37 lines
578 B
Plaintext
37 lines
578 B
Plaintext
PROC SETKOS(INT KOSIDX)
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; KOSIDX =
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; 0: LASER
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; 1: GREIFER
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TRAFOOF
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T="GRP1"
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M6
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; 0: LASER
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IF KOSIDX==0
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$MC_ROBX_TTCFL_POS[0]=40.0747807660773
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$MC_ROBX_TTCFL_POS[1]=0;-187.035583496094
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$MC_ROBX_TTCFL_POS[2]=-24.192962084091445
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$MC_ROBX_TTCFL_RPY[0]=-0.08-0.327
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$MC_ROBX_TTCFL_RPY[1]=0
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$MC_ROBX_TTCFL_RPY[2]=90+1.35-0.11
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M93 ;LASER AN
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ENDIF
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; 1: GREIFER
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IF KOSIDX==1
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M94 ;LASER AUS
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$MC_ROBX_TTCFL_POS[0]=0
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$MC_ROBX_TTCFL_POS[1]=0
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$MC_ROBX_TTCFL_POS[2]=0
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$MC_ROBX_TTCFL_RPY[0]=45.00
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$MC_ROBX_TTCFL_RPY[1]=1.25
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$MC_ROBX_TTCFL_RPY[2]=91.09
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ENDIF
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STOPRE
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NEWCONF
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M17
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