API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Dec 20th, 2018
206
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
6502 Kick Assembler 26.59 KB | None | 0 0
raw download clone embed print report
  1.  
  2. MODULE MW_home
  3.     CONST robtarget home:=[[496.07,-0.04,666.14],[0.382894,0.000478476,0.923792,0.000462905],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  4.     CONST robtarget home10:=[[450.19,-0.17,646.53],[0.000620992,-0.204155,-0.978938,-0.000133226],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  5.     CONST robtarget home20:=[[512.72,-0.24,711.26],[0.695765,0.0017162,0.718266,0.00123483],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  6.     PERS wobjdata uklad_mw:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
  7.    
  8.     CONST robtarget p10_3:=[[115,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  9.     CONST robtarget p20_3:=[[115,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  10.     CONST robtarget p30_3:=[[115,-614.7,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  11.     CONST robtarget p40_3:=[[115,-614.7,250],[0.00395734,-0.561623,0.827322,0.0100899],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  12.     CONST robtarget p50_3:=[[115,-520,250],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  13.     CONST robtarget p60_3:=[[115,-520,600],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  14.    
  15.     CONST robtarget p10_2:=[[-42.8,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  16.     CONST robtarget p20_2:=[[-42.8,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  17.     CONST robtarget p30_2:=[[-42.8,-614.7,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  18.     CONST robtarget p40_2:=[[-42.8,-614.7,250],[0.00395734,-0.561623,0.827322,0.0100899],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  19.     CONST robtarget p50_2:=[[-42.8,-520,250],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  20.     CONST robtarget p60_2:=[[-42.8,-520,600],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  21.    
  22.     CONST robtarget p10_1:=[[-200.5,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  23.     CONST robtarget p20_1:=[[-200.5,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  24.     CONST robtarget p30_1:=[[-200.5,-613.46,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  25.     CONST robtarget p40_1:=[[-200.5,-613.46,250],[0.00396939,-0.561618,0.827325,0.0101264],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  26.     CONST robtarget p50_1:=[[-200.48,-520,250],[0.00392122,-0.561626,0.82732,0.0100892],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  27.     CONST robtarget p60_1:=[[-200.48,-520,600],[0.00392518,-0.561622,0.827323,0.010096],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  28.  
  29.     CONST robtarget p_10:=[[0.208668038,583.891474544,554.474070271],[0.713103621,-0.000234635,0.000590241,0.701058359],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  30.     CONST robtarget p_20:=[[-50.011501519,473.636684422,181.663028435],[0.71320429,-0.011103086,0.700820041,0.008223896],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  31.     CONST robtarget p_30:=[[-48.266276537,473.255989334,82.334408702],[0.713204307,-0.011103071,0.700820024,0.008223909],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  32.     CONST robtarget p_40:=[[583.542328772,-20.190297663,554.474070271],[0.999671327,0.000261396,0.000578887,-0.025628765],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  33.     CONST robtarget p_50:=[[583.542288113,-20.190328672,109.747194115],[0.999671326,0.000261415,0.000578857,-0.025628805],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  34.     CONST robtarget home30:=[[93.26,362.28,274.13],[0.596809,-0.586036,-0.380218,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  35.     CONST robtarget home40:=[[93.26,360.71,130.66],[0.596808,-0.586035,-0.380216,-0.394739],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  36.     CONST robtarget home50:=[[91.92,457.31,368.74],[0.596812,-0.586035,-0.380219,-0.394729],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  37.     CONST robtarget home60:=[[449.27,-50.09,401.57],[0.166284,-0.687732,0.122578,-0.695952],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  38.     CONST robtarget home70:=[[433.51,-48.08,189.31],[0.147454,-0.683702,0.142594,-0.70034],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  39.     CONST robtarget home80:=[[433.51,-48.09,135.74],[0.147431,-0.683723,0.1426,-0.700322],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  40.     CONST robtarget home90:=[[449.28,-50.09,445.55],[0.166285,-0.687731,0.122577,-0.695953],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  41.     CONST robtarget home100:=[[449.27,-50.09,445.54],[0.166274,-0.687745,0.122578,-0.695941],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  42.     CONST robtarget home110:=[[90.27,426.86,478.58],[0.011539,0.547236,-0.836824,0.0112376],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  43.     CONST robtarget home120:=[[90.27,426.86,123.35],[0.0115396,0.547237,-0.836823,0.0112379],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  44.     CONST robtarget home130:=[[91.08,532.12,123.35],[0.0115377,0.547235,-0.836824,0.0112346],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  45.     CONST robtarget home140:=[[450.19,-0.17,646.53],[0.000618084,-0.204159,-0.978938,-0.000132225],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  46.     CONST robtarget home150:=[[-200.51,-614.70,500.00],[0.00395059,-0.561611,0.827331,0.010089],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  47.     CONST robtarget home160:=[[165.32,417.45,642.92],[0.00107643,-0.204497,-0.978865,0.00156584],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  48.     CONST robtarget home170:=[[174.18,416.83,273],[0.00107799,-0.204491,-0.978866,0.00159445],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  49.     CONST robtarget home180:=[[174.18,416.83,244.61],[0.00107824,-0.204494,-0.978866,0.00159371],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  50.     CONST robtarget home190:=[[174.18,416.83,444.59],[0.00107879,-0.204495,-0.978866,0.00159232],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  51.     CONST robtarget home200:=[[165.33,417.44,410.01],[0.590061,-0.601814,-0.371832,-0.389087],[0,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  52.     CONST robtarget home210:=[[360.51,-51.42,241.67],[0.148777,-0.690065,0.156039,-0.690889],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  53.     CONST robtarget home220:=[[360.51,-51.42,175.78],[0.148778,-0.690066,0.156039,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  54.     CONST robtarget home230:=[[360.51,-51.42,156.53],[0.14878,-0.690066,0.156038,-0.690887],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  55.     CONST robtarget home240:=[[323.82,-51.42,156.53],[0.148779,-0.690065,0.156041,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  56.     CONST robtarget home250:=[[323.82,-51.42,185.16],[0.148779,-0.690066,0.156037,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  57.     CONST robtarget home260:=[[467.72,-53.52,318.95],[0.148778,-0.690066,0.156042,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  58.     CONST robtarget home270:=[[467.72,-53.53,318.95],[0.148778,-0.690067,0.156041,-0.690886],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  59.     CONST robtarget home280:=[[282.26,418.69,456.20],[0.000618084,-0.204156,-0.978938,-0.00013467],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  60.     CONST robtarget home290:=[[282.25,418.69,214.75],[0.000619474,-0.204155,-0.978938,-0.000133606],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  61.     CONST robtarget home300:=[[282.25,418.69,180.65],[0.000620402,-0.204156,-0.978938,-0.00013389],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  62.     CONST robtarget home310:=[[282.26,418.69,423.10],[0.000614417,-0.204154,-0.978939,-0.000137188],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  63.     CONST robtarget home320:=[[282.25,418.69,487.03],[0.000620992,-0.204156,-0.978938,-0.000134069],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  64.     CONST robtarget home330:=[[450.19,-0.17,646.53],[0.00062116,-0.204158,-0.978938,-0.000133195],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  65.     CONST robtarget home340:=[[-9.68,657.4,428.95],[0.000618294,-0.204156,-0.978938,-0.000132573],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  66.     CONST robtarget home350:=[[-9.68,657.4,261.02],[0.000619095,-0.204159,-0.978938,-0.000135175],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  67.     CONST robtarget home360:=[[-9.59,658.26,187.57],[0.00107378,-0.204131,-0.97894,-0.00240328],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  68.     CONST robtarget home370:=[[-9.24,657.4,442.43],[0.000617578,-0.204155,-0.978938,-0.000133047],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  69.     CONST robtarget home380:=[[-9.24,657.4,442.43],[0.696815,-0.141491,-0.688066,0.144893],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  70.     CONST robtarget home390:=[[120.75,657.36,440.64],[0.180871,0.68868,0.181562,0.678263],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  71.     CONST robtarget home400:=[[423.78,66.25,361.17],[0.180882,0.688667,0.181563,0.678273],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  72.     CONST robtarget home410:=[[423.78,67.02,172.06],[0.180871,0.688669,0.181565,0.678274],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  73.     CONST robtarget home430:=[[423.78,19.62,192.46],[0.0602022,0.709749,0.0590731,0.699387],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  74.     CONST robtarget home420:=[[423.78,19.62,192.46],[0.0602022,0.709749,0.0590731,0.699387],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  75.     CONST robtarget home450:=[[423.78,-40.79,195.04],[0.0837938,-0.706867,0.0870181,-0.696954],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  76.     CONST robtarget home440:=[[423.78,-40.79,195.04],[0.0837938,-0.706867,0.0870181,-0.696954],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  77.     CONST robtarget home470:=[[423.78,-63.4,186.61],[0.138172,-0.69787,0.142159,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  78.     CONST robtarget home460:=[[423.78,-63.4,186.61],[0.138172,-0.69787,0.142159,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  79.     CONST robtarget home480:=[[443.43,-63.4,152.39],[0.13817,-0.69787,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  80.     CONST robtarget home490:=[[423.78,-63.4,326.39],[0.138168,-0.697871,0.142157,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  81.     CONST robtarget home500:=[[423.78,-63.40,635.88],[0.138171,-0.69787,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  82.     CONST robtarget home510:=[[423.78,-63.40,162.57],[0.138252,-0.697749,0.142174,-0.688346],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  83.     CONST robtarget home520:=[[443.43,-63.4,190.15],[0.138171,-0.69787,0.142156,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  84.     CONST robtarget home530:=[[423.78,-63.39,580.98],[0.138184,-0.697881,0.142146,-0.688231],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  85.     CONST robtarget home540:=[[423.78,-63.39,580.98],[0.138184,-0.697882,0.142146,-0.68823],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  86.     CONST robtarget home550:=[[90.27,426.86,478.58],[0.0115392,0.547234,-0.836825,0.0112378],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  87.     CONST robtarget home560:=[[92.33,361.95,158.03],[0.596807,-0.586036,-0.380218,-0.394737],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  88.     CONST robtarget home570:=[[92.33,361.95,154.72],[0.596808,-0.586037,-0.380217,-0.394737],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  89.     CONST robtarget home580:=[[92.32,361.95,252.76],[0.596808,-0.586036,-0.380218,-0.394736],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  90.     CONST robtarget home590:=[[92.64,372.09,306.72],[0.596807,-0.586036,-0.380214,-0.394741],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  91.     CONST robtarget home600:=[[450.19,-0.17,646.53],[0.000621118,-0.204153,-0.978939,-0.000133205],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  92.     CONST robtarget p40_11:=[[450.19,-0.17,646.53],[0.000620022,-0.204155,-0.978938,-0.000135028],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  93.     CONST robtarget Target_60:=[[399.24,358.11,85.55],[0.980818,0.00286233,0.0131759,0.19446],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  94.     CONST robtarget Target_40:=[[403.90074593,359.78160916,444.496415927],[0.980817168,0.002862311,0.013179542,0.194462825],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  95.     CONST robtarget Target_50:=[[399.24,358.11,173.34],[0.980818,0.00286101,0.0131787,0.194461],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  96.     CONST robtarget home610:=[[93.26,360.71,175.02],[0.596809,-0.586036,-0.380217,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  97.     CONST robtarget home620:=[[93.26,360.71,149.08],[0.596809,-0.586037,-0.380215,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  98.     CONST robtarget home630:=[[93.26,360.71,149.08],[0.596811,-0.586036,-0.380217,-0.394733],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  99.     CONST robtarget home640:=[[433.51,-48.08,183.44],[0.147453,-0.683701,0.142598,-0.70034],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  100.     CONST robtarget home650:=[[412.68,-50.39,278.28],[0.148779,-0.690066,0.156038,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  101.     CONST robtarget home660:=[[279.63,376.80,452.73],[0.000555538,0.0445137,-0.999009,0.000320876],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  102.     CONST robtarget home670:=[[279.63,376.80,217.21],[0.000555285,0.0445103,-0.999009,0.000320086],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  103.     CONST robtarget home680:=[[279.63,376.80,208.14],[0.000554147,0.0445082,-0.999009,0.000318952],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  104.     CONST robtarget home690:=[[279.63,376.80,208.14],[0.00055461,0.044512,-0.999009,0.000320529],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  105.     CONST robtarget home700:=[[279.63,376.80,208.14],[0.000554568,0.0445127,-0.999009,0.000320506],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  106.     CONST robtarget home710:=[[467.62,38.74,452.73],[0.00862877,0.12969,0.955043,-0.266455],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  107.     CONST robtarget home720:=[[-9.59,658.26,204.55],[0.00107361,-0.20413,-0.97894,-0.00240357],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  108.     CONST robtarget home730:=[[443.43,-63.4,326.39],[0.138169,-0.69787,0.142157,-0.688243],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  109.     CONST robtarget home740:=[[443.43,-63.4,213.22],[0.138167,-0.697871,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  110.     CONST robtarget Wyjscie:=[[512.79,0.00,695.20],[0.608881,1.18205E-08,0.793262,9.07303E-09],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  111.     CONST robtarget Wyjscie10:=[[512.79,0.00,695.20],[0.608881,1.18205E-08,0.793262,9.07303E-09],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  112.     CONST robtarget Wyjscie20:=[[493.09,383.99,428.52],[0.36261,-0.300001,0.873501,0.124537],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  113.     CONST robtarget Wyjscie30:=[[368.71,356.38,695.24],[0.564522,-0.297317,0.73541,0.228229],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  114.     CONST robtarget Wyjscie40:=[[343.41,331.92,370.84],[0.239961,-0.362042,0.895507,0.0970122],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  115.     CONST robtarget Wyjscie50:=[[331.93,345.10,394.98],[0.243791,-0.377648,0.887232,0.103768],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  116.     CONST robtarget Wyjscie60:=[[378.76,344.64,358.05],[0.0113517,-0.391614,0.920047,0.00482832],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  117.     CONST robtarget Wyjscie70:=[[359.02,339.78,336.73],[0.0113513,-0.391614,0.920047,0.00482817],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  118.     CONST robtarget Wyjscie80:=[[349.71,343.72,336.73],[0.0113517,-0.391614,0.920047,0.00482807],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  119.     CONST robtarget Wyjscie90:=[[354.16,336.33,336.73],[0.0113522,-0.391614,0.920047,0.00482796],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  120.     CONST robtarget Wyjscie100:=[[354.79,336.33,289.12],[0.0113526,-0.391614,0.920047,0.00482784],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  121.     CONST robtarget Wyjscie110:=[[354.79,336.33,289.12],[0.0113526,-0.391614,0.920047,0.00482784],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  122.     CONST robtarget Wyjscie120:=[[354.79,336.33,701.69],[0.0113531,-0.391614,0.920047,0.0048279],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  123.     CONST robtarget Wyjscie130:=[[354.79,-29.70,701.69],[0.0113573,-0.391614,0.920047,0.00482569],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  124.     CONST robtarget Wyjscie140:=[[547.37,-29.70,701.69],[0.0113574,-0.391614,0.920047,0.00482567],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  125.     CONST robtarget Wyjscie150:=[[547.37,-29.70,298.52],[0.0113569,-0.391614,0.920047,0.0048259],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  126.     CONST robtarget Wyjscie160:=[[547.37,-29.70,298.18],[0.0113569,-0.391614,0.920047,0.00482584],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  127.     CONST robtarget Wyjscie170:=[[547.37,-29.70,579.36],[0.0113571,-0.391614,0.920047,0.00482577],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  128.     CONST robtarget Wyjscie180:=[[547.37,-29.70,579.36],[0.0113571,-0.391614,0.920047,0.00482577],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  129.     CONST robtarget Wyjscie190:=[[547.37,-29.70,579.36],[0.0113571,-0.391614,0.920047,0.00482577],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  130.     CONST robtarget Wyjscie200:=[[547.37,-29.70,579.36],[0.0113571,-0.391614,0.920047,0.00482577],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  131.     CONST robtarget Wyjscie210:=[[354.16,336.33,336.73],[0.0113522,-0.391614,0.920047,0.00482798],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  132.    
  133.     PROC Home_1()
  134.         MoveL home, v1000, z0, tool0;
  135.         MoveJ home10, v1000, z0, tool0;
  136.         MoveJ home20, v1000, z0, tool0;
  137.     ENDPROC
  138.    
  139.     PROC Test_mw()
  140.         CH2P;
  141.         MoveJ home10, v1000, fine, tool0\WObj:=wobj0;
  142.         MoveJ home30, v1000, fine, tool0;
  143.         MoveL home610, v500, fine, tool0;
  144.         MoveL home40, v30, fine, tool0;
  145.         CH_2_zamknij;
  146.         Set DO10_15_przypnij_odepnij_CH2;
  147.         MoveL home620, v30, fine, tool0;
  148.         MoveL home30, v1000, fine, tool0;
  149.         MoveL home50, v1000, fine, tool0;
  150.         MoveJ home60, v1000, z150, tool0;
  151.         MoveL home70, v500, fine, tool0;
  152.         MoveL home80, v30, fine, tool0;
  153.         CH_2_otworz;
  154.         Reset DO10_15_przypnij_odepnij_CH2;
  155.         MoveL home640, v30, fine, tool0;
  156.         MoveL home90, v1000, fine, tool0;
  157.         Zamkniecie_imadla;
  158.         MoveJ home10, v1000, z100, tool0;
  159.         CH2O;
  160.         CH3_P;
  161.         MoveJ home10, v1000, z100, tool0;
  162.         MoveL home160, v1000, z200, tool0;
  163.         MoveL home170, v1000, fine, tool0;
  164.         MoveL home180, v30, fine, tool0;
  165.         CH_1_zamknij;
  166.         Set DO10_16_przypnij_odepnij_CH3;
  167.         MoveL home190, v1000, fine, tool0;
  168.         MoveJ home200, v1000, z50, tool0;
  169.         MoveJ home210, v1000, z100, tool0;
  170.         MoveL home220, v1000, fine, tool0;
  171.         MoveL home230, v30, fine, tool0;
  172.         CH_1_otworz;
  173.         Reset DO10_16_przypnij_odepnij_CH3;
  174.         MoveL home240, v50, fine, tool0;
  175.         MoveL home250, v50, fine, tool0;
  176.         MoveL home650, v50, fine, tool0;
  177.         MoveJ home10, v1000, z100, tool0;
  178.         CH3_O;
  179.         CH2P;
  180.         MoveJ home10, v1000, fine, tool0;
  181.         MoveJ home340, v1000, z50, tool0;
  182.         MoveL home350, v1000, fine, tool0;
  183.         MoveL home360, v30, fine, tool0;
  184.         CH_2_zamknij;
  185.         Set DO10_15_przypnij_odepnij_CH2;
  186.         MoveL home720, v30, fine, tool0;
  187.         MoveL home370, v1000, fine, tool0;
  188.         MoveJ home380, v1000, z20, tool0;
  189.         MoveJ home390, v1000, z20, tool0;
  190.         MoveJ home400, v1000, z10, tool0;
  191.         MoveL home410, v1000, fine, tool0;
  192.         MoveJ home420, v500, z10, tool0;
  193.         MoveJ home440, v400, z10, tool0;
  194.         MoveJ home450, v300, z10, tool0;
  195.         MoveJ home460, v200, z10, tool0;
  196.         MoveL home470, v100, fine, tool0;
  197.         CH_2_otworz;
  198.         Reset DO10_15_przypnij_odepnij_CH2;
  199.         MoveL home490, v1000, z20, tool0;
  200.         MoveL home730, v1000, z50, tool0;
  201.         MoveL home740, v1000, z50, tool0;
  202.         MoveL home480, v1000, fine, tool0;
  203.         Otwarcie_imadla;
  204.         CH_2_zamknij;
  205.         Set DO10_15_przypnij_odepnij_CH2;
  206.         MoveL home520, v30, fine, tool0;
  207.         MoveL home530, v1000, z50, tool0;
  208.         MoveJ home30, v1000, fine, tool0;
  209.         MoveL home560, v1000, fine, tool0;
  210.         MoveL home570, v30, fine, tool0;
  211.         CH_2_otworz;
  212.         Reset DO10_15_przypnij_odepnij_CH2;
  213.         MoveL home580, v1000, fine, tool0;
  214.         MoveJ home10, v1000, fine, tool0;
  215.         CH2O;
  216.         MoveJ home10, v1000, fine, tool0;
  217.     ENDPROC
  218.    
  219.     PROC Otwarcie_imadla_s1()
  220.         Set DO13_13_otw_imadla_s1;
  221.         Reset DO13_14_zam_imadla_s1;
  222.         WaitTime 0.5;
  223.         ENDPROC
  224.        
  225.     PROC Zamkniecie_imadla_s1()
  226.         Reset DO13_13_otw_imadla_s1;
  227.         WaitTime 1;
  228.         Set DO13_14_zam_imadla_s1;
  229.         WaitTime 0.5;
  230.     ENDPROC
  231.    
  232.     PROC Otwarcie_imadla_s2()
  233.         Set DO13_15_otw_imadla_s2;
  234.         Reset DO13_16_zam_imadla_s2;
  235.         WaitTime 0.5;
  236.     ENDPROC
  237.    
  238.     PROC Zamkniecie_imadla_s2()
  239.         Reset DO13_15_otw_imadla_s2;
  240.         WaitTime 1;
  241.         Set DO13_16_zam_imadla_s2;
  242.         WaitTime 0.5;
  243.     ENDPROC
  244.    
  245.     PROC Otwarcie_imadla()
  246.         Otwarcie_imadla_s1;
  247.         Otwarcie_imadla_s2;
  248.     ENDPROC
  249.    
  250.     PROC Zamkniecie_imadla()
  251.         Zamkniecie_imadla_s1;
  252.         Otwarcie_imadla_s1;
  253.         Zamkniecie_imadla_s2;
  254.         Zamkniecie_imadla_s1;
  255.     ENDPROC
  256.    
  257.     PROC CH3_P()
  258.         WaitDI DI10_10_glow_na_pozycji_3, 1;
  259.         MoveJ p10_3, v1000, z50, tool0;
  260.         MoveL p20_3, v1000, fine, tool0;
  261.         MoveL p30_3, v20, fine, tool0;
  262.         zamocowanie_glowicy_CH3;
  263.         MoveL p40_3, v40, fine, tool0;
  264.         MoveL p50_3, v100, fine, tool0;
  265.         CH_3_otworz;
  266.         MoveL p60_3, v1000, z150, tool0;
  267.     ENDPROC
  268.    
  269.     PROC CH3_O()
  270.         WaitDI DI10_10_glow_na_pozycji_3, 0;
  271.         MoveJ p60_3, v1000, z50, tool0;
  272.         MoveL p50_3, v1000, fine, tool0;
  273.         CH_3_zamknij;
  274.         MoveL p40_3, v100, fine, tool0;
  275.         MoveL p30_3, v20, fine, tool0;
  276.         odmocowanie_glowicy_CH3;
  277.         MoveL p20_3, v40, fine, tool0;
  278.         MoveL p10_3, v1000, z150, tool0;
  279.     ENDPROC
  280.    
  281.     PROC CH2P()
  282.         WaitDI DI10_9_glow_na_pozycji_2, 1;
  283.         MoveJ p10_2, v1000, z50, tool0;
  284.         MoveL p20_2, v1000, fine, tool0;
  285.         MoveL p30_2, v20, fine, tool0;
  286.         zamocowanie_glowicy_CH2;
  287.         MoveL p40_2,v40,fine,tool0;
  288.         MoveL p50_2, v100, fine, tool0;
  289.         CH_2_otworz;
  290.         MoveL p60_2, v1000, z150, tool0;
  291.     ENDPROC
  292.    
  293.     PROC CH2O()
  294.         WaitDI DI10_9_glow_na_pozycji_2, 0;
  295.         MoveJ p60_2, v1000, z50, tool0;
  296.         MoveL p50_2, v1000, fine, tool0;
  297.         CH_2_zamknij;
  298.         MoveL p40_2, v100, fine, tool0;
  299.         MoveL p30_2, v20, fine, tool0;
  300.         odmocowanie_glowicy_CH2;
  301.         MoveL p20_2, v40, fine, tool0;
  302.         MoveL p10_2, v1000, z150, tool0;
  303.     ENDPROC
  304.    
  305.     PROC CH1P()
  306.         WaitDI DI10_8_glow_na_pozycji_1, 1;
  307.         MoveJ p10_1, v1000, z50, tool0;
  308.         MoveL p20_1, v1000, fine, tool0;
  309.         MoveL p30_1, v20, fine, tool0;
  310.         zamocowanie_glowicy_CH1;
  311.         MoveL p40_1, v40, fine, tool0;
  312.         MoveL p50_1, v100, fine, tool0;
  313.         CH_1_otworz;
  314.         MoveL p60_1, v1000, z150, tool0;
  315.     ENDPROC
  316.    
  317.     PROC CH1O()
  318.         WaitDI DI10_8_glow_na_pozycji_1, 0;
  319.         MoveJ p60_1, v1000, z50, tool0;
  320.         Movel p50_1, v1000, fine, tool0;
  321.         CH_1_zamknij;
  322.         MoveL p40_1, v100, fine, tool0;
  323.         MoveL p30_1, v20, fine, tool0;
  324.         odmocowanie_glowicy_CH1;
  325.         MoveL p20_1, v40, fine, tool0;
  326.         MoveL p10_1, v1000, z150, tool0;
  327.     ENDPROC
  328.    
  329.     PROC CH_1_otworz()
  330.         zawor_zero;
  331.         Set DO13_4_otw_chwytak_1;
  332.         Reset DO13_3_zam_chwytak_1;
  333.         WaitTime 0.5;
  334.     ENDPROC
  335.    
  336.     PROC CH_1_zamknij()
  337.         zawor_zero;
  338.         Reset DO13_4_otw_chwytak_1;
  339.         Set DO13_3_zam_chwytak_1;
  340.         WaitTime 0.5;
  341.     ENDPROC
  342.    
  343.     PROC CH_2_otworz()
  344.         zawor_zero;
  345.         Set DO13_8_otw_chwytak_2;
  346.         Reset DO13_7_zam_chwytak_2 ;
  347.         WaitTime 0.5;
  348.     ENDPROC
  349.    
  350.     PROC CH_2_zamknij()
  351.         zawor_zero;
  352.         Reset DO13_8_otw_chwytak_2;
  353.         Set DO13_7_zam_chwytak_2;
  354.         WaitTime 0.5;
  355.     ENDPROC
  356.    
  357.         PROC CH_3_otworz()
  358.         zawor_zero;
  359.         Set DO13_12_otw_chwytak_3;
  360.         Reset DO13_11_zam_chwytak_3;
  361.         WaitTime 0.5;
  362.     ENDPROC
  363.    
  364.     PROC CH_3_zamknij()
  365.         zawor_zero;
  366.         Reset DO13_12_otw_chwytak_3;
  367.         Set DO13_11_zam_chwytak_3;
  368.         WaitTime 0.5;
  369.     ENDPROC
  370.    
  371.     PROC zamocowanie_glowicy_CH1()
  372.         Set DO13_1_lock_1;
  373.         Reset DO13_2_unlock_1;
  374.         WaitTime 0.5;
  375.     ENDPROC
  376.    
  377.     PROC odmocowanie_glowicy_CH1()
  378.         Reset DO13_1_lock_1;
  379.         Set DO13_2_unlock_1;
  380.         zawor_zero;
  381.         reset_glowicy;
  382.         WaitTime 0.5;
  383.     ENDPROC
  384.    
  385.     PROC zamocowanie_glowicy_CH2()
  386.         Set DO13_5_lock_2;
  387.         Reset DO13_6_unlock_2;
  388.         WaitTime 0.5;
  389.     ENDPROC
  390.    
  391.     PROC odmocowanie_glowicy_CH2()
  392.         Reset DO13_5_lock_2;
  393.         Set DO13_6_unlock_2;
  394.         zawor_zero;
  395.         reset_glowicy;
  396.         WaitTime 0.5;
  397.     ENDPROC
  398.    
  399.     PROC zamocowanie_glowicy_CH3()
  400.         Set DO13_9_lock_3;
  401.         Reset DO13_10_unlock_3;
  402.         WaitTime 0.5;
  403.     ENDPROC
  404.    
  405.     PROC odmocowanie_glowicy_CH3()
  406.         Reset DO13_9_lock_3;
  407.         Set DO13_10_unlock_3;
  408.         zawor_zero;
  409.         reset_glowicy;
  410.         WaitTime 0.5;
  411.     ENDPROC
  412.    
  413.     PROC zawor_zero()
  414.         Reset DO10_3_zam_chwytak;
  415.         Reset DO10_4_otw_chwytak;
  416.         Reset DO13_4_otw_chwytak_1;
  417.         Reset DO13_3_zam_chwytak_1;
  418.         Reset DO13_8_otw_chwytak_2;
  419.         Reset DO13_7_zam_chwytak_2;
  420.         Reset DO13_12_otw_chwytak_3;
  421.         Reset DO13_11_zam_chwytak_3;
  422.         WaitTime 0.5;
  423.     ENDPROC
  424.    
  425.     PROC reset_glowicy()
  426.         Reset DO10_1_lock;
  427.         Reset DO10_2_unlock;
  428.         WaitTime 0.5;
  429.     ENDPROC
  430.     PROC SG()
  431.         MoveJ Wyjscie, vmax, fine, tool0;
  432.         CH1P;
  433.         MoveJ Wyjscie, vmax, fine, tool0;
  434.         MoveL Wyjscie20, vmax, fine, tool0;
  435.         MoveJ Wyjscie30, vmax, fine, tool0;
  436.         MoveL Wyjscie40, vmax, fine, tool0;
  437.         MoveL Wyjscie50, vmax, fine, tool0;
  438.         MoveL Wyjscie60, vmax, fine, tool0;
  439.         MoveL Wyjscie70, vmax, fine, tool0;
  440.         MoveL Wyjscie80, vmax, fine, tool0;
  441.         MoveL Wyjscie90, vmax, fine, tool0;
  442.         MoveL Wyjscie100, vmax, fine, tool0;
  443.         Reset DO10_14_przypnij_odepnij_CH1;
  444.         Set DO10_14_przypnij_odepnij_CH1;
  445.         CH_1_zamknij;
  446.         MoveL Wyjscie120, vmax, fine, tool0;
  447.         MoveL Wyjscie130, vmax, fine, tool0;
  448.         MoveL Wyjscie140, vmax, fine, tool0;
  449.         MoveL Wyjscie150, vmax, fine, tool0;
  450.         MoveL Wyjscie160, vmax, fine, tool0;
  451.         Reset DO10_14_przypnij_odepnij_CH1;
  452.         CH_1_otworz;
  453.         MoveL Wyjscie170, vmax, fine, tool0;
  454.         MoveL Wyjscie160, vmax, fine, tool0;
  455.         Set DO10_14_przypnij_odepnij_CH1;
  456.         CH_1_zamknij;
  457.         MoveL Wyjscie170, vmax, fine, tool0;
  458.         MoveL Wyjscie90, vmax, fine, tool0;
  459.         MoveL Wyjscie100, vmax, fine, tool0;
  460.         Reset DO10_14_przypnij_odepnij_CH1;
  461.         CH_1_otworz;
  462.         CH1O;
  463.         MoveJ Wyjscie, vmax, fine, tool0;
  464.     ENDPROC
  465.  
  466.  
  467. ENDMODULE
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!