'************************
'** Detail Nr 6
'** student
'************************
'
Def Pos PHome, M01 '!!TEACH
Def Pos M02, M03, M04, M05, M06, M07, M08, M09
'
'
'Roboti X telg on suunatud punktist M01 punkti M04 suunas
'Roboti Y telg on suunatud punktist M01 punkti M02 suunas
M02 = M01 + (+0.00,+75.00,+0.00)
M03 = M02 + (+50.00,-20.00,+0.00)
M04 = M03 + (+0.00,-55.00,+0.00)
M05 = M01 + (+25.00,+37.50,+0.00)
M06 = M05 + (-12.50,+0.00,+0.00)
M07 = M05 + (+0.00,+12.50,+0.00)
M08 = M05 + (+12.50,+0.00,+0.00)
M09 = M05 + (+0.00,-12.50,+0.00)
'
Ovrd 50 'speed 50 percent
'
'1 Oota punktis PHome [teach PHome]
'2 Kaivitusnupp
'3 Punane ules (M_OUT(14) = 1)
M_Out(4) = 1
Wait M_In(3) = 1
'4 Mine M01 + (0, 0, 10) [Mov][teach M01]
Mov M01 + (+0.00,+0.00,+10.00)
'
'5 Oota 1s
Dly 1
'
'6 Mine M01 [Mvs]
Spd 35
Mvs M01
'
'7 kiirus 30mm/s
Spd 30
'
'8 Valimine kontuur
Mvs M02
Dly 0.2
'
Mvs M03
Dly 0.2
'
Mvs M04
Dly 0.2
'
Mvs M01
Dly 0.2
'
Mvs M01 + (+0.00,+0.00,+10.00)
'
'9 sisemine kontuur
Mov M06 + (+0.00,+0.00,+10.00)
Mvs M06
Dly 0.2
Mvr M06, M07, M08 ' start-middle-end
Mvr M08, M09, M06
Dly 0.2
'
'10 Mine ohutusse kaugusse [Mvs M06 + (0, 0, 10)]
Mvs M06 + (+0.00,+0.00,+10.00)
'
'11 Mine PHome [Mov PHome]
Mov PHome
'
'12 Punane maha (M_OUT(14) = 0)
M_Out(4) = 0
'
'13 End
End