;>>>>> $MC_ROBX_TTCFL_RPY[2] = -R9 <<<<<

EXTERN SETKOS(INT)

DEFINE XSTART AS 1090+480
DEFINE YSTART AS 450
DEFINE ZSTART AS 850.0
DEFINE ZDIFF AS 300.0
DEFINE FEED_FAST AS 5000.0
DEFINE FEED_MESS AS 200.0

SETKOS(0)
TRAORI

G90 G1 A0 B0 C0 F500
G90 G1 X=XSTART Y=YSTART Z=ZSTART F=FEED_FAST
G91 G1 G53 Y=-150 F=FEED_MESS MEAS=1
STOPRE
R0=$AA_MW[Y]
STOPRE
M01


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

SETKOS(1)
M94   ;LASER AUS


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

M17