;>>>>> $MC_ROBX_TTCFL_RPY[0] = R9 <<<<<


EXTERN SETKOS(INT)

DEFINE XSTART AS 950.0
DEFINE YSTART AS -400
DEFINE ZSTART AS 750.0
DEFINE ZDIFF AS 300.0
DEFINE FEED_FAST AS 5000.0
DEFINE FEED_MESS AS 200.0


SETKOS(0)
TRAORI

G90 G1 A0 B0 C30 F500
G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
G91 G1 G53 X=150 F=FEED_MESS MEAS=1
STOPRE
R0=$AA_MW[X]
STOPRE
M01


G90 G1 X=XSTART Z=ZSTART-ZDIFF F=FEED_FAST
G91 G1 G53 X=150 F=FEED_MESS MEAS=1
STOPRE
R1=$AA_MW[X]
STOPRE


SETKOS(1)


; BERECHNE
R2=R0-R1
R9=ATAN(R2/ZDIFF)

M17