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Module1.mod
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MODULE Module1
CONST robtarget Target_10:=[[20,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_20:=[[40,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_30:=[[30,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_40:=[[30,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_50:=[[20,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_60:=[[20,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_70:=[[20,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_80:=[[50,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_90:=[[50,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_100:=[[70,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_110:=[[70,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_120:=[[50,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_130:=[[70,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_140:=[[70,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_150:=[[90,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_160:=[[90,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_170:=[[80,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_180:=[[100,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_190:=[[90,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_200:=[[90,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_210:=[[110,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_220:=[[110,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_230:=[[120,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_240:=[[130,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_250:=[[130,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_260:=[[140,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_270:=[[140,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_280:=[[160,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_290:=[[140,-20,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_300:=[[140,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_310:=[[160,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_320:=[[140,-30,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_330:=[[140,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_340:=[[160,-40,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_350:=[[20,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_360:=[[20,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_370:=[[50,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_380:=[[50,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_390:=[[70,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_400:=[[70,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_410:=[[50,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_420:=[[80,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_430:=[[80,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_440:=[[100,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_450:=[[100,-60,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_460:=[[80,-60,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_470:=[[100,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_480:=[[110,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_490:=[[110,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_500:=[[130,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_510:=[[110,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_520:=[[110,-60,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_530:=[[120,-60,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_540:=[[110,-60,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_550:=[[110,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_560:=[[140,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_570:=[[140,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_580:=[[160,-70,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_590:=[[160,-50,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_930:=[[160,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_920:=[[140,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_910:=[[140,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_900:=[[160,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_890:=[[140,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_880:=[[140,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_870:=[[160,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_860:=[[140,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_850:=[[140,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_840:=[[130,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_830:=[[130,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_820:=[[130,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_810:=[[110,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_800:=[[110,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_790:=[[110,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_780:=[[80,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_770:=[[100,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_760:=[[100,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_750:=[[80,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_740:=[[80,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_730:=[[100,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_720:=[[80,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_710:=[[80,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_700:=[[60,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_690:=[[60,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_680:=[[70,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_670:=[[50,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_660:=[[60,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_650:=[[60,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_640:=[[40,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_630:=[[40,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_620:=[[30,-90,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_610:=[[20,-80,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_600:=[[20,-100,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1340:=[[20,-130,0],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1330:=[[50,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1320:=[[80,-130,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1310:=[[50,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1300:=[[20,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1290:=[[80,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1280:=[[70,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1270:=[[50,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1260:=[[50,-160,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1250:=[[60,-160,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1240:=[[60,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1230:=[[90,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1220:=[[60,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1210:=[[60,-160,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1200:=[[70,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1190:=[[90,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1180:=[[90,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1170:=[[150,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1160:=[[110,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1150:=[[110,-160,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1140:=[[120,-160,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1130:=[[120,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1120:=[[140,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1110:=[[140,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1100:=[[140,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1090:=[[140,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1080:=[[140,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1070:=[[150,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1060:=[[150,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1050:=[[160,-170,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1040:=[[160,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1030:=[[140,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1020:=[[140,-130,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1010:=[[70,-130,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1000:=[[70,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_990:=[[50,-150,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_980:=[[30,-140,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_970:=[[30,-110,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_960:=[[50,-120,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_950:=[[70,-110,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_940:=[[70,-130,0],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1350:=[[160,-39.999999957,27.489662429],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1360:=[[20,-49.99999996,22.694207235],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1370:=[[160,-50,20],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1380:=[[20,-10,20],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1390:=[[160,-100,30],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1400:=[[70,-130,30],[0,0,1,0],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1410:=[[97.429430509,80.606369127,84.283360985],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1420:=[[167.701430506,121.720369383,478.038360959],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_1430:=[[21.685430529,-101.454630893,64.7083611],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_2:=[[163.531896075,3.451432219,-0.404302127,4.364578188,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_3:=[[180,3.451432219,-0.404302127,4.364578188,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST jointtarget JointTarget_4:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
!***********************************************************
!
! M?dulo: Module1
!
! Descripción:
! <Introduzca la descripción aquí>
!
! Autor: LENOVO
!
! Versión: 1.0
!
!***********************************************************
!***********************************************************
!
! Procedimiento Main
!
! Este es el punto de entrada de su programa
!
!***********************************************************
PROC main()
set out2;
WHILE TRUE DO
IF In1=1 THEN
!SetDO Out1,0;
set Out1;
Path_10;
Path_90;
reset Out1;
ELSEIF In2=1 THEN
Path_80;
TPWrite("Hola, esta es una parada de emergencia");
reset out2;
ENDIF
!Path_10;
!Path_20;
!Path_30;
!Path_40;
ENDWHILE
ENDPROC
PROC Path_10()
MoveJ Target_10,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_20,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_30,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_40,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_50,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_60,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_70,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_80,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_90,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_100,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_110,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_120,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_130,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_140,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_150,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_160,v100,z100,ToolR\WObj:=Caja;
MoveL Target_170,v100,z100,ToolR\WObj:=Caja;
MoveL Target_180,v100,z100,ToolR\WObj:=Caja;
MoveL Target_190,v100,z100,ToolR\WObj:=Caja;
MoveL Target_200,v100,z100,ToolR\WObj:=Caja;
MoveL Target_210,v100,z100,ToolR\WObj:=Caja;
MoveL Target_220,v100,z100,ToolR\WObj:=Caja;
MoveL Target_230,v100,z100,ToolR\WObj:=Caja;
MoveL Target_240,v100,z100,ToolR\WObj:=Caja;
MoveL Target_250,v100,z100,ToolR\WObj:=Caja;
MoveL Target_260,v100,z100,ToolR\WObj:=Caja;
MoveL Target_270,v100,z100,ToolR\WObj:=Caja;
MoveL Target_280,v100,z100,ToolR\WObj:=Caja;
MoveL Target_290,v100,z100,ToolR\WObj:=Caja;
MoveL Target_300,v100,z100,ToolR\WObj:=Caja;
MoveL Target_310,v100,z100,ToolR\WObj:=Caja;
MoveL Target_320,v100,z100,ToolR\WObj:=Caja;
MoveL Target_330,v100,z100,ToolR\WObj:=Caja;
MoveL Target_340,v100,z100,ToolR\WObj:=Caja;
Path_50;
ENDPROC
PROC Path_20()
MoveL Target_350,v100,z100,ToolR\WObj:=Caja;
MoveL Target_360,v100,z100,ToolR\WObj:=Caja;
MoveL Target_370,v100,z100,ToolR\WObj:=Caja;
MoveL Target_380,v100,z100,ToolR\WObj:=Caja;
MoveL Target_390,v100,z100,ToolR\WObj:=Caja;
MoveL Target_400,v100,z100,ToolR\WObj:=Caja;
MoveL Target_410,v100,z100,ToolR\WObj:=Caja;
MoveL Target_420,v100,z100,ToolR\WObj:=Caja;
MoveL Target_430,v100,z100,ToolR\WObj:=Caja;
MoveL Target_440,v100,z100,ToolR\WObj:=Caja;
MoveL Target_450,v100,z100,ToolR\WObj:=Caja;
MoveL Target_460,v100,z100,ToolR\WObj:=Caja;
MoveL Target_470,v100,z100,ToolR\WObj:=Caja;
MoveL Target_480,v100,z100,ToolR\WObj:=Caja;
MoveL Target_490,v100,z100,ToolR\WObj:=Caja;
MoveL Target_500,v100,z100,ToolR\WObj:=Caja;
MoveL Target_510,v100,z100,ToolR\WObj:=Caja;
MoveL Target_520,v100,z100,ToolR\WObj:=Caja;
MoveL Target_530,v100,z100,ToolR\WObj:=Caja;
MoveL Target_540,v100,z100,ToolR\WObj:=Caja;
MoveL Target_550,v100,z100,ToolR\WObj:=Caja;
MoveL Target_560,v100,z100,ToolR\WObj:=Caja;
MoveL Target_570,v100,z100,ToolR\WObj:=Caja;
MoveL Target_580,v100,z100,ToolR\WObj:=Caja;
MoveL Target_590,v100,z100,ToolR\WObj:=Caja;
Path_60;
ENDPROC
PROC Path_30()
MoveL Target_600,v100,z100,ToolR\WObj:=Caja;
MoveL Target_610,v100,z100,ToolR\WObj:=Caja;
MoveL Target_620,v100,z100,ToolR\WObj:=Caja;
MoveL Target_630,v100,z100,ToolR\WObj:=Caja;
MoveL Target_640,v100,z100,ToolR\WObj:=Caja;
MoveL Target_650,v100,z100,ToolR\WObj:=Caja;
MoveL Target_660,v100,z100,ToolR\WObj:=Caja;
MoveL Target_670,v100,z100,ToolR\WObj:=Caja;
MoveL Target_680,v100,z100,ToolR\WObj:=Caja;
MoveL Target_690,v100,z100,ToolR\WObj:=Caja;
MoveL Target_700,v100,z100,ToolR\WObj:=Caja;
MoveL Target_710,v100,z100,ToolR\WObj:=Caja;
MoveL Target_720,v100,z100,ToolR\WObj:=Caja;
MoveL Target_730,v100,z100,ToolR\WObj:=Caja;
MoveL Target_740,v100,z100,ToolR\WObj:=Caja;
MoveL Target_750,v100,z100,ToolR\WObj:=Caja;
MoveL Target_760,v100,z100,ToolR\WObj:=Caja;
MoveL Target_770,v100,z100,ToolR\WObj:=Caja;
MoveL Target_780,v100,z100,ToolR\WObj:=Caja;
MoveL Target_790,v100,z100,ToolR\WObj:=Caja;
MoveL Target_800,v100,z100,ToolR\WObj:=Caja;
MoveL Target_810,v100,z100,ToolR\WObj:=Caja;
MoveL Target_820,v100,z100,ToolR\WObj:=Caja;
MoveL Target_830,v100,z100,ToolR\WObj:=Caja;
MoveL Target_840,v100,z100,ToolR\WObj:=Caja;
MoveL Target_850,v100,z100,ToolR\WObj:=Caja;
MoveL Target_860,v100,z100,ToolR\WObj:=Caja;
MoveL Target_870,v100,z100,ToolR\WObj:=Caja;
MoveL Target_880,v100,z100,ToolR\WObj:=Caja;
MoveL Target_890,v100,z100,ToolR\WObj:=Caja;
MoveL Target_900,v100,z100,ToolR\WObj:=Caja;
MoveL Target_910,v100,z100,ToolR\WObj:=Caja;
MoveL Target_920,v100,z100,ToolR\WObj:=Caja;
MoveL Target_930,v100,z100,ToolR\WObj:=Caja;
Path_70;
ENDPROC
PROC Path_40()
MoveL Target_940,v100,z100,ToolR\WObj:=Caja;
MoveL Target_950,v100,z100,ToolR\WObj:=Caja;
MoveL Target_960,v100,z100,ToolR\WObj:=Caja;
MoveL Target_970,v100,z100,ToolR\WObj:=Caja;
MoveL Target_980,v100,z100,ToolR\WObj:=Caja;
MoveL Target_990,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1000,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1010,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1020,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1030,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1040,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1050,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1060,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1070,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1080,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1090,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1100,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1110,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1120,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1130,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1140,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1150,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1160,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1170,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1180,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1190,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1200,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1210,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1220,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1230,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1240,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1250,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1260,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1270,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1280,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1290,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1300,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1310,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1320,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1330,v100,z100,ToolR\WObj:=Caja;
MoveL Target_1340,v100,z100,ToolR\WObj:=Caja;
ENDPROC
PROC Path_50()
MoveJ Target_1350,v100,z100,ToolR\WObj:=Caja;
MoveJ Target_1360,v100,z100,ToolR\WObj:=Caja;
ENDPROC
PROC Path_60()
MoveL Target_1370,v1000,z100,ToolR\WObj:=Caja;
MoveL Target_1380,v1000,z100,ToolR\WObj:=Caja;
ENDPROC
PROC Path_70()
MoveL Target_1390,v1000,z100,ToolR\WObj:=Caja;
MoveL Target_1400,v1000,z100,ToolR\WObj:=Caja;
ENDPROC
PROC Path_80()
MoveAbsJ JointTarget_2,v100,z100,ToolR\WObj:=Caja;
MoveAbsJ JointTarget_3,v100,z100,ToolR\WObj:=Caja;
ENDPROC
PROC Path_90()
MoveAbsJ JointTarget_4,v100,z100,ToolR\WObj:=Caja;
ENDPROC
ENDMODULE