ENDPROC
    PROC Viola_Michal1_mirror_base()
        MoveL Target_50_m, v300, fine, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
        MoveL Target_10_m, v300, z0, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
        MoveL Target_20_m, v300, fine, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
        MoveL Target_30_m, v300, fine, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
        MoveL Target_40_m, v300, fine, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
        MoveL Target_10_m, v300, fine, t3Jaw_RobStudio_m\WObj:=Workobject_1_m;
    ENDPROC
    PROC Viola_Michal1Copy()
        MoveL Offs(Target_50,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Offs(Target_10,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Offs(Target_20,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Offs(Target_30,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Offs(Target_40,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
        MoveL Offs(Target_10,0,0,10), v300, fine, t3Jaw_RobStudio\WObj:=Workobject_1;
    ENDPROC
ENDMODULE