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DI_DO.mod
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MODULE Module1
CONST robtarget Target_1:=[[488.702,510,441.808],[0.5,0,0.866025404,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_9:=[[123.007,34.634,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_10:=[[123.007,34.634,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_20:=[[120.354,39.693,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_30:=[[119.399,45,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_40:=[[122.229,50.59,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_50:=[[126.545,52.252,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_60:=[[130.445,51.076,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_70:=[[133.443,47.547,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_80:=[[137.193,39.87,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_90:=[[139.528,37.031,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_100:=[[144.773,36.43,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_110:=[[147.957,39.455,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_120:=[[147.983,45.106,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_130:=[[146.604,49.882,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_131:=[[146.604,49.882,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_139:=[[129.057,62.512,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_140:=[[129.057,62.512,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_150:=[[129.057,75.46,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_160:=[[135.734,74.965,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_170:=[[139.661,71.047,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_180:=[[140.271,68.208,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_190:=[[139.741,65.395,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_200:=[[135.831,61.477,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_210:=[[123.051,61.415,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_220:=[[120.778,62.795,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_230:=[[119.744,64.785,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_240:=[[119.399,75.142,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_241:=[[119.399,75.142,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_249:=[[149.682,84.092,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_250:=[[149.682,84.092,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_260:=[[119.399,84.092,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_270:=[[119.399,92.158,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_280:=[[121.521,96.863,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_290:=[[123.405,98.163,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_300:=[[133.868,98.597,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_310:=[[138.414,96.722,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_320:=[[140.307,92.158,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_330:=[[140.307,85.649,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_331:=[[140.307,85.649,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_339:=[[140.271,109.175,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_340:=[[140.271,109.175,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_350:=[[140.271,114.481,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_360:=[[139.033,118.974,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_370:=[[136.804,121.044,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_380:=[[133.656,121.733,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_390:=[[119.399,121.733,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_400:=[[119.399,113.349,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_410:=[[120.142,109.953,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_420:=[[122.061,107.91,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_430:=[[124.988,107.229,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_440:=[[127.907,107.91,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_450:=[[129.87,109.953,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_460:=[[130.578,113.349,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_470:=[[130.578,120.177,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_471:=[[130.578,120.177,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_479:=[[121.203,130.542,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_480:=[[121.203,130.542,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_490:=[[119.399,137.618,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_500:=[[120.593,143.057,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_510:=[[124.175,144.87,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_520:=[[127.854,143.101,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_530:=[[132.913,133.337,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_540:=[[135.495,131.922,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_550:=[[137.936,132.948,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_560:=[[138.75,136.026,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_570:=[[138.352,138.202,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_580:=[[137.158,142.182,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_581:=[[137.158,142.182,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_589:=[[75.212,34.528,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_590:=[[75.212,34.528,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_600:=[[105,44.328,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_610:=[[105,45.708,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_620:=[[75.212,55.507,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_621:=[[75.212,55.507,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_629:=[[84.269,38.915,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_630:=[[84.269,38.915,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_640:=[[84.269,51.12,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_641:=[[84.269,51.12,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_649:=[[75,64.245,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_650:=[[75,64.245,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_660:=[[95.59,64.245,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_670:=[[95.59,72.311,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_680:=[[93.697,76.875,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_690:=[[89.186,78.75,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_700:=[[75,78.75,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_701:=[[75,78.75,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_709:=[[105,101.887,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_710:=[[105,101.887,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_720:=[[74.717,101.887,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_730:=[[74.717,93.821,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_740:=[[77.123,89.116,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_750:=[[78.777,87.815,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_760:=[[89.186,87.382,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_770:=[[93.715,89.222,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_780:=[[95.625,93.821,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_790:=[[95.625,100.33,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_791:=[[95.625,100.33,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_799:=[[75,110.519,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_800:=[[75,110.519,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_810:=[[95.59,110.519,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_820:=[[95.59,121.804,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_830:=[[91.167,121.804,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_831:=[[91.167,121.804,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_839:=[[84.375,131.922,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_840:=[[84.375,131.922,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_850:=[[84.375,144.87,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_860:=[[88.373,144.87,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_870:=[[93.149,142.889,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_880:=[[95.59,137.618,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_890:=[[95.059,134.805,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_900:=[[93.467,132.453,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_910:=[[88.373,130.366,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_920:=[[78.37,130.825,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_930:=[[76.097,132.205,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_940:=[[75.062,134.195,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_950:=[[74.717,144.552,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_951:=[[74.717,144.552,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_959:=[[28,45,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_960:=[[28,45,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_970:=[[40.073,52.231,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_980:=[[49.99,63.226,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_990:=[[56.114,76.57,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1000:=[[57.999,90.373,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1010:=[[55.88,104.219,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1020:=[[49.94,116.85,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1030:=[[40.06,127.78,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1040:=[[28,135,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1050:=[[28,146,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1060:=[[24,150,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1070:=[[20,146,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1080:=[[20,34,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1090:=[[24,30,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1100:=[[28,34,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1110:=[[28,45,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1120:=[[33,50.314,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1130:=[[33,129.686,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1140:=[[28,132.279,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1150:=[[28,47.721,0],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1151:=[[28,47.721,-10],[1,0,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1159:=[[169.688,90,-341.808],[0,0.5,0,0.866025404],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS tooldata Marcador:=[TRUE,[[114.149,0,277.672],[1,0,0,0]],[0.161,[29.47,35.16,146.09],[1,0,0,0],0,0,0]];
TASK PERS wobjdata Tablero_Plano:=[FALSE,TRUE,"",[[319.014,600,100],[0,1,0,0]],[[0,0,0],[1,0,0,0]]];
CONST robtarget Target_242:=[[139.399,75.142,-10],[0.923879533,0,0,0.382683432],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_Home:=[[792.672,0,597.851],[0.707106781,0,0.707106781,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_Man:=[[562.845,562.845,815.679],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_Mante:=[[386.510545786,669.455902962,873.590119217],[0.800103135,-0.191341731,0.331413599,0.46193976],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_Prinmov:=[[689.688,0,441.808],[0.5,0,0.866025404,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1171:=[[386.510545786,669.455902962,873.590119217],[0.800103135,-0.191341731,0.331413599,0.46193976],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
!***********************************************************
!
! M?dulo: Module1
!
! Descripción:
! <Introduzca la descripción aquí>
!
! Autor: Juan_Daleman
!
! Versión: 1.0
!
!***********************************************************
!***********************************************************
!
!Variables usadas
!
!***********************************************************
VAR bool Funcionando := TRUE;
!***********************************************************
!
! Procedimiento Main
!
! Este es el punto de entrada de su programa
!
!***********************************************************
PROC main()
!Add your code here
WHILE Funcionando = TRUE DO
IF (DI_01 = 1) THEN
TPErase;
TPWrite "Escribiendo ...";
Escribir;
WaitTime 0.5;
TPErase;
TPWrite "Fin de la escritura :)";
ELSEIF (DI_02 = 1) THEN
TPErase;
TPWrite "Yendo a posicion de mantenimiento ...";
Mantenimiento;
WaitTime 0.5;
TPErase;
TPWrite "En Manetenimiento";
ELSE
ENDIF
ENDWHILE
ENDPROC
LOCAL PROC Escribir()
SetDO DO_03,1;
Home_robot;
Comenzar_mov;
Home;
Sebas;
Andre;
Sombrero_de_paja;
Home;
Home_robot;
ENDPROC
LOCAL PROC Sebas()
MoveJ Target_9,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_10,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_20,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_30,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_40,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_50,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_60,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_70,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_80,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_90,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_100,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_110,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_120,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_130,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_131,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_139,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_140,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_150,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_160,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_170,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_180,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_190,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_200,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_210,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_220,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_230,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_240,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_241,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_242,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_249,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_250,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_260,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_270,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_280,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_290,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_300,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_310,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_320,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_330,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_331,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_339,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_340,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_350,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_360,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_370,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_380,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_390,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_400,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_410,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_420,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_430,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_440,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_450,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_460,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_470,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_471,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_479,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_480,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_490,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_500,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_510,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_520,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_530,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_540,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_550,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_560,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_570,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_580,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_581,v1000,z10,Marcador\WObj:=Tablero_Plano;
ENDPROC
LOCAL PROC Andre()
MoveJ Target_589,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_590,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_600,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_610,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_620,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_621,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_629,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_630,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_640,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_641,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_649,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_650,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_660,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_670,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_680,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_690,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_700,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_701,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_709,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_710,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_720,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_730,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_740,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_750,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_760,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_770,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_780,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_790,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_791,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_799,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_800,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_810,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_820,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_830,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_831,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveJ Target_839,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_840,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_850,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_860,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_870,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_880,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_890,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_900,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_910,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_920,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_930,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_940,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_950,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_951,v1000,z10,Marcador\WObj:=Tablero_Plano;
ENDPROC
LOCAL PROC Sombrero_de_paja()
MoveJ Target_959,v1000,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_960,v500,z10,Marcador\WObj:=Tablero_Plano;
MoveL Target_970,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_980,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_990,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1000,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1010,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1020,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1030,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1040,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1050,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1060,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1070,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1080,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1090,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1100,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1110,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1120,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1130,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1140,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveL Target_1150,v200,z1,Marcador\WObj:=Tablero_Plano;
MoveJ Target_1151,v1000,z10,Marcador\WObj:=Tablero_Plano;
ENDPROC
LOCAL PROC Home()
MoveJ Target_1,v1000,z100,Marcador\WObj:=wobj0;
ENDPROC
LOCAL PROC Mantenimiento()
SetDO DO_03,0;
MoveJ Target_Home,v1000,z100,Marcador\WObj:=wobj0;
MoveJ Target_Mante,v1000,z100,Marcador\WObj:=wobj0;
ENDPROC
LOCAL PROC Home_robot()
MoveJ Target_Home,v1000,z100,Marcador\WObj:=wobj0;
ENDPROC
LOCAL PROC Comenzar_mov()
MoveJ Target_Prinmov,v1000,z100,Marcador\WObj:=wobj0;
MoveJ Target_1,v1000,z100,Marcador\WObj:=wobj0;
ENDPROC
ENDMODULE