PROC SETKOS(INT KOSIDX)
; KOSIDX =
;   0: LASER
;   1: GREIFER

TRAFOOF

T="GRP1"
M6

;   0: LASER
IF KOSIDX==0
$MC_ROBX_TTCFL_POS[0]=40.0747807660773
$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
$MC_ROBX_TTCFL_RPY[1]=0
$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
M93   ;LASER AN
ENDIF

;   1: GREIFER
IF KOSIDX==1
M94   ;LASER AUS
$MC_ROBX_TTCFL_POS[0]=0
$MC_ROBX_TTCFL_POS[1]=0
$MC_ROBX_TTCFL_POS[2]=0
$MC_ROBX_TTCFL_RPY[0]=45.00
$MC_ROBX_TTCFL_RPY[1]=1.25
$MC_ROBX_TTCFL_RPY[2]=91.09
ENDIF

STOPRE
NEWCONF

M17