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From Jakub435, 2 Months ago, written in Plain Text.
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  1.  
  2. MODULE MW_home
  3.         CONST robtarget home:=[[496.07,-0.04,666.14],[0.382894,0.000478476,0.923792,0.000462905],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  4.         CONST robtarget home10:=[[450.19,-0.17,646.53],[0.000620992,-0.204155,-0.978938,-0.000133226],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  5.         CONST robtarget home20:=[[512.72,-0.24,711.26],[0.695765,0.0017162,0.718266,0.00123483],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  6.         PERS wobjdata uklad_mw:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
  7.    
  8.         CONST robtarget p10_3:=[[115,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  9.         CONST robtarget p20_3:=[[115,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  10.         CONST robtarget p30_3:=[[115,-614.7,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  11.         CONST robtarget p40_3:=[[115,-614.7,250],[0.00395734,-0.561623,0.827322,0.0100899],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  12.         CONST robtarget p50_3:=[[115,-520,250],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  13.         CONST robtarget p60_3:=[[115,-520,600],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  14.    
  15.         CONST robtarget p10_2:=[[-42.8,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  16.         CONST robtarget p20_2:=[[-42.8,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  17.         CONST robtarget p30_2:=[[-42.8,-614.7,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  18.         CONST robtarget p40_2:=[[-42.8,-614.7,250],[0.00395734,-0.561623,0.827322,0.0100899],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  19.         CONST robtarget p50_2:=[[-42.8,-520,250],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  20.         CONST robtarget p60_2:=[[-42.8,-520,600],[0.00395607,-0.561621,0.827323,0.0100894],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  21.    
  22.     CONST robtarget p10_1:=[[-200.5,-614.7,600],[0.003972,-0.561618,0.827325,0.0101245],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  23.         CONST robtarget p20_1:=[[-200.5,-614.7,260],[0.00397242,-0.561617,0.827326,0.0101257],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  24.         CONST robtarget p30_1:=[[-200.5,-613.46,231.5],[0.00397116,-0.561618,0.827325,0.0101262],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  25.         CONST robtarget p40_1:=[[-200.5,-613.46,250],[0.00396939,-0.561618,0.827325,0.0101264],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  26.         CONST robtarget p50_1:=[[-200.48,-520,250],[0.00392122,-0.561626,0.82732,0.0100892],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  27.     CONST robtarget p60_1:=[[-200.48,-520,600],[0.00392518,-0.561622,0.827323,0.010096],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  28.  
  29.     CONST robtarget p_10:=[[0.208668038,583.891474544,554.474070271],[0.713103621,-0.000234635,0.000590241,0.701058359],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  30.         CONST robtarget p_20:=[[-50.011501519,473.636684422,181.663028435],[0.71320429,-0.011103086,0.700820041,0.008223896],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  31.         CONST robtarget p_30:=[[-48.266276537,473.255989334,82.334408702],[0.713204307,-0.011103071,0.700820024,0.008223909],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  32.         CONST robtarget p_40:=[[583.542328772,-20.190297663,554.474070271],[0.999671327,0.000261396,0.000578887,-0.025628765],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  33.         CONST robtarget p_50:=[[583.542288113,-20.190328672,109.747194115],[0.999671326,0.000261415,0.000578857,-0.025628805],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  34.         CONST robtarget home30:=[[93.26,362.28,274.13],[0.596809,-0.586036,-0.380218,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  35.         CONST robtarget home40:=[[93.26,360.71,130.66],[0.596808,-0.586035,-0.380216,-0.394739],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  36.         CONST robtarget home50:=[[91.92,457.31,368.74],[0.596812,-0.586035,-0.380219,-0.394729],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  37.         CONST robtarget home60:=[[449.27,-50.09,401.57],[0.166284,-0.687732,0.122578,-0.695952],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  38.         CONST robtarget home70:=[[433.51,-48.08,189.31],[0.147454,-0.683702,0.142594,-0.70034],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  39.         CONST robtarget home80:=[[433.51,-48.09,135.74],[0.147431,-0.683723,0.1426,-0.700322],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  40.         CONST robtarget home90:=[[449.28,-50.09,445.55],[0.166285,-0.687731,0.122577,-0.695953],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  41.         CONST robtarget home100:=[[449.27,-50.09,445.54],[0.166274,-0.687745,0.122578,-0.695941],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  42.         CONST robtarget home110:=[[90.27,426.86,478.58],[0.011539,0.547236,-0.836824,0.0112376],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  43.         CONST robtarget home120:=[[90.27,426.86,123.35],[0.0115396,0.547237,-0.836823,0.0112379],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  44.         CONST robtarget home130:=[[91.08,532.12,123.35],[0.0115377,0.547235,-0.836824,0.0112346],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  45.         CONST robtarget home140:=[[450.19,-0.17,646.53],[0.000618084,-0.204159,-0.978938,-0.000132225],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  46.         CONST robtarget home150:=[[-200.51,-614.70,500.00],[0.00395059,-0.561611,0.827331,0.010089],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  47.         CONST robtarget home160:=[[165.32,417.45,642.92],[0.00107643,-0.204497,-0.978865,0.00156584],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  48.         CONST robtarget home170:=[[174.18,416.83,273],[0.00107799,-0.204491,-0.978866,0.00159445],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  49.         CONST robtarget home180:=[[174.18,416.83,244.61],[0.00107824,-0.204494,-0.978866,0.00159371],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  50.         CONST robtarget home190:=[[174.18,416.83,444.59],[0.00107879,-0.204495,-0.978866,0.00159232],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  51.         CONST robtarget home200:=[[165.33,417.44,410.01],[0.590061,-0.601814,-0.371832,-0.389087],[0,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  52.         CONST robtarget home210:=[[360.51,-51.42,241.67],[0.148777,-0.690065,0.156039,-0.690889],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  53.         CONST robtarget home220:=[[360.51,-51.42,175.78],[0.148778,-0.690066,0.156039,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  54.         CONST robtarget home230:=[[360.51,-51.42,156.53],[0.14878,-0.690066,0.156038,-0.690887],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  55.         CONST robtarget home240:=[[323.82,-51.42,156.53],[0.148779,-0.690065,0.156041,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  56.         CONST robtarget home250:=[[323.82,-51.42,185.16],[0.148779,-0.690066,0.156037,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  57.         CONST robtarget home260:=[[467.72,-53.52,318.95],[0.148778,-0.690066,0.156042,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  58.         CONST robtarget home270:=[[467.72,-53.53,318.95],[0.148778,-0.690067,0.156041,-0.690886],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  59.         CONST robtarget home280:=[[282.26,418.69,456.20],[0.000618084,-0.204156,-0.978938,-0.00013467],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  60.         CONST robtarget home290:=[[282.25,418.69,214.75],[0.000619474,-0.204155,-0.978938,-0.000133606],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  61.         CONST robtarget home300:=[[282.25,418.69,180.65],[0.000620402,-0.204156,-0.978938,-0.00013389],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  62.         CONST robtarget home310:=[[282.26,418.69,423.10],[0.000614417,-0.204154,-0.978939,-0.000137188],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  63.         CONST robtarget home320:=[[282.25,418.69,487.03],[0.000620992,-0.204156,-0.978938,-0.000134069],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  64.         CONST robtarget home330:=[[450.19,-0.17,646.53],[0.00062116,-0.204158,-0.978938,-0.000133195],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  65.         CONST robtarget home340:=[[-9.68,657.4,428.95],[0.000618294,-0.204156,-0.978938,-0.000132573],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  66.         CONST robtarget home350:=[[-9.68,657.4,261.02],[0.000619095,-0.204159,-0.978938,-0.000135175],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  67.         CONST robtarget home360:=[[-9.59,658.26,187.57],[0.00107378,-0.204131,-0.97894,-0.00240328],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  68.         CONST robtarget home370:=[[-9.24,657.4,442.43],[0.000617578,-0.204155,-0.978938,-0.000133047],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  69.         CONST robtarget home380:=[[-9.24,657.4,442.43],[0.696815,-0.141491,-0.688066,0.144893],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  70.         CONST robtarget home390:=[[120.75,657.36,440.64],[0.180871,0.68868,0.181562,0.678263],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  71.         CONST robtarget home400:=[[423.78,66.25,361.17],[0.180882,0.688667,0.181563,0.678273],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  72.         CONST robtarget home410:=[[423.78,67.02,172.06],[0.180871,0.688669,0.181565,0.678274],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  73.         CONST robtarget home430:=[[423.78,19.62,192.46],[0.0602022,0.709749,0.0590731,0.699387],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  74.         CONST robtarget home420:=[[423.78,19.62,192.46],[0.0602022,0.709749,0.0590731,0.699387],[0,0,1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  75.         CONST robtarget home450:=[[423.78,-40.79,195.04],[0.0837938,-0.706867,0.0870181,-0.696954],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  76.         CONST robtarget home440:=[[423.78,-40.79,195.04],[0.0837938,-0.706867,0.0870181,-0.696954],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  77.         CONST robtarget home470:=[[423.78,-63.4,186.61],[0.138172,-0.69787,0.142159,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  78.         CONST robtarget home460:=[[423.78,-63.4,186.61],[0.138172,-0.69787,0.142159,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  79.         CONST robtarget home480:=[[443.43,-63.4,152.39],[0.13817,-0.69787,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  80.         CONST robtarget home490:=[[423.78,-63.4,326.39],[0.138168,-0.697871,0.142157,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  81.         CONST robtarget home500:=[[423.78,-63.40,635.88],[0.138171,-0.69787,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  82.         CONST robtarget home510:=[[423.78,-63.40,162.57],[0.138252,-0.697749,0.142174,-0.688346],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  83.         CONST robtarget home520:=[[443.43,-63.4,190.15],[0.138171,-0.69787,0.142156,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  84.         CONST robtarget home530:=[[423.78,-63.39,580.98],[0.138184,-0.697881,0.142146,-0.688231],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  85.         CONST robtarget home540:=[[423.78,-63.39,580.98],[0.138184,-0.697882,0.142146,-0.68823],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  86.         CONST robtarget home550:=[[90.27,426.86,478.58],[0.0115392,0.547234,-0.836825,0.0112378],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  87.         CONST robtarget home560:=[[92.33,361.95,158.03],[0.596807,-0.586036,-0.380218,-0.394737],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  88.         CONST robtarget home570:=[[92.33,361.95,154.72],[0.596808,-0.586037,-0.380217,-0.394737],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  89.         CONST robtarget home580:=[[92.32,361.95,252.76],[0.596808,-0.586036,-0.380218,-0.394736],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  90.         CONST robtarget home590:=[[92.64,372.09,306.72],[0.596807,-0.586036,-0.380214,-0.394741],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  91.         CONST robtarget home600:=[[450.19,-0.17,646.53],[0.000621118,-0.204153,-0.978939,-0.000133205],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  92.         CONST robtarget p40_11:=[[450.19,-0.17,646.53],[0.000620022,-0.204155,-0.978938,-0.000135028],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  93.     CONST robtarget Target_60:=[[399.24,358.11,85.55],[0.980818,0.00286233,0.0131759,0.19446],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  94.         CONST robtarget Target_40:=[[403.90074593,359.78160916,444.496415927],[0.980817168,0.002862311,0.013179542,0.194462825],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  95.         CONST robtarget Target_50:=[[399.24,358.11,173.34],[0.980818,0.00286101,0.0131787,0.194461],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  96.         CONST robtarget home610:=[[93.26,360.71,175.02],[0.596809,-0.586036,-0.380217,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  97.         CONST robtarget home620:=[[93.26,360.71,149.08],[0.596809,-0.586037,-0.380215,-0.394735],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  98.         CONST robtarget home630:=[[93.26,360.71,149.08],[0.596811,-0.586036,-0.380217,-0.394733],[0,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  99.         CONST robtarget home640:=[[433.51,-48.08,183.44],[0.147453,-0.683701,0.142598,-0.70034],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  100.         CONST robtarget home650:=[[412.68,-50.39,278.28],[0.148779,-0.690066,0.156038,-0.690888],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  101.         CONST robtarget home660:=[[279.63,376.80,452.73],[0.000555538,0.0445137,-0.999009,0.000320876],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  102.         CONST robtarget home670:=[[279.63,376.80,217.21],[0.000555285,0.0445103,-0.999009,0.000320086],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  103.         CONST robtarget home680:=[[279.63,376.80,208.14],[0.000554147,0.0445082,-0.999009,0.000318952],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  104.         CONST robtarget home690:=[[279.63,376.80,208.14],[0.00055461,0.044512,-0.999009,0.000320529],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  105.         CONST robtarget home700:=[[279.63,376.80,208.14],[0.000554568,0.0445127,-0.999009,0.000320506],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  106.         CONST robtarget home710:=[[467.62,38.74,452.73],[0.00862877,0.12969,0.955043,-0.266455],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  107.         CONST robtarget home720:=[[-9.59,658.26,204.55],[0.00107361,-0.20413,-0.97894,-0.00240357],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  108.         CONST robtarget home730:=[[443.43,-63.4,326.39],[0.138169,-0.69787,0.142157,-0.688243],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  109.         CONST robtarget home740:=[[443.43,-63.4,213.22],[0.138167,-0.697871,0.142158,-0.688242],[-1,-1,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  110.         CONST robtarget pJL:=[[512.01,0.00,692.53],[0.591779,6.00591E-09,0.8061,4.4091E-09],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  111.         CONST robtarget pJL10:=[[-116.04,-543.39,599.29],[0.0336648,0.520625,-0.852675,0.0276187],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  112.         CONST robtarget pJL20:=[[332.75,324.95,642.59],[0.00084104,-0.566899,0.823711,-0.0112098],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  113.         CONST robtarget pJL30:=[[332.75,324.95,341.46],[0.000840872,-0.566899,0.823711,-0.0112096],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  114.         CONST robtarget pJL40:=[[354.00,338.30,341.46],[0.000840956,-0.566899,0.823711,-0.0112098],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  115.         CONST robtarget pJL50:=[[354.00,338.30,294.50],[0.00084104,-0.566899,0.823711,-0.0112099],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  116.         CONST robtarget pJL60:=[[354.00,342.62,294.50],[0.000841209,-0.566899,0.823711,-0.0112099],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  117.         CONST robtarget pJL70:=[[354.00,342.62,278.82],[0.000841462,-0.566899,0.823711,-0.0112099],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  118.         CONST robtarget pJL80:=[[354.00,342.62,574.58],[0.00084201,-0.566899,0.823711,-0.0112099],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  119.         CONST robtarget pJL90:=[[491.57,-32.57,574.58],[0.00377699,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  120.         CONST robtarget pJL100:=[[491.57,-32.27,343.66],[0.00377728,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  121.         CONST robtarget pJL110:=[[541.98,-52.05,343.66],[0.00377716,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  122.         CONST robtarget pJL120:=[[541.98,-52.05,287.73],[0.00377724,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  123.         CONST robtarget pJL130:=[[541.98,-52.05,551.65],[0.00377695,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  124.         CONST robtarget pJL140:=[[541.98,-52.05,551.65],[0.00377695,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  125.         CONST robtarget pJL150:=[[541.98,-52.05,551.65],[0.00377695,0.1841,-0.982843,0.0105878],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  126.         CONST robtarget pJL160:=[[354.00,342.62,574.58],[0.000841799,-0.566899,0.823711,-0.0112098],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  127.         CONST robtarget pJL170:=[[354.00,342.62,574.58],[0.000841799,-0.566899,0.823711,-0.0112098],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  128.         CONST robtarget pJL180:=[[354.00,338.30,341.46],[0.000840703,-0.566899,0.823711,-0.0112096],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  129.         CONST robtarget pJL190:=[[354.00,338.30,341.46],[0.000840703,-0.566899,0.823711,-0.0112096],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  130.    
  131.     PROC Home_1()
  132.                 MoveL home, v1000, z0, tool0;
  133.                 MoveJ home10, v1000, z0, tool0;
  134.                 MoveJ home20, v1000, z0, tool0;
  135.         ENDPROC
  136.    
  137.     PROC Test_mw()
  138.         CH2P;
  139.         MoveJ home10, v1000, fine, tool0\WObj:=wobj0;
  140.         MoveJ home30, v1000, fine, tool0;
  141.         MoveL home610, v500, fine, tool0;
  142.         MoveL home40, v30, fine, tool0;
  143.         CH_2_zamknij;
  144.         Set DO10_15_przypnij_odepnij_CH2;
  145.         MoveL home620, v30, fine, tool0;
  146.         MoveL home30, v1000, fine, tool0;
  147.         MoveL home50, v1000, fine, tool0;
  148.         MoveJ home60, v1000, z150, tool0;
  149.         MoveL home70, v500, fine, tool0;
  150.         MoveL home80, v30, fine, tool0;
  151.         CH_2_otworz;
  152.         Reset DO10_15_przypnij_odepnij_CH2;
  153.         MoveL home640, v30, fine, tool0;
  154.         MoveL home90, v1000, fine, tool0;
  155.         Zamkniecie_imadla;
  156.         MoveJ home10, v1000, z100, tool0;
  157.         CH2O;
  158.         CH3_P;
  159.         MoveJ home10, v1000, z100, tool0;
  160.         MoveL home160, v1000, z200, tool0;
  161.         MoveL home170, v1000, fine, tool0;
  162.         MoveL home180, v30, fine, tool0;
  163.         CH_1_zamknij;
  164.         Set DO10_16_przypnij_odepnij_CH3;
  165.         MoveL home190, v1000, fine, tool0;
  166.         MoveJ home200, v1000, z50, tool0;
  167.         MoveJ home210, v1000, z100, tool0;
  168.         MoveL home220, v1000, fine, tool0;
  169.         MoveL home230, v30, fine, tool0;
  170.         CH_1_otworz;
  171.         Reset DO10_16_przypnij_odepnij_CH3;
  172.         MoveL home240, v50, fine, tool0;
  173.         MoveL home250, v50, fine, tool0;
  174.         MoveL home650, v50, fine, tool0;
  175.         MoveJ home10, v1000, z100, tool0;
  176.         CH3_O;
  177.         CH2P;
  178.         MoveJ home10, v1000, fine, tool0;
  179.         MoveJ home340, v1000, z50, tool0;
  180.         MoveL home350, v1000, fine, tool0;
  181.         MoveL home360, v30, fine, tool0;
  182.         CH_2_zamknij;
  183.         Set DO10_15_przypnij_odepnij_CH2;
  184.         MoveL home720, v30, fine, tool0;
  185.         MoveL home370, v1000, fine, tool0;
  186.         MoveJ home380, v1000, z20, tool0;
  187.         MoveJ home390, v1000, z20, tool0;
  188.         MoveJ home400, v1000, z10, tool0;
  189.         MoveL home410, v1000, fine, tool0;
  190.         MoveJ home420, v500, z10, tool0;
  191.         MoveJ home440, v400, z10, tool0;
  192.         MoveJ home450, v300, z10, tool0;
  193.         MoveJ home460, v200, z10, tool0;
  194.         MoveL home470, v100, fine, tool0;
  195.         CH_2_otworz;
  196.         Reset DO10_15_przypnij_odepnij_CH2;
  197.         MoveL home490, v1000, z20, tool0;
  198.         MoveL home730, v1000, z50, tool0;
  199.         MoveL home740, v1000, z50, tool0;
  200.         MoveL home480, v1000, fine, tool0;
  201.         Otwarcie_imadla;
  202.         CH_2_zamknij;
  203.         Set DO10_15_przypnij_odepnij_CH2;
  204.         MoveL home520, v30, fine, tool0;
  205.         MoveL home530, v1000, z50, tool0;
  206.         MoveJ home30, v1000, fine, tool0;
  207.         MoveL home560, v1000, fine, tool0;
  208.         MoveL home570, v30, fine, tool0;
  209.         CH_2_otworz;
  210.         Reset DO10_15_przypnij_odepnij_CH2;
  211.         MoveL home580, v1000, fine, tool0;
  212.         MoveJ home10, v1000, fine, tool0;
  213.         CH2O;
  214.         MoveJ home10, v1000, fine, tool0;
  215.         ENDPROC
  216.    
  217.     PROC Otwarcie_imadla_s1()
  218.         Set DO13_13_otw_imadla_s1;
  219.         Reset DO13_14_zam_imadla_s1;
  220.         WaitTime 0.5;
  221.         ENDPROC
  222.        
  223.     PROC Zamkniecie_imadla_s1()
  224.         Reset DO13_13_otw_imadla_s1;
  225.         WaitTime 1;
  226.         Set DO13_14_zam_imadla_s1;
  227.         WaitTime 0.5;
  228.     ENDPROC
  229.    
  230.     PROC Otwarcie_imadla_s2()
  231.         Set DO13_15_otw_imadla_s2;
  232.         Reset DO13_16_zam_imadla_s2;
  233.         WaitTime 0.5;
  234.     ENDPROC
  235.    
  236.     PROC Zamkniecie_imadla_s2()
  237.         Reset DO13_15_otw_imadla_s2;
  238.         WaitTime 1;
  239.         Set DO13_16_zam_imadla_s2;
  240.         WaitTime 0.5;
  241.     ENDPROC
  242.    
  243.     PROC Otwarcie_imadla()
  244.         Otwarcie_imadla_s1;
  245.         Otwarcie_imadla_s2;
  246.     ENDPROC
  247.    
  248.     PROC Zamkniecie_imadla()
  249.         Zamkniecie_imadla_s1;
  250.         Otwarcie_imadla_s1;
  251.         Zamkniecie_imadla_s2;
  252.         Zamkniecie_imadla_s1;
  253.     ENDPROC
  254.    
  255.         PROC CH3_P()
  256.                 WaitDI DI10_10_glow_na_pozycji_3, 1;
  257.                 MoveJ p10_3, v1000, z50, tool0;
  258.                 MoveL p20_3, v1000, fine, tool0;
  259.                 MoveL p30_3, v20, fine, tool0;
  260.                 zamocowanie_glowicy_CH3;
  261.                 MoveL p40_3, v40, fine, tool0;
  262.                 MoveL p50_3, v100, fine, tool0;
  263.         CH_3_otworz;
  264.         MoveL p60_3, v1000, z150, tool0;
  265.         ENDPROC
  266.    
  267.         PROC CH3_O()
  268.                 WaitDI DI10_10_glow_na_pozycji_3, 0;
  269.         MoveJ p60_3, v1000, z50, tool0;
  270.                 MoveL p50_3, v1000, fine, tool0;
  271.                 CH_3_zamknij;
  272.                 MoveL p40_3, v100, fine, tool0;
  273.                 MoveL p30_3, v20, fine, tool0;
  274.                 odmocowanie_glowicy_CH3;
  275.                 MoveL p20_3, v40, fine, tool0;
  276.                 MoveL p10_3, v1000, z150, tool0;
  277.         ENDPROC
  278.    
  279.         PROC CH2P()
  280.                 WaitDI DI10_9_glow_na_pozycji_2, 1;
  281.                 MoveJ p10_2, v1000, z50, tool0;
  282.                 MoveL p20_2, v1000, fine, tool0;
  283.                 MoveL p30_2, v20, fine, tool0;
  284.                 zamocowanie_glowicy_CH2;
  285.                 MoveL p40_2,v40,fine,tool0;
  286.                 MoveL p50_2, v100, fine, tool0;
  287.         CH_2_otworz;
  288.         MoveL p60_2, v1000, z150, tool0;
  289.         ENDPROC
  290.    
  291.         PROC CH2O()
  292.                 WaitDI DI10_9_glow_na_pozycji_2, 0;
  293.         MoveJ p60_2, v1000, z50, tool0;
  294.                 MoveL p50_2, v1000, fine, tool0;
  295.                 CH_2_zamknij;
  296.                 MoveL p40_2, v100, fine, tool0;
  297.                 MoveL p30_2, v20, fine, tool0;
  298.                 odmocowanie_glowicy_CH2;
  299.                 MoveL p20_2, v40, fine, tool0;
  300.                 MoveL p10_2, v1000, z150, tool0;
  301.         ENDPROC
  302.    
  303.         PROC CH1P()
  304.                 WaitDI DI10_8_glow_na_pozycji_1, 1;
  305.                 MoveJ p10_1, v1000, z50, tool0;
  306.                 MoveL p20_1, v1000, fine, tool0;
  307.                 MoveL p30_1, v20, fine, tool0;
  308.                 zamocowanie_glowicy_CH1;
  309.                 MoveL p40_1, v40, fine, tool0;
  310.                 MoveL p50_1, v100, fine, tool0;
  311.                 CH_1_otworz;
  312.                 MoveL p60_1, v1000, z150, tool0;
  313.         ENDPROC
  314.    
  315.         PROC CH1O()
  316.                 WaitDI DI10_8_glow_na_pozycji_1, 0;
  317.                 MoveJ p60_1, v1000, z50, tool0;
  318.         Movel p50_1, v1000, fine, tool0;
  319.                 CH_1_zamknij;
  320.                 MoveL p40_1, v100, fine, tool0;
  321.                 MoveL p30_1, v20, fine, tool0;
  322.                 odmocowanie_glowicy_CH1;
  323.                 MoveL p20_1, v40, fine, tool0;
  324.                 MoveL p10_1, v1000, z150, tool0;
  325.         ENDPROC
  326.    
  327.         PROC CH_1_otworz()
  328.                 zawor_zero;
  329.                 Set DO13_4_otw_chwytak_1;
  330.                 Reset DO13_3_zam_chwytak_1;
  331.                 WaitTime 0.5;
  332.         ENDPROC
  333.    
  334.         PROC CH_1_zamknij()
  335.                 zawor_zero;
  336.             Reset DO13_4_otw_chwytak_1;
  337.                 Set DO13_3_zam_chwytak_1;
  338.                 WaitTime 0.5;
  339.         ENDPROC
  340.    
  341.     PROC CH_2_otworz()
  342.                 zawor_zero;
  343.                 Set DO13_8_otw_chwytak_2;
  344.                 Reset DO13_7_zam_chwytak_2 ;
  345.                 WaitTime 0.5;
  346.         ENDPROC
  347.    
  348.         PROC CH_2_zamknij()
  349.                 zawor_zero;
  350.                 Reset DO13_8_otw_chwytak_2;
  351.                 Set DO13_7_zam_chwytak_2;
  352.                 WaitTime 0.5;
  353.         ENDPROC
  354.    
  355.         PROC CH_3_otworz()
  356.                 zawor_zero;
  357.         Set DO13_12_otw_chwytak_3;
  358.                 Reset DO13_11_zam_chwytak_3;
  359.                 WaitTime 0.5;
  360.         ENDPROC
  361.    
  362.         PROC CH_3_zamknij()
  363.                 zawor_zero;
  364.                 Reset DO13_12_otw_chwytak_3;
  365.                 Set DO13_11_zam_chwytak_3;
  366.                 WaitTime 0.5;
  367.         ENDPROC
  368.    
  369.         PROC zamocowanie_glowicy_CH1()
  370.                 Set DO13_1_lock_1;
  371.                 Reset DO13_2_unlock_1;
  372.                 WaitTime 0.5;
  373.         ENDPROC
  374.    
  375.         PROC odmocowanie_glowicy_CH1()
  376.                 Reset DO13_1_lock_1;
  377.                 Set DO13_2_unlock_1;
  378.                 zawor_zero;
  379.         reset_glowicy;
  380.                 WaitTime 0.5;
  381.         ENDPROC
  382.    
  383.     PROC zamocowanie_glowicy_CH2()
  384.                 Set DO13_5_lock_2;
  385.                 Reset DO13_6_unlock_2;
  386.                 WaitTime 0.5;
  387.         ENDPROC
  388.    
  389.         PROC odmocowanie_glowicy_CH2()
  390.                 Reset DO13_5_lock_2;
  391.                 Set DO13_6_unlock_2;
  392.             zawor_zero;
  393.         reset_glowicy;
  394.                 WaitTime 0.5;
  395.         ENDPROC
  396.    
  397.     PROC zamocowanie_glowicy_CH3()
  398.                 Set DO13_9_lock_3;
  399.                 Reset DO13_10_unlock_3;
  400.                 WaitTime 0.5;
  401.         ENDPROC
  402.    
  403.         PROC odmocowanie_glowicy_CH3()
  404.                 Reset DO13_9_lock_3;
  405.                 Set DO13_10_unlock_3;
  406.         zawor_zero;
  407.         reset_glowicy;
  408.                 WaitTime 0.5;
  409.         ENDPROC
  410.    
  411.         PROC zawor_zero()
  412.                 Reset DO10_3_zam_chwytak;
  413.                 Reset DO10_4_otw_chwytak;
  414.         Reset DO13_4_otw_chwytak_1;
  415.                 Reset DO13_3_zam_chwytak_1;
  416.         Reset DO13_8_otw_chwytak_2;
  417.                 Reset DO13_7_zam_chwytak_2;
  418.         Reset DO13_12_otw_chwytak_3;
  419.                 Reset DO13_11_zam_chwytak_3;
  420.         WaitTime 0.5;
  421.         ENDPROC
  422.    
  423.     PROC reset_glowicy()
  424.         Reset DO10_1_lock;
  425.         Reset DO10_2_unlock;
  426.         WaitTime 0.5;
  427.     ENDPROC
  428.         PROC JL10()
  429.                 MoveJ pJL, v1000, z50, tool0;
  430.                 CH1P;
  431.                 MoveJ pJL, v1000, z50, tool0;
  432.                 MoveJ pJL20, v1000, z50, tool0;
  433.                 MoveL pJL30, v1000, z50, tool0;
  434.                 MoveJ pJL40, v1000, fine, tool0;
  435.                 MoveL pJL50, v1000, fine, tool0;
  436.                 MoveL pJL60, v1000, fine, tool0;
  437.                 MoveL pJL70, v1000, fine, tool0;
  438.                 Set DO10_14_przypnij_odepnij_CH1;
  439.                 CH_1_zamknij;
  440.                 MoveL pJL80, v1000, fine, tool0;
  441.                 MoveJ pJL90, v1000, fine, tool0;
  442.                 MoveL pJL100, v1000, fine, tool0;
  443.                 MoveL pJL110, v1000, fine, tool0;
  444.                 MoveL pJL120, v1000, fine, tool0;
  445.                 Reset DO10_14_przypnij_odepnij_CH1;
  446.                 CH_1_otworz;
  447.                 MoveL pJL130, v1000, fine, tool0;
  448.                 MoveL pJL120, v1000, fine, tool0;
  449.                 Set DO10_14_przypnij_odepnij_CH1;
  450.                 CH_1_zamknij;
  451.                 MoveL pJL130, v1000, fine, tool0;
  452.                 MoveJ pJL80, v1000, fine, tool0;
  453.                 MoveJ pJL40, v1000, fine, tool0;
  454.                 MoveL pJL50, v1000, fine, tool0;
  455.                 MoveL pJL60, v1000, fine, tool0;
  456.                 MoveL pJL70, v1000, fine, tool0;
  457.                 Reset DO10_14_przypnij_odepnij_CH1;
  458.                 CH_1_otworz;
  459.                 MoveL pJL80, v1000, fine, tool0;
  460.                 MoveJ pJL90, v1000, fine, tool0;
  461.                 CH1O;
  462.                 MoveJ pJL, v1000, fine, tool0;
  463.         ENDPROC
  464.  
  465.  
  466. ENDMODULE