发表于：2013/4/29 22:03:25
#0楼
10 '******************************
20 '* MOVE MASTER PROGRAM For RH *
30 '* T0841 PCB ROB *
40 '* Version 1.00 *
45 '* T.SHIMURA *
50 '* 011124 CopyRight OEC-INC *
60 '******************************
70 '
80 'INIT
90 CLR 0
100 'ROB-TYPE
110 'LCD-ROB,PCB-ROB SELECT
120 'M1=6160 'LCD DATA SELECT
130 'M2=7280 'LCD I/O SELECT
140 M1= 6072'PCB DATA SELECT
150 M2=6576 'PCB I/O SELECT
160 GOSUB *MSELECT
170 DIM P1000(20,9) '芜嫁籍菝?罃z楍愰尵
184 DIM P1100(20,9) '芜嫁籍菝?罃z楍愰尵
199 '
200 *STBY '巒揰暅婣巜
210 M10=DIST(P39,P_CURR)
220 M10=FIX(M10)
230 IF M10=0 THEN GOTO 250
235 IF M_IN(M120)=1 THEN GOTO *MAIN
240 WAIT M_IN(M116)=1 '巒揰暅婣巜
250 P1=P_CURR '尰嵼埵抲庢摼
260 P1.Z=P39.Z '堏摦崅偝庢摼
270 OVRD 30 '堏摦崅偝偵倅堏摦
280 MOV P1 '堏摦崅偝偵倅堏摦
290 '
300 C1$=RDFL1$(P1,0) '庤宯庢摼
310 IF C1$="R" THEN GOTO 440 '塃庤側傜P39傊捈慄曗娫
320 IF M_UAR=1 THEN GOTO 420 '嵍庤偱UA1側傜僩儗乕忋嬻偱台忿瑫蠉X
330 IF M_UAR=2 THEN GOTO 350 '嵍庤偱UA2側傜P99偱台忿瑫蠉X
333 'M900=M_UAR(1) '嵍庤偱UA2側傜
336 'IF M900=2 THEN GOTO 355 '嵍庤偱UA2側傜ERR9000
340 GOTO 420 '忋婰埲奜側傜僩儗乕忋嬻偱台忿瑫蠉X
350 P1=P_CURR '尰嵼埵抲庢摼
355 'ERROR 9000 'ERR LEFT
360 P1.X=P1.X-30 '堏摦倄儔僀儞庢摼
370 P1.C=P39.C '堏摦崅偝庢摼
380 'MVS P1 '堏摦埵抲傊堏摦
390 'MOV P99 '嵍庤搉偟
400 'MOV P49 '塃庤搉偟忋嬻
410 GOTO 440
420 MOV P19 '嵍庤内皥蕭u忋嬻
430 MOV P39 '塃庤宯傊堏摦
440 MVS P39
450 DLY 0.01
460 M_OUT(M116)=1
470 WAIT M_IN(M116)=0 '巒揰暅婣OFF
480 OVRD 100
490 '
500 *MAIN
510 IF M_IN(M132)=1 THEN GOSUB *PICK '
520 IF M_IN(M148)=1 THEN GOSUB *TRAYPICK '
530 IF M_IN(M149)=1 THEN GOSUB *TRAYPICK '
540 IF M_IN(M164)=1 THEN GOSUB *PLACE '
550 IF M_IN(M196)=1 THEN GOSUB *SERCH '
560 IF M_IN(M180)=1 THEN GOSUB *CHECK '
570 IF M_IN(M117)=1 THEN GOSUB *PL '?霓撉傒弌偟
580 IF M_IN(M118)=1 THEN GOSUB *PS '?剔曐懚
590 IF M_IN(M116)=1 THEN GOTO *STBY '巒揰暅婣巜
600 GOTO *MAIN
610 '
1000 *PICK
1010 M_OUT(M116)=0
1020 M_OUT(M132)=1
1030 P1=P_CURR '尰嵼埵抲庢摼
1040 C1$=RDFL1$(P1,0) '庤宯庢摼
1050 IF C1$="L" THEN GOTO 1070 '塃庤側傜P39傊捈慄曗娫
1060 MVS P39
1070 MOV P19
1080 GOSUB *PICKSUB
1090 RETURN
1100 '
1110 *PICKSUB
1120 P1=P10
1130 P2=P1
1140 P2.Z=P19.Z
1150 MOV P2
1160 WAIT M_IN(M133)=1
1170 MOV P1
1180 M_OUT(M133)=1
1190 WAIT M_IN(M133)=0
1200 MOV P2
1210 M_OUT(M133)=0
1220 WAIT M_IN(M132)=0
1230 MOV P19
1240 MOV P39
1250 M_OUT(M116)=1
1260 M_OUT(M132)=0
1270 RETURN
1280 '
2000 *TRAYPICK
2010 M_OUT(M116)=0
2020 'X,Y Number Get,Check
2030 IF M_IN(M148)=1 THEN GOTO *PAL1
2040 IF M_IN(M149)=1 THEN GOTO *PAL2
2050 GOTO *TRAYPICK
2060 '
2070 *PAL1
2080 M_OUT(M148)=1
2090 P1=P10
2100 GOTO *PALEINIT
2110 '
2120 *PAL2
2130 M_OUT(M149)=1
2140 P1=P20
2150 GOTO *PALEINIT
2160 '
2500 *PALEINIT
2510 M10=M_DIN(M308)
2520 M11=M_DIN(M309)
2530 M12=M_DIN(M310)
2540 M13=M_DIN(M311)
2550 M14=M10-1
2560 M15=M11-1
2570 M14=M14*M12
2580 M15=M15*M13
2590 M14=M14/10
2600 M15=M15/10
2610 P2=P1
2620 P2.X=P2.X-M15
2630 P3=P1
2640 P3.Y=P3.Y-M14
2650 P4=P1
2660 P4.X=P2.X
2670 P4.Y=P3.Y
2680 DEF PLT 1,P1,P2,P3,P4,M11,M10,1
2690 '
2700 P1=P_CURR '尰嵼埵抲庢摼
2710 C1$=RDFL1$(P1,0) '庤宯庢摼
2720 IF C1$="L" THEN GOTO *TPICKSUB '嵍庤側傜偦偺傑傑庴庢
2730 MVS P39
2740 MOV P19
2750 '
3000 *TPICKSUB
3010 M16=M_DIN(M312)
3020 P1=(PLT 1,M16)
3030 P2=P1
3040 P2.Z=P19.Z
3050 FINE 5
3060 MOV P2
3070 IF M_IN(M150)=1 THEN 3110
3080 IF M_IN(M148)=1 THEN 3070
3090 IF M_IN(M149)=1 THEN 3070
3100 GOTO 3170
3110 MOV P1
3120 M_OUT(M150)=1
3130 WAIT M_IN(M150)=0
3140 MOV P2
3150 M_OUT(M150)=0
3160 IF M_IN(M150)=1 THEN GOTO *TPICKSUB
3170 IF M_IN(M148)=1 THEN GOTO 3160
3180 IF M_IN(M149)=1 THEN GOTO 3160
3190 FINE 0
3200 MOV P19
3210 MOV P39
3220 M_OUT(M116)=1
3230 M_OUT(M148)=0
3240 M_OUT(M149)=0
3250 M_OUT(M150)=0
3260 RETURN
3270 '
3500 *SERCH
3510 M_OUT(M116)=0
3520 M_OUT(M196)=1
3530 P1=P_CURR '尰嵼埵抲庢摼
3540 C1$=RDFL1$(P1,0) '庤宯庢摼
3550 IF C1$="R" THEN GOTO 3580 '塃庤側傜P39傊捈慄曗娫
3560 MOV P19
3570 MOV P39
3580 MVS P39
3590 GOSUB *SERCHSUB
3600 P2=P_ZERO
3610 P3=P_CURR
3620 IF M_IN(M212)=1 THEN GOSUB *JOG
3630 IF M_IN(M196)=1 THEN GOTO 3590
3640 M_OUT(M196)=0
3650 RETURN
3660 '
3670 *SERCHSUB
3680 IF M_IN(M197)=0 THEN GOTO 3710
3690 P1=P30
3700 GOTO *SRCMOV
3710 IF M_IN(M198)=0 THEN GOTO 3740
3720 P1=P31
3730 GOTO *SRCMOV
3740 IF M_IN(M200)=0 THEN GOTO 3770
3750 P1=P35
3760 GOTO *SRCMOV
3770 IF M_IN(M201)=0 THEN GOTO 3800
3780 P1=P36
3790 GOTO *SRCMOV
3800 IF M_IN(M202)=0 THEN GOTO 3830
3810 P1=P37
3820 GOTO *SRCMOV
3830 IF M_IN(M203)=0 THEN GOTO 3860
3840 P1=P38
3850 GOTO *SRCMOV
3860 RETURN
3870 '
3880 *SRCMOV
3885 FINE 1
3890 GOSUB *CALC
3900 P1=P1+P9
3920 MVS P1
3922 DLY 0.01
3925 FINE 0
3930 GOSUB *POSSEND
3940 M_OUT(M197)=1
3950 WAIT M_IN(M197)=0
3960 WAIT M_IN(M198)=0
3970 WAIT M_INB(M200)=0
3980 M_OUT(M197)=0
3990 RETURN
4000 '
4100 *JOG
4110 M_OUT(M212)=1
4120 '
4130 IF M_IN(M213)=0 THEN 4190
4140 IF P2.X>5 THEN GOTO 4190
4150 P2.X=P2.X+0.5
4160 M_OUT(M213)=1
4170 GOTO 4580
4180 '
4190 IF M_IN(M214)=0 THEN 4250
4200 IF P2.X<-5 THEN GOTO 4250
4210 P2.X=P2.X-0.5
4220 M_OUT(M214)=1
4230 GOTO 4580
4240 '
4250 IF M_IN(M215)=0 THEN 4310
4260 IF P2.Y>5 THEN GOTO 4310
4270 P2.Y=P2.Y+0.5
4280 M_OUT(M215)=1
4290 GOTO 4580
4300 '
4310 IF M_IN(M216)=0 THEN 4370
4320 IF P2.Y<-5 THEN GOTO 4370
4330 P2.Y=P2.Y-0.5
4340 M_OUT(M216)=1
4350 GOTO 4580
4360 '
4370 IF M_IN(M217)=0 THEN 4430
4380 IF P2.C>3 THEN GOTO 4430
4390 P2.C=P2.C+0.1
4400 M_OUT(M217)=1
4410 GOTO 4580
4420 '
4430 IF M_IN(M218)=0 THEN 4480
4440 IF P2.C<-3 THEN GOTO 4480
4450 P2.C=P2.C-0.1
4460 M_OUT(M218)=1
4470 GOTO 4580
4480 '
4490 M_OUT(M213)=0
4500 M_OUT(M214)=0
4510 M_OUT(M215)=0
4520 M_OUT(M216)=0
4530 M_OUT(M217)=0
4540 M_OUT(M218)=0
4550 IF M_IN(M212)=1 THEN GOTO *JOG
4560 M_OUT(M212)=0
4570 RETURN
4580 P1=P3+P2
4590 MVS P1
4600 GOSUB *POSSEND
4610 GOTO *JOG
4620 '
4700 *CALC
4710 M20=M_DIN(M300) 'DX
4720 M21=M_DIN(M301) 'DX
4730 M21=M21/10000 'DX
4740 M20=M20+M21 'DXDATA
4750 M22=M_DIN(M302) 'DY
4760 M23=M_DIN(M303) 'DY
4770 M23=M23/10000 'DY
4780 M22=M22+M23 'DYDATA
4790 M24=M_DIN(M304) 'DT
4800 M25=M_DIN(M305) 'DT
4810 M25=M25/10000 'DT
4820 M24=M24+M25 'DT
4830 M24=RAD(M24) 'DT DEG->RAD DATA
4840 P9.X=M20
4850 P9.Y=M22
4860 P9.Z=0.0
4870 P9.A=0.0
4880 P9.B=0.0
4890 P9.C=M24
4900 'P9=P_ZERO
4910 RETURN
4920 '
5000 *POSSEND
5010 P1=P_CURR
5020 M41=P1.X
5030 M43=P1.Y
5040 M47=P1.C
5050 M45=DEG(M47)
5060 M40=FIX(M41) 'X惍悢
5070 M41=(M41-M40)*10000
5080 M41=FIX(M41) 'X彫悢
5090 M42=FIX(M43) 'Y惍悢
5100 M43=(M43-M42)*10000
5110 M43=FIX(M43) 'Y
5120 M44=FIX(M45) '兤惍悢
5130 M45=(M45-M44)*10000
5140 M45=FIX(M45) '兤彫悢
5150 M_DOUT(M300)=M40
5160 M_DOUT(M301)=M41
5170 M_DOUT(M302)=M42
5180 M_DOUT(M303)=M43
5190 M_DOUT(M304)=M44
5200 M_DOUT(M305)=M45
5210 DLY 0.01
5215 RETURN
5220 '
5500 *PLACE
5510 M_OUT(M116)=0
5520 M_OUT(M164)=1
5530 P1=P_CURR '尰嵼埵抲庢摼
5540 C1$=RDFL1$(P1,0) '庤宯庢摼
5550 IF C1$="R" THEN GOTO *PLACESUB '塃庤側傜P39傊捈慄曗娫
5560 MOV P39
5570 '
5580 *PLACESUB
5590 GOSUB *CALC
5600 P1=P40+P9
5610 P2=P1
5620 P2.Z=P49.Z
5630 FINE 1
5640 MVS P2
5650 WAIT M_IN(M165)=1
5660 MOV P1
5670 M_OUT(M165)=1
5680 WAIT M_IN(M165)=0
5690 MOV P2
5700 M_OUT(M165)=0
5710 WAIT M_IN(M164)=0
5720 M_OUT(M164)=0
5730 FINE 0
5740 RETURN
5750 '
6000 *CHECK
6005 M_OUT(M116)=0
6010 M_OUT(M180)=1
6020 P1=P_CURR '尰嵼埵抲庢摼
6030 C1$=RDFL1$(P1,0) '庤宯庢摼
6040 IF C1$="R" THEN GOTO *CHKSUB '塃庤側傜P39傊捈慄曗娫
6050 MOV P39
6060 '
6070 *CHKSUB
6075 FINE 1
6080 P1=P50
6090 P2=P1
6100 P2.Z=P39.Z
6110 MVS P2
6120 MVS P1
6125 DLY 0.01
6140 M_OUT(M181)=1
6150 WAIT M_IN(M181)=1
6160 IF M_IN(M182)=0 THEN OVRD 100 ELSE OVRD 5
6170 MVS P51
6180 DLY 0.01
6190 M_OUT(M181)=0
6200 WAIT M_IN(M181)=0
6210 WAIT M_IN(M180)=0
6220 OVRD 100
6230 MVS P59
6240 M_OUT(M180)=0
6245 FINE 0
6250 OVRD 100
6260 RETURN
6270 '
10000 *MSELECT
10001 M300=M1+0
10002 M301=M1+1
10003 M302=M1+2
10004 M303=M1+3
10005 M304=M1+4
10006 M305=M1+5
10007 M306=M1+6
10008 M307=M1+7
10009 M308=M1+8
10010 M309=M1+9
10011 M310=M1+10
10012 M311=M1+11
10013 M312=M1+12
10014 M313=M1+13
10015 M314=M1+14
10016 M315=M1+15
10017 M100=M2+0
10018 M101=M2+1
10019 M102=M2+2
10020 M103=M2+3
10021 M104=M2+4
10022 M105=M2+5
10023 M106=M2+6
10024 M107=M2+7
10025 M108=M2+8
10026 M109=M2+9
10027 M110=M2+10
10028 M111=M2+11
10029 M112=M2+12
10030 M113=M2+13
10031 M114=M2+14
10032 M115=M2+15
10033 M116=M2+16
10034 M117=M2+17
10035 M118=M2+18
10036 M119=M2+19
10037 M120=M2+20
10038 M121=M2+21
10039 M122=M2+22
10040 M123=M2+23
10041 M124=M2+24
10042 M125=M2+25
10043 M126=M2+26
10044 M127=M2+27
10045 M128=M2+28
10046 M129=M2+29
10047 M130=M2+30
10048 M131=M2+31
10049 M132=M2+32
10050 M133=M2+33
10051 M134=M2+34
10052 M135=M2+35
10053 M136=M2+36
10054 M137=M2+37
10055 M138=M2+38
10056 M139=M2+39
10057 M140=M2+40
10058 M141=M2+41
10059 M142=M2+42
10060 M143=M2+43
10061 M144=M2+44
10062 M145=M2+45
10063 M146=M2+46
10064 M147=M2+47
10065 M148=M2+48
10066 M149=M2+49
10067 M150=M2+50
10068 M151=M2+51
10069 M152=M2+52
10070 M153=M2+53
10071 M154=M2+54
10072 M155=M2+55
10073 M156=M2+56
10074 M157=M2+57
10075 M158=M2+58
10076 M159=M2+59
10077 M160=M2+60
10078 M161=M2+61
10079 M162=M2+62
10080 M163=M2+63
10081 M164=M2+64
10082 M165=M2+65
10083 M166=M2+66
10084 M167=M2+67
10085 M168=M2+68
10086 M169=M2+69
10087 M170=M2+70
10088 M171=M2+71
10089 M172=M2+72
10090 M173=M2+73
10091 M174=M2+74
10092 M175=M2+75
10093 M176=M2+76
10094 M177=M2+77
10095 M178=M2+78
10096 M179=M2+79
10097 M180=M2+80
10098 M181=M2+81
10099 M182=M2+82
10100 M183=M2+83
10101 M184=M2+84
10102 M185=M2+85
10103 M186=M2+86
10104 M187=M2+87
10105 M188=M2+88
10106 M189=M2+89
10107 M190=M2+90
10108 M191=M2+91
10109 M192=M2+92
10110 M193=M2+93
10111 M194=M2+94
10112 M195=M2+95
10113 M196=M2+96
10114 M197=M2+97
10115 M198=M2+98
10116 M199=M2+99
10117 M200=M2+100
10118 M201=M2+101
10119 M202=M2+102
10120 M203=M2+103
10121 M204=M2+104
10122 M205=M2+105
10123 M206=M2+106
10124 M207=M2+107
10125 M208=M2+108
10126 M209=M2+109
10127 M210=M2+110
10128 M211=M2+111
10129 M212=M2+112
10130 M213=M2+113
10131 M214=M2+114
10132 M215=M2+115
10133 M216=M2+116
10134 M217=M2+117
10135 M218=M2+118
10136 M219=M2+119
10137 M220=M2+120
10138 M221=M2+121
10139 M222=M2+122
10140 M223=M2+123
10141 M224=M2+124
10142 M225=M2+125
10143 M226=M2+126
10144 RETURN
10145 '
26710 *PL '撉弌
26720 M1000=M_DIN(M314)
26730 P10=P1000(M1000,1)
26740 P11=P1000(M1000,2)
26750 P12=P1000(M1000,3)
26760 P13=P1000(M1000,4)
26770 P30=P1000(M1000,5)
26780 P31=P1000(M1000,6)
26790 P40=P1000(M1000,7)
26800 P50=P1000(M1000,8)
26810 P51=P1000(M1000,9)
26820 M1100=M_DIN(M314)
26830 P20=P1100(M1100,1)
26840 P19=P1100(M1100,2)
26850 P39=P1100(M1100,3)
26860 P49=P1100(M1100,4)
26870 P59=P1100(M1100,5)
26880 'P35=P1100(M1100,6)
26890 'P36=P1100(M1100,7)
26900 'P37=P1100(M1100,8)
26910 'P38=P1100(M1100,9)
26930 M_OUT(M117)=1
26940 WAIT M_IN(M117)=0
26945 M_DOUT(M315)=M1000
26950 M_OUT(M117)=0
26955 M_OUT(M116)=0
26960 RETURN
26970 '
26980 *PS '曐懚丂丂
26990 M1000=M_DIN(M314)
27000 P1000(M1000,1)=P10
27010 P1000(M1000,2)=P11
27020 P1000(M1000,3)=P12
27030 P1000(M1000,4)=P13
27040 P1000(M1000,5)=P30
27050 P1000(M1000,6)=P31
27060 P1000(M1000,7)=P40
27070 P1000(M1000,8)=P50
27080 P1000(M1000,9)=P51
27090 M1100=M_DIN(M314)
27100 P1100(M1100,1)=P20
27110 P1100(M1100,2)=P19
27120 P1100(M1100,3)=P39
27130 P1100(M1100,4)=P49
27140 P1100(M1100,5)=P59
27150 'P1100(M1100,6)=P35
27160 'P1100(M1100,7)=P36
27170 'P1100(M1100,8)=P37
27180 'P1100(M1100,9)=P38
27200 M_OUT(M118)=1
27210 WAIT M_IN(M118)=0
27215 M_DOUT(M315)=M1000
27220 M_OUT(M118)=0
27230 RETURN
27240 '
P1000(1,1)=(+351.464,-516.709,+239.274,+0.000,+0.000,+176.655,+0.000,+0.000)
P1000(1,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,5)=(+435.475,-153.037,+292.583,+0.000,+0.000,-3.104,+0.000,+0.000)
P1000(1,6)=(+435.549,+75.265,+291.880,+0.000,+0.000,-3.370,+0.000,+0.000)
P1000(1,7)=(+378.053,+543.212,+233.222,+0.000,+0.000,-3.275,+0.000,+0.000)
P1000(1,8)=(+333.206,+368.926,+270.992,+0.000,+0.000,-15.375,+0.000,+0.000)
P1000(1,9)=(+333.206,+612.306,+270.992,+0.000,+0.000,-15.375,+0.000,+0.000)
P1000(2,1)=(+319.694,-514.139,+239.596,+0.000,+0.000,-179.066,+0.000,+0.000)
P1000(2,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,5)=(+428.253,-171.427,+277.940,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,6)=(+428.253,+80.922,+277.940,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,7)=(+372.277,+563.337,+232.782,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,8)=(+473.444,+241.732,+257.687,+0.000,+0.000,+0.673,+0.000,+0.000)
P1000(2,9)=(+473.444,+502.848,+257.687,+0.000,+0.000,+0.673,+0.000,+0.000)
P1000(3,1)=(+265.503,-602.005,+239.293,+0.000,+0.000,+176.773,+0.000,+0.000)
P1000(3,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,5)=(+437.311,-121.264,+283.649,+0.000,+0.000,-5.100,+0.000,+0.000)
P1000(3,6)=(+445.178,+58.830,+282.563,+0.000,+0.000,-5.080,+0.000,+0.000)
P1000(3,7)=(+375.717,+470.468,+235.214,+0.000,+0.000,-2.890,+0.000,+0.000)
P1000(3,8)=(+468.485,+149.606,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(3,9)=(+468.928,+438.356,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(4,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,1)=(+317.464,-511.514,+240.000,+0.000,+0.000,-179.334,+0.000,+0.000)
P1000(6,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,5)=(+426.072,-193.074,+277.941,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,6)=(+426.072,+100.075,+277.941,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,7)=(+374.538,+477.502,+233.108,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,8)=(+468.485,+149.606,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(6,9)=(+468.928,+438.356,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(7,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
20 '* MOVE MASTER PROGRAM For RH *
30 '* T0841 PCB ROB *
40 '* Version 1.00 *
45 '* T.SHIMURA *
50 '* 011124 CopyRight OEC-INC *
60 '******************************
70 '
80 'INIT
90 CLR 0
100 'ROB-TYPE
110 'LCD-ROB,PCB-ROB SELECT
120 'M1=6160 'LCD DATA SELECT
130 'M2=7280 'LCD I/O SELECT
140 M1= 6072'PCB DATA SELECT
150 M2=6576 'PCB I/O SELECT
160 GOSUB *MSELECT
170 DIM P1000(20,9) '芜嫁籍菝?罃z楍愰尵
184 DIM P1100(20,9) '芜嫁籍菝?罃z楍愰尵
199 '
200 *STBY '巒揰暅婣巜
210 M10=DIST(P39,P_CURR)
220 M10=FIX(M10)
230 IF M10=0 THEN GOTO 250
235 IF M_IN(M120)=1 THEN GOTO *MAIN
240 WAIT M_IN(M116)=1 '巒揰暅婣巜
250 P1=P_CURR '尰嵼埵抲庢摼
260 P1.Z=P39.Z '堏摦崅偝庢摼
270 OVRD 30 '堏摦崅偝偵倅堏摦
280 MOV P1 '堏摦崅偝偵倅堏摦
290 '
300 C1$=RDFL1$(P1,0) '庤宯庢摼
310 IF C1$="R" THEN GOTO 440 '塃庤側傜P39傊捈慄曗娫
320 IF M_UAR=1 THEN GOTO 420 '嵍庤偱UA1側傜僩儗乕忋嬻偱台忿瑫蠉X
330 IF M_UAR=2 THEN GOTO 350 '嵍庤偱UA2側傜P99偱台忿瑫蠉X
333 'M900=M_UAR(1) '嵍庤偱UA2側傜
336 'IF M900=2 THEN GOTO 355 '嵍庤偱UA2側傜ERR9000
340 GOTO 420 '忋婰埲奜側傜僩儗乕忋嬻偱台忿瑫蠉X
350 P1=P_CURR '尰嵼埵抲庢摼
355 'ERROR 9000 'ERR LEFT
360 P1.X=P1.X-30 '堏摦倄儔僀儞庢摼
370 P1.C=P39.C '堏摦崅偝庢摼
380 'MVS P1 '堏摦埵抲傊堏摦
390 'MOV P99 '嵍庤搉偟
400 'MOV P49 '塃庤搉偟忋嬻
410 GOTO 440
420 MOV P19 '嵍庤内皥蕭u忋嬻
430 MOV P39 '塃庤宯傊堏摦
440 MVS P39
450 DLY 0.01
460 M_OUT(M116)=1
470 WAIT M_IN(M116)=0 '巒揰暅婣OFF
480 OVRD 100
490 '
500 *MAIN
510 IF M_IN(M132)=1 THEN GOSUB *PICK '
520 IF M_IN(M148)=1 THEN GOSUB *TRAYPICK '
530 IF M_IN(M149)=1 THEN GOSUB *TRAYPICK '
540 IF M_IN(M164)=1 THEN GOSUB *PLACE '
550 IF M_IN(M196)=1 THEN GOSUB *SERCH '
560 IF M_IN(M180)=1 THEN GOSUB *CHECK '
570 IF M_IN(M117)=1 THEN GOSUB *PL '?霓撉傒弌偟
580 IF M_IN(M118)=1 THEN GOSUB *PS '?剔曐懚
590 IF M_IN(M116)=1 THEN GOTO *STBY '巒揰暅婣巜
600 GOTO *MAIN
610 '
1000 *PICK
1010 M_OUT(M116)=0
1020 M_OUT(M132)=1
1030 P1=P_CURR '尰嵼埵抲庢摼
1040 C1$=RDFL1$(P1,0) '庤宯庢摼
1050 IF C1$="L" THEN GOTO 1070 '塃庤側傜P39傊捈慄曗娫
1060 MVS P39
1070 MOV P19
1080 GOSUB *PICKSUB
1090 RETURN
1100 '
1110 *PICKSUB
1120 P1=P10
1130 P2=P1
1140 P2.Z=P19.Z
1150 MOV P2
1160 WAIT M_IN(M133)=1
1170 MOV P1
1180 M_OUT(M133)=1
1190 WAIT M_IN(M133)=0
1200 MOV P2
1210 M_OUT(M133)=0
1220 WAIT M_IN(M132)=0
1230 MOV P19
1240 MOV P39
1250 M_OUT(M116)=1
1260 M_OUT(M132)=0
1270 RETURN
1280 '
2000 *TRAYPICK
2010 M_OUT(M116)=0
2020 'X,Y Number Get,Check
2030 IF M_IN(M148)=1 THEN GOTO *PAL1
2040 IF M_IN(M149)=1 THEN GOTO *PAL2
2050 GOTO *TRAYPICK
2060 '
2070 *PAL1
2080 M_OUT(M148)=1
2090 P1=P10
2100 GOTO *PALEINIT
2110 '
2120 *PAL2
2130 M_OUT(M149)=1
2140 P1=P20
2150 GOTO *PALEINIT
2160 '
2500 *PALEINIT
2510 M10=M_DIN(M308)
2520 M11=M_DIN(M309)
2530 M12=M_DIN(M310)
2540 M13=M_DIN(M311)
2550 M14=M10-1
2560 M15=M11-1
2570 M14=M14*M12
2580 M15=M15*M13
2590 M14=M14/10
2600 M15=M15/10
2610 P2=P1
2620 P2.X=P2.X-M15
2630 P3=P1
2640 P3.Y=P3.Y-M14
2650 P4=P1
2660 P4.X=P2.X
2670 P4.Y=P3.Y
2680 DEF PLT 1,P1,P2,P3,P4,M11,M10,1
2690 '
2700 P1=P_CURR '尰嵼埵抲庢摼
2710 C1$=RDFL1$(P1,0) '庤宯庢摼
2720 IF C1$="L" THEN GOTO *TPICKSUB '嵍庤側傜偦偺傑傑庴庢
2730 MVS P39
2740 MOV P19
2750 '
3000 *TPICKSUB
3010 M16=M_DIN(M312)
3020 P1=(PLT 1,M16)
3030 P2=P1
3040 P2.Z=P19.Z
3050 FINE 5
3060 MOV P2
3070 IF M_IN(M150)=1 THEN 3110
3080 IF M_IN(M148)=1 THEN 3070
3090 IF M_IN(M149)=1 THEN 3070
3100 GOTO 3170
3110 MOV P1
3120 M_OUT(M150)=1
3130 WAIT M_IN(M150)=0
3140 MOV P2
3150 M_OUT(M150)=0
3160 IF M_IN(M150)=1 THEN GOTO *TPICKSUB
3170 IF M_IN(M148)=1 THEN GOTO 3160
3180 IF M_IN(M149)=1 THEN GOTO 3160
3190 FINE 0
3200 MOV P19
3210 MOV P39
3220 M_OUT(M116)=1
3230 M_OUT(M148)=0
3240 M_OUT(M149)=0
3250 M_OUT(M150)=0
3260 RETURN
3270 '
3500 *SERCH
3510 M_OUT(M116)=0
3520 M_OUT(M196)=1
3530 P1=P_CURR '尰嵼埵抲庢摼
3540 C1$=RDFL1$(P1,0) '庤宯庢摼
3550 IF C1$="R" THEN GOTO 3580 '塃庤側傜P39傊捈慄曗娫
3560 MOV P19
3570 MOV P39
3580 MVS P39
3590 GOSUB *SERCHSUB
3600 P2=P_ZERO
3610 P3=P_CURR
3620 IF M_IN(M212)=1 THEN GOSUB *JOG
3630 IF M_IN(M196)=1 THEN GOTO 3590
3640 M_OUT(M196)=0
3650 RETURN
3660 '
3670 *SERCHSUB
3680 IF M_IN(M197)=0 THEN GOTO 3710
3690 P1=P30
3700 GOTO *SRCMOV
3710 IF M_IN(M198)=0 THEN GOTO 3740
3720 P1=P31
3730 GOTO *SRCMOV
3740 IF M_IN(M200)=0 THEN GOTO 3770
3750 P1=P35
3760 GOTO *SRCMOV
3770 IF M_IN(M201)=0 THEN GOTO 3800
3780 P1=P36
3790 GOTO *SRCMOV
3800 IF M_IN(M202)=0 THEN GOTO 3830
3810 P1=P37
3820 GOTO *SRCMOV
3830 IF M_IN(M203)=0 THEN GOTO 3860
3840 P1=P38
3850 GOTO *SRCMOV
3860 RETURN
3870 '
3880 *SRCMOV
3885 FINE 1
3890 GOSUB *CALC
3900 P1=P1+P9
3920 MVS P1
3922 DLY 0.01
3925 FINE 0
3930 GOSUB *POSSEND
3940 M_OUT(M197)=1
3950 WAIT M_IN(M197)=0
3960 WAIT M_IN(M198)=0
3970 WAIT M_INB(M200)=0
3980 M_OUT(M197)=0
3990 RETURN
4000 '
4100 *JOG
4110 M_OUT(M212)=1
4120 '
4130 IF M_IN(M213)=0 THEN 4190
4140 IF P2.X>5 THEN GOTO 4190
4150 P2.X=P2.X+0.5
4160 M_OUT(M213)=1
4170 GOTO 4580
4180 '
4190 IF M_IN(M214)=0 THEN 4250
4200 IF P2.X<-5 THEN GOTO 4250
4210 P2.X=P2.X-0.5
4220 M_OUT(M214)=1
4230 GOTO 4580
4240 '
4250 IF M_IN(M215)=0 THEN 4310
4260 IF P2.Y>5 THEN GOTO 4310
4270 P2.Y=P2.Y+0.5
4280 M_OUT(M215)=1
4290 GOTO 4580
4300 '
4310 IF M_IN(M216)=0 THEN 4370
4320 IF P2.Y<-5 THEN GOTO 4370
4330 P2.Y=P2.Y-0.5
4340 M_OUT(M216)=1
4350 GOTO 4580
4360 '
4370 IF M_IN(M217)=0 THEN 4430
4380 IF P2.C>3 THEN GOTO 4430
4390 P2.C=P2.C+0.1
4400 M_OUT(M217)=1
4410 GOTO 4580
4420 '
4430 IF M_IN(M218)=0 THEN 4480
4440 IF P2.C<-3 THEN GOTO 4480
4450 P2.C=P2.C-0.1
4460 M_OUT(M218)=1
4470 GOTO 4580
4480 '
4490 M_OUT(M213)=0
4500 M_OUT(M214)=0
4510 M_OUT(M215)=0
4520 M_OUT(M216)=0
4530 M_OUT(M217)=0
4540 M_OUT(M218)=0
4550 IF M_IN(M212)=1 THEN GOTO *JOG
4560 M_OUT(M212)=0
4570 RETURN
4580 P1=P3+P2
4590 MVS P1
4600 GOSUB *POSSEND
4610 GOTO *JOG
4620 '
4700 *CALC
4710 M20=M_DIN(M300) 'DX
4720 M21=M_DIN(M301) 'DX
4730 M21=M21/10000 'DX
4740 M20=M20+M21 'DXDATA
4750 M22=M_DIN(M302) 'DY
4760 M23=M_DIN(M303) 'DY
4770 M23=M23/10000 'DY
4780 M22=M22+M23 'DYDATA
4790 M24=M_DIN(M304) 'DT
4800 M25=M_DIN(M305) 'DT
4810 M25=M25/10000 'DT
4820 M24=M24+M25 'DT
4830 M24=RAD(M24) 'DT DEG->RAD DATA
4840 P9.X=M20
4850 P9.Y=M22
4860 P9.Z=0.0
4870 P9.A=0.0
4880 P9.B=0.0
4890 P9.C=M24
4900 'P9=P_ZERO
4910 RETURN
4920 '
5000 *POSSEND
5010 P1=P_CURR
5020 M41=P1.X
5030 M43=P1.Y
5040 M47=P1.C
5050 M45=DEG(M47)
5060 M40=FIX(M41) 'X惍悢
5070 M41=(M41-M40)*10000
5080 M41=FIX(M41) 'X彫悢
5090 M42=FIX(M43) 'Y惍悢
5100 M43=(M43-M42)*10000
5110 M43=FIX(M43) 'Y
5120 M44=FIX(M45) '兤惍悢
5130 M45=(M45-M44)*10000
5140 M45=FIX(M45) '兤彫悢
5150 M_DOUT(M300)=M40
5160 M_DOUT(M301)=M41
5170 M_DOUT(M302)=M42
5180 M_DOUT(M303)=M43
5190 M_DOUT(M304)=M44
5200 M_DOUT(M305)=M45
5210 DLY 0.01
5215 RETURN
5220 '
5500 *PLACE
5510 M_OUT(M116)=0
5520 M_OUT(M164)=1
5530 P1=P_CURR '尰嵼埵抲庢摼
5540 C1$=RDFL1$(P1,0) '庤宯庢摼
5550 IF C1$="R" THEN GOTO *PLACESUB '塃庤側傜P39傊捈慄曗娫
5560 MOV P39
5570 '
5580 *PLACESUB
5590 GOSUB *CALC
5600 P1=P40+P9
5610 P2=P1
5620 P2.Z=P49.Z
5630 FINE 1
5640 MVS P2
5650 WAIT M_IN(M165)=1
5660 MOV P1
5670 M_OUT(M165)=1
5680 WAIT M_IN(M165)=0
5690 MOV P2
5700 M_OUT(M165)=0
5710 WAIT M_IN(M164)=0
5720 M_OUT(M164)=0
5730 FINE 0
5740 RETURN
5750 '
6000 *CHECK
6005 M_OUT(M116)=0
6010 M_OUT(M180)=1
6020 P1=P_CURR '尰嵼埵抲庢摼
6030 C1$=RDFL1$(P1,0) '庤宯庢摼
6040 IF C1$="R" THEN GOTO *CHKSUB '塃庤側傜P39傊捈慄曗娫
6050 MOV P39
6060 '
6070 *CHKSUB
6075 FINE 1
6080 P1=P50
6090 P2=P1
6100 P2.Z=P39.Z
6110 MVS P2
6120 MVS P1
6125 DLY 0.01
6140 M_OUT(M181)=1
6150 WAIT M_IN(M181)=1
6160 IF M_IN(M182)=0 THEN OVRD 100 ELSE OVRD 5
6170 MVS P51
6180 DLY 0.01
6190 M_OUT(M181)=0
6200 WAIT M_IN(M181)=0
6210 WAIT M_IN(M180)=0
6220 OVRD 100
6230 MVS P59
6240 M_OUT(M180)=0
6245 FINE 0
6250 OVRD 100
6260 RETURN
6270 '
10000 *MSELECT
10001 M300=M1+0
10002 M301=M1+1
10003 M302=M1+2
10004 M303=M1+3
10005 M304=M1+4
10006 M305=M1+5
10007 M306=M1+6
10008 M307=M1+7
10009 M308=M1+8
10010 M309=M1+9
10011 M310=M1+10
10012 M311=M1+11
10013 M312=M1+12
10014 M313=M1+13
10015 M314=M1+14
10016 M315=M1+15
10017 M100=M2+0
10018 M101=M2+1
10019 M102=M2+2
10020 M103=M2+3
10021 M104=M2+4
10022 M105=M2+5
10023 M106=M2+6
10024 M107=M2+7
10025 M108=M2+8
10026 M109=M2+9
10027 M110=M2+10
10028 M111=M2+11
10029 M112=M2+12
10030 M113=M2+13
10031 M114=M2+14
10032 M115=M2+15
10033 M116=M2+16
10034 M117=M2+17
10035 M118=M2+18
10036 M119=M2+19
10037 M120=M2+20
10038 M121=M2+21
10039 M122=M2+22
10040 M123=M2+23
10041 M124=M2+24
10042 M125=M2+25
10043 M126=M2+26
10044 M127=M2+27
10045 M128=M2+28
10046 M129=M2+29
10047 M130=M2+30
10048 M131=M2+31
10049 M132=M2+32
10050 M133=M2+33
10051 M134=M2+34
10052 M135=M2+35
10053 M136=M2+36
10054 M137=M2+37
10055 M138=M2+38
10056 M139=M2+39
10057 M140=M2+40
10058 M141=M2+41
10059 M142=M2+42
10060 M143=M2+43
10061 M144=M2+44
10062 M145=M2+45
10063 M146=M2+46
10064 M147=M2+47
10065 M148=M2+48
10066 M149=M2+49
10067 M150=M2+50
10068 M151=M2+51
10069 M152=M2+52
10070 M153=M2+53
10071 M154=M2+54
10072 M155=M2+55
10073 M156=M2+56
10074 M157=M2+57
10075 M158=M2+58
10076 M159=M2+59
10077 M160=M2+60
10078 M161=M2+61
10079 M162=M2+62
10080 M163=M2+63
10081 M164=M2+64
10082 M165=M2+65
10083 M166=M2+66
10084 M167=M2+67
10085 M168=M2+68
10086 M169=M2+69
10087 M170=M2+70
10088 M171=M2+71
10089 M172=M2+72
10090 M173=M2+73
10091 M174=M2+74
10092 M175=M2+75
10093 M176=M2+76
10094 M177=M2+77
10095 M178=M2+78
10096 M179=M2+79
10097 M180=M2+80
10098 M181=M2+81
10099 M182=M2+82
10100 M183=M2+83
10101 M184=M2+84
10102 M185=M2+85
10103 M186=M2+86
10104 M187=M2+87
10105 M188=M2+88
10106 M189=M2+89
10107 M190=M2+90
10108 M191=M2+91
10109 M192=M2+92
10110 M193=M2+93
10111 M194=M2+94
10112 M195=M2+95
10113 M196=M2+96
10114 M197=M2+97
10115 M198=M2+98
10116 M199=M2+99
10117 M200=M2+100
10118 M201=M2+101
10119 M202=M2+102
10120 M203=M2+103
10121 M204=M2+104
10122 M205=M2+105
10123 M206=M2+106
10124 M207=M2+107
10125 M208=M2+108
10126 M209=M2+109
10127 M210=M2+110
10128 M211=M2+111
10129 M212=M2+112
10130 M213=M2+113
10131 M214=M2+114
10132 M215=M2+115
10133 M216=M2+116
10134 M217=M2+117
10135 M218=M2+118
10136 M219=M2+119
10137 M220=M2+120
10138 M221=M2+121
10139 M222=M2+122
10140 M223=M2+123
10141 M224=M2+124
10142 M225=M2+125
10143 M226=M2+126
10144 RETURN
10145 '
26710 *PL '撉弌
26720 M1000=M_DIN(M314)
26730 P10=P1000(M1000,1)
26740 P11=P1000(M1000,2)
26750 P12=P1000(M1000,3)
26760 P13=P1000(M1000,4)
26770 P30=P1000(M1000,5)
26780 P31=P1000(M1000,6)
26790 P40=P1000(M1000,7)
26800 P50=P1000(M1000,8)
26810 P51=P1000(M1000,9)
26820 M1100=M_DIN(M314)
26830 P20=P1100(M1100,1)
26840 P19=P1100(M1100,2)
26850 P39=P1100(M1100,3)
26860 P49=P1100(M1100,4)
26870 P59=P1100(M1100,5)
26880 'P35=P1100(M1100,6)
26890 'P36=P1100(M1100,7)
26900 'P37=P1100(M1100,8)
26910 'P38=P1100(M1100,9)
26930 M_OUT(M117)=1
26940 WAIT M_IN(M117)=0
26945 M_DOUT(M315)=M1000
26950 M_OUT(M117)=0
26955 M_OUT(M116)=0
26960 RETURN
26970 '
26980 *PS '曐懚丂丂
26990 M1000=M_DIN(M314)
27000 P1000(M1000,1)=P10
27010 P1000(M1000,2)=P11
27020 P1000(M1000,3)=P12
27030 P1000(M1000,4)=P13
27040 P1000(M1000,5)=P30
27050 P1000(M1000,6)=P31
27060 P1000(M1000,7)=P40
27070 P1000(M1000,8)=P50
27080 P1000(M1000,9)=P51
27090 M1100=M_DIN(M314)
27100 P1100(M1100,1)=P20
27110 P1100(M1100,2)=P19
27120 P1100(M1100,3)=P39
27130 P1100(M1100,4)=P49
27140 P1100(M1100,5)=P59
27150 'P1100(M1100,6)=P35
27160 'P1100(M1100,7)=P36
27170 'P1100(M1100,8)=P37
27180 'P1100(M1100,9)=P38
27200 M_OUT(M118)=1
27210 WAIT M_IN(M118)=0
27215 M_DOUT(M315)=M1000
27220 M_OUT(M118)=0
27230 RETURN
27240 '
P1000(1,1)=(+351.464,-516.709,+239.274,+0.000,+0.000,+176.655,+0.000,+0.000)
P1000(1,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(1,5)=(+435.475,-153.037,+292.583,+0.000,+0.000,-3.104,+0.000,+0.000)
P1000(1,6)=(+435.549,+75.265,+291.880,+0.000,+0.000,-3.370,+0.000,+0.000)
P1000(1,7)=(+378.053,+543.212,+233.222,+0.000,+0.000,-3.275,+0.000,+0.000)
P1000(1,8)=(+333.206,+368.926,+270.992,+0.000,+0.000,-15.375,+0.000,+0.000)
P1000(1,9)=(+333.206,+612.306,+270.992,+0.000,+0.000,-15.375,+0.000,+0.000)
P1000(2,1)=(+319.694,-514.139,+239.596,+0.000,+0.000,-179.066,+0.000,+0.000)
P1000(2,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(2,5)=(+428.253,-171.427,+277.940,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,6)=(+428.253,+80.922,+277.940,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,7)=(+372.277,+563.337,+232.782,+0.000,+0.000,+1.140,+0.000,+0.000)
P1000(2,8)=(+473.444,+241.732,+257.687,+0.000,+0.000,+0.673,+0.000,+0.000)
P1000(2,9)=(+473.444,+502.848,+257.687,+0.000,+0.000,+0.673,+0.000,+0.000)
P1000(3,1)=(+265.503,-602.005,+239.293,+0.000,+0.000,+176.773,+0.000,+0.000)
P1000(3,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(3,5)=(+437.311,-121.264,+283.649,+0.000,+0.000,-5.100,+0.000,+0.000)
P1000(3,6)=(+445.178,+58.830,+282.563,+0.000,+0.000,-5.080,+0.000,+0.000)
P1000(3,7)=(+375.717,+470.468,+235.214,+0.000,+0.000,-2.890,+0.000,+0.000)
P1000(3,8)=(+468.485,+149.606,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(3,9)=(+468.928,+438.356,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(4,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(4,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(5,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,1)=(+317.464,-511.514,+240.000,+0.000,+0.000,-179.334,+0.000,+0.000)
P1000(6,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(6,5)=(+426.072,-193.074,+277.941,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,6)=(+426.072,+100.075,+277.941,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,7)=(+374.538,+477.502,+233.108,+0.000,+0.000,+0.862,+0.000,+0.000)
P1000(6,8)=(+468.485,+149.606,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(6,9)=(+468.928,+438.356,+252.000,+0.000,+0.000,+0.676,+0.000,+0.000)
P1000(7,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(7,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(8,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,4)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,5)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,6)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,7)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,8)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(9,9)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,1)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,2)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)
P1000(10,3)=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)