Hi there,
can someone tell me why, among many programs, this one is executed line by line even during rapid displacements although $advance is set to 5? Then, the change from one position to another is not a continuous movement and it slows down the execution (which I already need to run quite slow). The program is about drilling holes on a board with the bit almost never perpendicular to the board itself. Hopefully someone here can explain why this happens.
Thanks
Code
DEF BCT_C()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
BAS (#BASE, 1)
BAS (#TOOL, 7)
$LOAD=LOAD_DATA[7]
HSD_LOGIC_SET=5
$OUT[13] = TRUE
HSD_SPEED_SET=1800
IF ABS(HSD_SPEED_IN) <50 THEN
$TIMER[10] = -9000
$TIMER_STOP[10] = FALSE
WHILE NOT $TIMER_FLAG[10]
ENDWHILE
ELSE
$TIMER[10] = -3000
$TIMER_STOP[10] = FALSE
WHILE NOT $TIMER_FLAG[10]
ENDWHILE
ENDIF
$VEL_AXIS[1]=10
$VEL_AXIS[2]=10
$VEL_AXIS[3]=10
$VEL_AXIS[4]=10
$VEL_AXIS[5]=10
$VEL_AXIS[6]=10
$ACC_AXIS[1]=25
$ACC_AXIS[2]=25
$ACC_AXIS[3]=25
$ACC_AXIS[4]=25
$ACC_AXIS[5]=25
$ACC_AXIS[6]=25
$VEL.CP=0.083
$ACC.CP=1.0
$VEL.ORI1=10
$VEL.ORI2=10
$ACC.ORI1=10
$ACC.ORI2=10
$APO.CDIS=0.5
$ADVANCE=5
$VEL.CP=0.083
PTP {A1 30.480, A2 -50.736, A3 96.027, A4 -160.853, A5 -63.082, A6 38.743, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 430.29, Y 685.713, Z 46.591, A 15.734, B -66.222, C -175.965} C_DIS
LIN {X 475.69, Y 702.365, Z 25.349, A 15.74, B -66.222, C -175.97} C_DIS
$VEL.CP=0.003
LIN {X 511.902, Y 715.647, Z 8.405, A 15.751, B -66.222, C -175.98} C_DIS
$VEL.CP=0.083
LIN {X 475.69, Y 702.365, Z 25.349, A 15.769, B -66.223, C -175.996} C_DIS
LIN {X 430.29, Y 685.713, Z 46.591, A 15.799, B -66.224, C -176.024} C_DIS
LIN {X 438.088, Y 686.951, Z 46.588, A 17.613, B -64.597, C -177.695} C_DIS
LIN {X 445.886, Y 688.189, Z 46.584, A 19.528, B -62.719, C -179.412} C_DIS
LIN {X 453.683, Y 689.427, Z 46.58, A 21.571, B -60.535, C 178.824} C_DIS
LIN {X 461.481, Y 690.666, Z 46.576, A 23.783, B -57.977, C 177.01} C_DIS
LIN {X 469.279, Y 691.904, Z 46.572, A 26.22, B -54.953, C 175.15} C_DIS
LIN {X 477.076, Y 693.142, Z 46.569, A 28.97, B -51.35, C 173.257} C_DIS
LIN {X 484.874, Y 694.38, Z 46.565, A 32.157, B -47.023, C 171.37} C_DIS
LIN {X 492.672, Y 695.619, Z 46.561, A 35.971, B -41.798, C 169.576} C_DIS
LIN {X 500.469, Y 696.857, Z 46.557, A 40.692, B -35.492, C 168.066} C_DIS
LIN {X 508.267, Y 698.095, Z 46.553, A 46.707, B -27.991, C 167.226} C_DIS
LIN {X 516.065, Y 699.333, Z 46.55, A 54.456, B -19.454, C 167.746} C_DIS
LIN {X 523.862, Y 700.572, Z 46.546, A 64.184, B -10.679, C 170.575} C_DIS
LIN {X 531.66, Y 701.81, Z 46.542, A 75.389, B -3.244, C 176.381} C_DIS
LIN {X 539.458, Y 703.048, Z 46.538, A 86.534, B 1.341, C -175.33} C_DIS
LIN {X 547.255, Y 704.287, Z 46.534, A 95.867, B 2.9, C -166.086} C_DIS
LIN {X 555.053, Y 705.525, Z 46.531, A 102.61, B 2.433, C -157.258} C_DIS
LIN {X 562.851, Y 706.763, Z 46.527, A 107.008, B 1.066, C -149.465} C_DIS
LIN {X 570.648, Y 708.001, Z 46.523, A 109.696, B -0.492, C -142.809} C_DIS
LIN {X 578.446, Y 709.24, Z 46.519, A 111.266, B -1.917, C -137.19} C_DIS
LIN {X 586.244, Y 710.478, Z 46.515, A 112.142, B -3.11, C -132.453} C_DIS
LIN {X 594.041, Y 711.716, Z 46.512, A 112.598, B -4.065, C -128.448} C_DIS
LIN {X 601.839, Y 712.954, Z 46.508, A 112.804, B -4.816, C -125.045} C_DIS
LIN {X 609.637, Y 714.193, Z 46.504, A 112.864, B -5.401, C -122.134} C_DIS
LIN {X 617.434, Y 715.431, Z 46.5, A 112.837, B -5.855, C -119.628} C_DIS
LIN {X 625.232, Y 716.669, Z 46.496, A 112.763, B -6.207, C -117.454} C_DIS
LIN {X 633.03, Y 717.907, Z 46.493, A 112.663, B -6.481, C -115.556} C_DIS
LIN {X 640.827, Y 719.146, Z 46.489, A 112.551, B -6.694, C -113.888} C_DIS
LIN {X 595.491, Y 703.006, Z 25.349, A 112.56, B -6.716, C -113.89} C_DIS
$VEL.CP=0.003
LIN {X 559.154, Y 690.07, Z 8.405, A 112.569, B -6.734, C -113.89} C_DIS
$VEL.CP=0.083
LIN {X 595.491, Y 703.006, Z 25.349, A 112.577, B -6.753, C -113.891} C_DIS
LIN {X 640.827, Y 719.146, Z 46.489, A 112.588, B -6.777, C -113.893} C_DIS
LIN {X 648.916, Y 714.795, Z 46.485, A 110.98, B -6.872, C -118.371} C_DIS
LIN {X 657.005, Y 710.444, Z 46.481, A 109.217, B -6.992, C -122.916} C_DIS
LIN {X 665.093, Y 706.093, Z 46.477, A 107.301, B -7.163, C -127.45} C_DIS
LIN {X 673.182, Y 701.742, Z 46.472, A 105.249, B -7.411, C -131.892} C_DIS
LIN {X 681.271, Y 697.391, Z 46.468, A 103.092, B -7.761, C -136.169} C_DIS
LIN {X 667.87, Y 696.198, Z 32.717, A 103.099, B -7.767, C -136.17} C_DIS
$VEL.CP=0.003
LIN {X 642.792, Y 693.966, Z 6.985, A 103.113, B -7.78, C -136.172} C_DIS
$VEL.CP=0.083
LIN {X 667.87, Y 696.198, Z 32.717, A 103.126, B -7.792, C -136.174} C_DIS
LIN {X 681.271, Y 697.391, Z 46.468, A 103.132, B -7.799, C -136.175} C_DIS
LIN {X 704.049, Y 689.103, Z 46.457, A 102.273, B -7.404, C -140.055} C_DIS
LIN {X 726.827, Y 680.816, Z 46.446, A 101.152, B -7.015, C -144.262} C_DIS
LIN {X 749.605, Y 672.529, Z 46.434, A 99.706, B -6.675, C -148.779} C_DIS
LIN {X 772.383, Y 664.241, Z 46.423, A 97.878, B -6.45, C -153.567} C_DIS
LIN {X 795.161, Y 655.954, Z 46.412, A 95.626, B -6.428, C -158.56} C_DIS
LIN {X 817.939, Y 647.666, Z 46.4, A 92.939, B -6.714, C -163.656} C_DIS
LIN {X 840.718, Y 639.379, Z 46.389, A 89.854, B -7.41, C -168.726} C_DIS
LIN {X 863.496, Y 631.092, Z 46.377, A 86.456, B -8.596, C -173.623} C_DIS
LIN {X 886.274, Y 622.804, Z 46.366, A 82.876, B -10.303, C -178.2} C_DIS
LIN {X 909.052, Y 614.517, Z 46.355, A 79.263, B -12.502, C 177.661} C_DIS
LIN {X 931.83, Y 606.229, Z 46.343, A 75.759, B -15.107, C 174.034} C_DIS
LIN {X 954.608, Y 597.942, Z 46.332, A 72.475, B -17.996, C 170.939} C_DIS
LIN {X 977.386, Y 589.655, Z 46.321, A 69.486, B -21.04, C 168.351} C_DIS
LIN {X 1000.164, Y 581.367, Z 46.309, A 66.825, B -24.118, C 166.214} C_DIS
LIN {X 1003.383, Y 583.692, Z 38.705, A 66.827, B -24.118, C 166.213} C_DIS
$VEL.CP=0.003
LIN {X 1016.892, Y 593.45, Z 6.794, A 66.835, B -24.116, C 166.21} C_DIS
$VEL.CP=0.083
LIN {X 1003.383, Y 583.692, Z 38.705, A 66.841, B -24.115, C 166.207} C_DIS
LIN {X 1000.164, Y 581.367, Z 46.309, A 66.842, B -24.115, C 166.207} C_DIS
LIN {X 977.084, Y 613.309, Z 46.321, A 66.494, B -24.192, C 166.349} C_DIS
LIN {X 954.005, Y 645.25, Z 46.333, A 66.13, B -24.272, C 166.499} C_DIS
LIN {X 930.925, Y 677.192, Z 46.345, A 65.749, B -24.355, C 166.656} C_DIS
LIN {X 907.846, Y 709.134, Z 46.357, A 65.35, B -24.441, C 166.821} C_DIS
LIN {X 911.085, Y 711.474, Z 38.705, A 65.349, B -24.441, C 166.821} C_DIS
$VEL.CP=0.003
LIN {X 924.594, Y 721.232, Z 6.794, A 65.342, B -24.443, C 166.824} C_DIS
$VEL.CP=0.083
LIN {X 911.085, Y 711.474, Z 38.705, A 65.332, B -24.445, C 166.828} C_DIS
LIN {X 907.846, Y 709.134, Z 46.357, A 65.329, B -24.445, C 166.829} C_DIS
LIN {X 926.752, Y 704.804, Z 46.348, A 61.679, B -28.135, C 164.667} C_DIS
LIN {X 945.658, Y 700.474, Z 46.339, A 57.947, B -32.28, C 162.927} C_DIS
LIN {X 964.565, Y 696.144, Z 46.329, A 54.212, B -36.77, C 161.668} C_DIS
LIN {X 983.471, Y 691.814, Z 46.32, A 50.537, B -41.467, C 160.909} C_DIS
LIN {X 996.164, Y 697.187, Z 32.497, A 50.525, B -41.47, C 160.918} C_DIS
$VEL.CP=0.003
LIN {X 1019.572, Y 707.095, Z 7.004, A 50.499, B -41.477, C 160.934} C_DIS
$VEL.CP=0.083
LIN {X 996.164, Y 697.187, Z 32.497, A 50.47, B -41.484, C 160.954} C_DIS
LIN {X 983.471, Y 691.814, Z 46.32, A 50.452, B -41.489, C 160.965} C_DIS
LIN {X 998.695, Y 689.519, Z 46.312, A 54.526, B -36.148, C 160.59} C_DIS
LIN {X 1013.918, Y 687.225, Z 46.305, A 59.044, B -30.507, C 160.824} C_DIS
LIN {X 1029.141, Y 684.93, Z 46.297, A 64, B -24.776, C 161.829} C_DIS
LIN {X 1044.364, Y 682.635, Z 46.29, A 69.317, B -19.254, C 163.729} C_DIS
LIN {X 1059.588, Y 680.341, Z 46.282, A 74.834, B -14.276, C 166.556} C_DIS
LIN {X 1074.811, Y 678.046, Z 46.275, A 80.324, B -10.126, C 170.209} C_DIS
LIN {X 1090.034, Y 675.751, Z 46.267, A 85.538, B -6.955, C 174.477} C_DIS
LIN {X 1105.257, Y 673.457, Z 46.26, A 90.264, B -4.754, C 179.089} C_DIS
LIN {X 1120.481, Y 671.162, Z 46.252, A 94.371, B -3.392, C -176.208} C_DIS
LIN {X 1135.704, Y 668.867, Z 46.245, A 97.815, B -2.682, C -171.613} C_DIS
LIN {X 1150.927, Y 666.572, Z 46.237, A 100.623, B -2.432, C -167.251} C_DIS
LIN {X 1150.034, Y 666.572, Z 42.362, A 100.619, B -2.431, C -167.251} C_DIS
$VEL.CP=0.003
LIN {X 1141.951, Y 666.572, Z 7.282, A 100.574, B -2.421, C -167.249} C_DIS
$VEL.CP=0.083
LIN {X 1150.034, Y 666.572, Z 42.362, A 100.526, B -2.41, C -167.247} C_DIS
LIN {X 1150.927, Y 666.572, Z 46.237, A 100.52, B -2.409, C -167.246} C_DIS
LIN {X 1150.927, Y 718.973, Z 46.238, A 101.462, B -2.622, C -167.288} C_DIS
LIN {X 1150.928, Y 761.741, Z 46.239, A 102.247, B -2.798, C -167.325} C_DIS
LIN {X 1150.928, Y 804.509, Z 46.24, A 103.047, B -2.978, C -167.365} C_DIS
LIN {X 1150.034, Y 804.509, Z 42.362, A 103.04, B -2.976, C -167.365} C_DIS
$VEL.CP=0.003
LIN {X 1141.951, Y 804.509, Z 7.282, A 102.981, B -2.963, C -167.362} C_DIS
$VEL.CP=0.083
LIN {X 1150.034, Y 804.509, Z 42.362, A 102.921, B -2.949, C -167.359} C_DIS
LIN {X 1150.928, Y 804.509, Z 46.24, A 102.915, B -2.948, C -167.358} C_DIS
LIN {X 1150.928, Y 873.477, Z 46.242, A 104.231, B -3.242, C -167.429} C_DIS
LIN {X 1150.929, Y 942.446, Z 46.243, A 105.587, B -3.543, C -167.51} C_DIS
LIN {X 1150.034, Y 942.446, Z 42.362, A 105.58, B -3.541, C -167.509} C_DIS
$VEL.CP=0.003
LIN {X 1141.951, Y 942.446, Z 7.282, A 105.513, B -3.527, C -167.505} C_DIS
$VEL.CP=0.083
LIN {X 1150.034, Y 942.446, Z 42.362, A 105.445, B -3.511, C -167.501} C_DIS
LIN {X 1150.929, Y 942.446, Z 46.243, A 105.437, B -3.51, C -167.5} C_DIS
LIN {X 1130.697, Y 997.84, Z 46.255, A 110.869, B -0.555, C -164.677} C_DIS
LIN {X 1110.465, Y 1053.234, Z 46.266, A 116.78, B 1.823, C -161.173} C_DIS
LIN {X 1090.233, Y 1108.629, Z 46.277, A 122.937, B 3.46, C -157.077} C_DIS
LIN {X 1070.001, Y 1164.023, Z 46.288, A 129.038, B 4.282, C -152.569} C_DIS
LIN {X 1049.77, Y 1219.417, Z 46.299, A 134.782, B 4.328, C -147.873} C_DIS
LIN {X 1046.174, Y 1214.875, Z 37.167, A 134.762, B 4.341, C -147.875} C_DIS
$VEL.CP=0.003
LIN {X 1034.206, Y 1199.757, Z 6.766, A 134.694, B 4.383, C -147.88} C_DIS
$VEL.CP=0.083
LIN {X 1046.174, Y 1214.875, Z 37.167, A 134.625, B 4.426, C -147.885} C_DIS
LIN {X 1049.77, Y 1219.417, Z 46.299, A 134.604, B 4.439, C -147.887} C_DIS
LIN {X 993.911, Y 1263.657, Z 46.328, A 135.508, B 3.873, C -147.821} C_DIS
LIN {X 938.053, Y 1307.897, Z 46.356, A 136.465, B 3.271, C -147.762} C_DIS
LIN {X 934.435, Y 1303.327, Z 37.167, A 136.443, B 3.285, C -147.763} C_DIS
$VEL.CP=0.003
LIN {X 922.467, Y 1288.208, Z 6.766, A 136.37, B 3.331, C -147.767} C_DIS
$VEL.CP=0.083
LIN {X 934.435, Y 1303.327, Z 37.167, A 136.297, B 3.377, C -147.771} C_DIS
LIN {X 938.053, Y 1307.897, Z 46.356, A 136.275, B 3.391, C -147.773} C_DIS
LIN {X 929.783, Y 1293.499, Z 46.36, A 135.025, B 5.147, C -151.629} C_DIS
LIN {X 921.513, Y 1279.1, Z 46.364, A 133.109, B 6.988, C -155.996} C_DIS
LIN {X 913.244, Y 1264.702, Z 46.368, A 130.255, B 8.805, C -160.968} C_DIS
LIN {X 904.974, Y 1250.303, Z 46.371, A 126.103, B 10.382, C -166.641} C_DIS
LIN {X 896.704, Y 1235.905, Z 46.375, A 120.23, B 11.335, C -173.074} C_DIS
LIN {X 888.434, Y 1221.507, Z 46.379, A 112.253, B 11.051, C 179.831} C_DIS
LIN {X 880.165, Y 1207.108, Z 46.382, A 102.113, B 8.728, C 172.552} C_DIS
LIN {X 871.895, Y 1192.71, Z 46.386, A 90.436, B 3.755, C 166.109} C_DIS
LIN {X 863.625, Y 1178.311, Z 46.39, A 78.542, B -3.624, C 161.709} C_DIS
LIN {X 855.355, Y 1163.913, Z 46.394, A 67.772, B -12.157, C 159.891} C_DIS
LIN {X 847.085, Y 1149.515, Z 46.397, A 58.802, B -20.472, C 160.239} C_DIS
LIN {X 838.815, Y 1135.116, Z 46.401, A 51.631, B -27.841, C 161.941} C_DIS
LIN {X 830.546, Y 1120.718, Z 46.405, A 45.941, B -34.126, C 164.328} C_DIS
LIN {X 822.276, Y 1106.319, Z 46.409, A 41.363, B -39.446, C 166.989} C_DIS
LIN {X 814.006, Y 1091.921, Z 46.412, A 37.592, B -43.97, C 169.714} C_DIS
LIN {X 826.783, Y 1097.33, Z 32.497, A 37.523, B -43.979, C 169.762} C_DIS
$VEL.CP=0.003
LIN {X 850.191, Y 1107.238, Z 7.005, A 37.397, B -43.996, C 169.849} C_DIS
$VEL.CP=0.083
LIN {X 826.783, Y 1097.33, Z 32.497, A 37.27, B -44.012, C 169.937} C_DIS
LIN {X 814.006, Y 1091.921, Z 46.412, A 37.201, B -44.021, C 169.986} C_DIS
LIN {X 856.373, Y 991.894, Z 46.389, A 39.497, B -43.705, C 168.394} C_DIS
LIN {X 898.739, Y 891.867, Z 46.366, A 41.483, B -43.391, C 167.026} C_DIS
LIN {X 911.474, Y 897.258, Z 32.497, A 41.413, B -43.403, C 167.074} C_DIS
$VEL.CP=0.003
LIN {X 934.882, Y 907.167, Z 7.005, A 41.284, B -43.424, C 167.163} C_DIS
$VEL.CP=0.083
LIN {X 911.474, Y 897.258, Z 32.497, A 41.155, B -43.445, C 167.251} C_DIS
LIN {X 898.739, Y 891.867, Z 46.366, A 41.085, B -43.457, C 167.3} C_DIS
LIN {X 877.936, Y 878.126, Z 46.376, A 45.85, B -38.641, C 166.788} C_DIS
LIN {X 857.133, Y 864.384, Z 46.386, A 50.386, B -33.979, C 167.065} C_DIS
LIN {X 836.33, Y 850.642, Z 46.396, A 54.668, B -29.627, C 168.057} C_DIS
LIN {X 815.527, Y 836.9, Z 46.406, A 58.659, B -25.704, C 169.659} C_DIS
LIN {X 818.787, Y 839.255, Z 38.705, A 58.633, B -25.708, C 169.67} C_DIS
$VEL.CP=0.003
LIN {X 832.296, Y 849.013, Z 6.794, A 58.527, B -25.726, C 169.716} C_DIS
$VEL.CP=0.083
LIN {X 818.787, Y 839.255, Z 38.705, A 58.422, B -25.743, C 169.762} C_DIS
LIN {X 815.527, Y 836.9, Z 46.406, A 58.396, B -25.747, C 169.773} C_DIS
LIN {X 804.359, Y 844.69, Z 46.411, A 62.067, B -22.292, C 171.093} C_DIS
LIN {X 793.19, Y 852.479, Z 46.417, A 66.085, B -18.855, C 172.961} C_DIS
LIN {X 782.021, Y 860.269, Z 46.423, A 70.391, B -15.583, C 175.455} C_DIS
LIN {X 770.852, Y 868.058, Z 46.428, A 74.884, B -12.641, C 178.615} C_DIS
LIN {X 759.684, Y 875.848, Z 46.434, A 79.415, B -10.178, C -177.584} C_DIS
LIN {X 748.515, Y 883.637, Z 46.44, A 83.808, B -8.294, C -173.234} C_DIS
LIN {X 737.346, Y 891.427, Z 46.445, A 87.89, B -7.017, C -168.48} C_DIS
LIN {X 726.177, Y 899.216, Z 46.451, A 91.523, B -6.299, C -163.496} C_DIS
LIN {X 715.009, Y 907.006, Z 46.457, A 94.628, B -6.037, C -158.452} C_DIS
LIN {X 703.84, Y 914.796, Z 46.462, A 97.187, B -6.108, C -153.492} C_DIS
LIN {X 692.671, Y 922.585, Z 46.468, A 99.233, B -6.39, C -148.725} C_DIS
LIN {X 681.502, Y 930.375, Z 46.474, A 100.828, B -6.783, C -144.223} C_DIS
LIN {X 670.334, Y 938.164, Z 46.479, A 102.05, B -7.218, C -140.027} C_DIS
LIN {X 659.165, Y 945.954, Z 46.485, A 102.973, B -7.647, C -136.154} C_DIS
LIN {X 645.748, Y 944.76, Z 32.717, A 102.936, B -7.611, C -136.149} C_DIS
$VEL.CP=0.003
LIN {X 620.671, Y 942.528, Z 6.985, A 102.865, B -7.544, C -136.139} C_DIS
$VEL.CP=0.083
LIN {X 645.748, Y 944.76, Z 32.717, A 102.795, B -7.477, C -136.13} C_DIS
LIN {X 659.165, Y 945.954, Z 46.485, A 102.757, B -7.441, C -136.125} C_DIS
LIN {X 638.778, Y 947.62, Z 46.495, A 104.839, B -6.957, C -131.841} C_DIS
LIN {X 618.391, Y 949.287, Z 46.505, A 106.846, B -6.573, C -127.395} C_DIS
LIN {X 598.004, Y 950.953, Z 46.515, A 108.747, B -6.271, C -122.861} C_DIS
LIN {X 577.618, Y 952.619, Z 46.525, A 110.525, B -6.033, C -118.319} C_DIS
LIN {X 557.231, Y 954.286, Z 46.535, A 112.17, B -5.838, C -113.847} C_DIS
LIN {X 511.795, Y 938.111, Z 25.349, A 112.113, B -5.709, C -113.841} C_DIS
$VEL.CP=0.003
LIN {X 475.458, Y 925.175, Z 8.405, A 112.067, B -5.607, C -113.837} C_DIS
$VEL.CP=0.083
LIN {X 511.795, Y 938.111, Z 25.349, A 112.022, B -5.505, C -113.832} C_DIS
LIN {X 557.231, Y 954.286, Z 46.535, A 111.966, B -5.378, C -113.827} C_DIS
LIN {X 515.432, Y 1071.856, Z 46.558, A 112.861, B -7.389, C -113.926} C_DIS
LIN {X 473.634, Y 1189.426, Z 46.582, A 113.825, B -9.53, C -114.068} C_DIS
LIN {X 428.099, Y 1173.216, Z 25.349, A 113.77, B -9.409, C -114.059} C_DIS
$VEL.CP=0.003
LIN {X 391.762, Y 1160.28, Z 8.405, A 113.727, B -9.313, C -114.052} C_DIS
$VEL.CP=0.083
LIN {X 428.099, Y 1173.216, Z 25.349, A 113.683, B -9.217, C -114.045} C_DIS
LIN {X 473.634, Y 1189.426, Z 46.582, A 113.63, B -9.099, C -114.037} C_DIS
LIN {X 506.319, Y 1190.444, Z 46.566, A 112.18, B -9.064, C -118.537} C_DIS
LIN {X 539.004, Y 1191.462, Z 46.55, A 110.588, B -9.083, C -123.107} C_DIS
LIN {X 571.69, Y 1192.48, Z 46.534, A 108.863, B -9.174, C -127.672} C_DIS
LIN {X 604.375, Y 1193.498, Z 46.518, A 107.022, B -9.358, C -132.151} C_DIS
LIN {X 637.06, Y 1194.516, Z 46.501, A 105.094, B -9.65, C -136.472} C_DIS
LIN {X 623.626, Y 1193.321, Z 32.717, A 105.061, B -9.619, C -136.467} C_DIS
$VEL.CP=0.003
LIN {X 598.549, Y 1191.089, Z 6.985, A 105, B -9.562, C -136.457} C_DIS
$VEL.CP=0.083
LIN {X 623.626, Y 1193.321, Z 32.717, A 104.939, B -9.505, C -136.447} C_DIS
LIN {X 637.06, Y 1194.516, Z 46.501, A 104.907, B -9.475, C -136.441} C_DIS
LIN {X 626.19, Y 1221.35, Z 46.507, A 108.797, B -7.813, C -136.588} C_DIS
LIN {X 615.321, Y 1248.183, Z 46.513, A 113.165, B -6.115, C -136.502} C_DIS
LIN {X 604.451, Y 1275.017, Z 46.519, A 118.053, B -4.444, C -136.106} C_DIS
LIN {X 593.581, Y 1301.85, Z 46.525, A 123.483, B -2.895, C -135.317} C_DIS
LIN {X 582.712, Y 1328.683, Z 46.531, A 129.434, B -1.585, C -134.063} C_DIS
LIN {X 571.842, Y 1355.517, Z 46.537, A 135.822, B -0.643, C -132.302} C_DIS
LIN {X 560.972, Y 1382.35, Z 46.543, A 142.49, B -0.181, C -130.04} C_DIS
LIN {X 550.103, Y 1409.183, Z 46.549, A 149.212, B -0.264, C -127.348} C_DIS
LIN {X 539.233, Y 1436.017, Z 46.555, A 155.732, B -0.878, C -124.346} C_DIS
LIN {X 528.364, Y 1462.85, Z 46.561, A 161.818, B -1.937, C -121.174} C_DIS
LIN {X 517.494, Y 1489.683, Z 46.567, A 167.305, B -3.304, C -117.965} C_DIS
LIN {X 506.624, Y 1516.517, Z 46.573, A 172.116, B -4.833, C -114.823} C_DIS
LIN {X 495.755, Y 1543.35, Z 46.579, A 176.25, B -6.396, C -111.818} C_DIS
LIN {X 484.885, Y 1570.183, Z 46.585, A 179.757, B -7.902, C -108.99} C_DIS
LIN {X 474.015, Y 1597.017, Z 46.591, A -177.286, B -9.294, C -106.359} C_DIS
LIN {X 474.015, Y 1549.65, Z 32.885, A -177.312, B -9.205, C -106.354} C_DIS
LIN {X 474.015, Y 1502.283, Z 19.18, A -177.338, B -9.119, C -106.35} C_DIS
$VEL.CP=0.003
LIN {X 474.015, Y 1467.702, Z 9.173, A -177.356, B -9.057, C -106.347} C_DIS
$VEL.CP=0.083
LIN {X 474.015, Y 1502.283, Z 19.18, A -177.374, B -8.996, C -106.344} C_DIS
LIN {X 474.015, Y 1549.65, Z 32.885, A -177.398, B -8.916, C -106.341} C_DIS
LIN {X 474.015, Y 1597.017, Z 46.591, A -177.422, B -8.837, C -106.337} C_DIS
LIN {X 402.827, Y 1597.138, Z 46.626, A -176.922, B -10.513, C -106.421} C_DIS
LIN {X 402.827, Y 1549.71, Z 32.903, A -176.944, B -10.441, C -106.417} C_DIS
LIN {X 402.827, Y 1502.283, Z 19.18, A -176.964, B -10.372, C -106.413} C_DIS
$VEL.CP=0.003
LIN {X 402.827, Y 1467.702, Z 9.173, A -176.979, B -10.323, C -106.411} C_DIS
$VEL.CP=0.083
LIN {X 402.827, Y 1502.283, Z 19.18, A -176.993, B -10.276, C -106.408} C_DIS
LIN {X 402.827, Y 1549.71, Z 32.903, A -177.011, B -10.214, C -106.405} C_DIS
LIN {X 402.827, Y 1597.138, Z 46.626, A -177.029, B -10.156, C -106.402} C_DIS
LIN {X 388.254, Y 1571.237, Z 46.632, A -174.707, B -9.647, C -110.166} C_DIS
LIN {X 373.681, Y 1545.337, Z 46.639, A -172.192, B -8.911, C -114.254} C_DIS
LIN {X 359.108, Y 1519.437, Z 46.645, A -169.504, B -7.918, C -118.644} C_DIS
LIN {X 344.535, Y 1493.537, Z 46.652, A -166.669, B -6.65, C -123.288} C_DIS
LIN {X 329.962, Y 1467.637, Z 46.659, A -163.712, B -5.118, C -128.112} C_DIS
LIN {X 315.389, Y 1441.737, Z 46.665, A -160.629, B -3.376, C -133.018} C_DIS
LIN {X 300.816, Y 1415.837, Z 46.672, A -157.324, B -1.552, C -137.884} C_DIS
LIN {X 286.243, Y 1389.937, Z 46.678, A -153.413, B 0.059, C -142.561} C_DIS
LIN {X 271.67, Y 1364.037, Z 46.685, A -147.345, B 0.565, C -146.84} C_DIS
LIN {X 257.097, Y 1338.136, Z 46.691, A -127.322, B -6.178, C -151.096} C_DIS
LIN {X 242.524, Y 1312.236, Z 46.698, A -7.884, B -23.214, C 166.628} C_DIS
LIN {X 227.951, Y 1286.336, Z 46.704, A 13.592, B -18.699, C 163.765} C_DIS
LIN {X 213.378, Y 1260.435, Z 46.711, A 18.753, B -19.14, C 166.259} C_DIS
LIN {X 198.805, Y 1234.536, Z 46.718, A 21.114, B -20.447, C 169.16} C_DIS
LIN {X 201.631, Y 1234.158, Z 40.011, A 21.11, B -20.448, C 169.162} C_DIS
$VEL.CP=0.003
LIN {X 215.593, Y 1232.292, Z 6.881, A 21.09, B -20.452, C 169.169} C_DIS
$VEL.CP=0.083
LIN {X 208.612, Y 1233.225, Z 23.446, A 21.083, B -20.453, C 169.171} C_DIS
LIN {X 201.631, Y 1234.158, Z 40.011, A 21.079, B -20.454, C 169.173} C_DIS
LIN {X 198.805, Y 1234.536, Z 46.718, A 21.077, B -20.454, C 169.173} C_DIS
LIN {X 205.406, Y 1225.613, Z 46.714, A 13.397, B -26.264, C 173.316} C_DIS
LIN {X 212.007, Y 1216.69, Z 46.711, A 7.233, B -31.453, C 178.026} C_DIS
LIN {X 218.608, Y 1207.767, Z 46.707, A 2.065, B -36.205, C -176.859} C_DIS
LIN {X 225.208, Y 1198.843, Z 46.704, A -2.532, B -40.627, C -171.393} C_DIS
LIN {X 231.809, Y 1189.92, Z 46.7, A -6.883, B -44.751, C -165.585} C_DIS
LIN {X 238.41, Y 1180.997, Z 46.697, A -11.231, B -48.565, C -159.431} C_DIS
LIN {X 245.011, Y 1172.074, Z 46.693, A -15.749, B -52.034, C -152.93} C_DIS
LIN {X 251.612, Y 1163.151, Z 46.69, A -20.541, B -55.119, C -146.099} C_DIS
LIN {X 258.213, Y 1154.228, Z 46.687, A -25.65, B -57.788, C -138.983} C_DIS
LIN {X 281.014, Y 1162.591, Z 36.018, A -25.63, B -57.797, C -139} C_DIS
LIN {X 303.816, Y 1170.954, Z 25.349, A -25.605, B -57.809, C -139.021} C_DIS
$VEL.CP=0.003
LIN {X 321.922, Y 1177.595, Z 16.877, A -25.58, B -57.82, C -139.042} C_DIS
LIN {X 340.028, Y 1184.237, Z 8.405, A -25.553, B -57.833, C -139.065} C_DIS
$VEL.CP=0.083
LIN {X 321.922, Y 1177.595, Z 16.877, A -25.522, B -57.847, C -139.091} C_DIS
LIN {X 303.816, Y 1170.954, Z 25.349, A -25.488, B -57.863, C -139.12} C_DIS
LIN {X 281.014, Y 1162.591, Z 36.018, A -25.44, B -57.885, C -139.16} C_DIS
LIN {X 258.213, Y 1154.228, Z 46.687, A -25.388, B -57.909, C -139.205} C_DIS
LIN {X 268.968, Y 1124.946, Z 46.681, A -24.219, B -58.431, C -140.197} C_DIS
LIN {X 279.723, Y 1095.663, Z 46.675, A -23.029, B -58.938, C -141.215} C_DIS
LIN {X 290.478, Y 1066.381, Z 46.669, A -21.816, B -59.428, C -142.256} C_DIS
LIN {X 301.232, Y 1037.099, Z 46.663, A -20.582, B -59.901, C -143.321} C_DIS
LIN {X 311.987, Y 1007.817, Z 46.657, A -19.327, B -60.358, C -144.41} C_DIS
LIN {X 322.742, Y 978.535, Z 46.651, A -18.05, B -60.797, C -145.522} C_DIS
LIN {X 333.497, Y 949.252, Z 46.645, A -16.754, B -61.22, C -146.656} C_DIS
LIN {X 344.251, Y 919.97, Z 46.639, A -15.438, B -61.625, C -147.812} C_DIS
LIN {X 367.002, Y 928.315, Z 35.994, A -15.316, B -61.661, C -147.918} C_DIS
LIN {X 389.753, Y 936.659, Z 25.349, A -15.19, B -61.699, C -148.029} C_DIS
$VEL.CP=0.003
LIN {X 425.965, Y 949.942, Z 8.405, A -14.98, B -61.761, C -148.214} C_DIS
$VEL.CP=0.083
LIN {X 389.753, Y 936.659, Z 25.349, A -14.759, B -61.825, C -148.409} C_DIS
LIN {X 367.002, Y 928.315, Z 35.994, A -14.614, B -61.867, C -148.537} C_DIS
LIN {X 344.251, Y 919.97, Z 46.639, A -14.466, B -61.91, C -148.668} C_DIS
LIN {X 323.965, Y 924.059, Z 46.649, A -9.126, B -58.606, C -155.672} C_DIS
LIN {X 303.678, Y 928.147, Z 46.659, A -4.361, B -54.852, C -162.09} C_DIS
LIN {X 283.392, Y 932.235, Z 46.669, A -0.053, B -50.69, C -167.96} C_DIS
LIN {X 263.105, Y 936.324, Z 46.679, A 3.95, B -46.17, C -173.318} C_DIS
LIN {X 242.819, Y 940.412, Z 46.689, A 7.815, B -41.341, C -178.19} C_DIS
LIN {X 222.533, Y 944.5, Z 46.699, A 11.725, B -36.244, C 177.424} C_DIS
LIN {X 202.246, Y 948.588, Z 46.709, A 15.863, B -30.908, C 173.552} C_DIS
LIN {X 181.96, Y 952.677, Z 46.719, A 20.411, B -25.351, C 170.259} C_DIS
LIN {X 161.673, Y 956.765, Z 46.729, A 25.531, B -19.595, C 167.647} C_DIS
LIN {X 164.504, Y 956.387, Z 40.011, A 25.558, B -19.59, C 167.638} C_DIS
$VEL.CP=0.003
LIN {X 178.466, Y 954.52, Z 6.881, A 25.694, B -19.562, C 167.593} C_DIS
$VEL.CP=0.083
LIN {X 164.504, Y 956.387, Z 40.011, A 25.831, B -19.533, C 167.547} C_DIS
LIN {X 161.673, Y 956.765, Z 46.729, A 25.86, B -19.527, C 167.537} C_DIS
LIN {X 152.39, Y 887.322, Z 46.732, A 26.55, B -19.382, C 167.307} C_DIS
LIN {X 143.107, Y 817.879, Z 46.735, A 27.195, B -19.244, C 167.094} C_DIS
LIN {X 133.824, Y 748.436, Z 46.738, A 27.8, B -19.112, C 166.895} C_DIS
LIN {X 124.541, Y 678.994, Z 46.741, A 28.372, B -18.985, C 166.709} C_DIS
LIN {X 127.377, Y 678.615, Z 40.011, A 28.402, B -18.978, C 166.699} C_DIS
$VEL.CP=0.003
LIN {X 141.339, Y 676.749, Z 6.881, A 28.55, B -18.945, C 166.651} C_DIS
$VEL.CP=0.083
LIN {X 127.377, Y 678.615, Z 40.011, A 28.698, B -18.912, C 166.603} C_DIS
LIN {X 124.541, Y 678.994, Z 46.741, A 28.728, B -18.905, C 166.593} C_DIS
LIN {X 146.001, Y 633.635, Z 46.73, A 35.78, B -16.751, C 169.495} C_DIS
LIN {X 167.46, Y 588.277, Z 46.718, A 41.462, B -15.757, C 173.241} C_DIS
LIN {X 188.92, Y 542.919, Z 46.707, A 45.955, B -15.712, C 177.498} C_DIS
LIN {X 210.379, Y 497.561, Z 46.695, A 49.421, B -16.374, C -177.967} C_DIS
LIN {X 231.839, Y 452.202, Z 46.683, A 52.003, B -17.512, C -173.32} C_DIS
LIN {X 253.298, Y 406.844, Z 46.672, A 53.833, B -18.928, C -168.678} C_DIS
LIN {X 274.758, Y 361.486, Z 46.66, A 55.037, B -20.463, C -164.128} C_DIS
LIN {X 274.5, Y 365.033, Z 39.266, A 55.068, B -20.471, C -164.139} C_DIS
$VEL.CP=0.003
LIN {X 273.369, Y 380.596, Z 6.823, A 55.201, B -20.507, C -164.186} C_DIS
$VEL.CP=0.083
LIN {X 274.5, Y 365.033, Z 39.266, A 55.331, B -20.541, C -164.231} C_DIS
LIN {X 274.758, Y 361.486, Z 46.66, A 55.361, B -20.549, C -164.242} C_DIS
LIN {X 310.458, Y 364.089, Z 46.643, A 56.318, B -20.799, C -164.58} C_DIS
LIN {X 346.158, Y 366.693, Z 46.625, A 57.269, B -21.041, C -164.919} C_DIS
LIN {X 381.859, Y 369.296, Z 46.608, A 58.213, B -21.275, C -165.26} C_DIS
LIN {X 417.559, Y 371.9, Z 46.59, A 59.15, B -21.502, C -165.602} C_DIS
LIN {X 417.304, Y 375.413, Z 39.266, A 59.177, B -21.509, C -165.611} C_DIS
$VEL.CP=0.003
LIN {X 416.172, Y 390.976, Z 6.823, A 59.291, B -21.536, C -165.653} C_DIS
$VEL.CP=0.083
LIN {X 417.304, Y 375.413, Z 39.266, A 59.401, B -21.562, C -165.694} C_DIS
LIN {X 417.559, Y 371.9, Z 46.59, A 59.425, B -21.568, C -165.703} C_DIS
HSD_LOGIC_SET=5
HSD_SPEED_SET=0
HSD_LOGIC_SET=0
$TIMER[11] = -3000
$TIMER_STOP[11] = FALSE
WHILE NOT $TIMER_FLAG[11]
ENDWHILE
PTP {A1 0.000, A2 -100.000, A3 120.000, A4 0.000, A5 -20.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
HSD_LOGIC_SET=5
$OUT[13] = TRUE
HSD_SPEED_SET=1800
IF ABS(HSD_SPEED_IN) <50 THEN
$TIMER[10] = -9000
$TIMER_STOP[10] = FALSE
WHILE NOT $TIMER_FLAG[10]
ENDWHILE
ELSE
$TIMER[10] = -3000
$TIMER_STOP[10] = FALSE
WHILE NOT $TIMER_FLAG[10]
ENDWHILE
ENDIF
PTP {A1 -6.682, A2 -36.738, A3 82.305, A4 -117.657, A5 -100.366, A6 10.990, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 699.144, Y 1131.954, Z 46.469, A 69.316, B -11.12, C 151.811} C_DIS
LIN {X 704.115, Y 1131.877, Z 37.906, A 69.316, B -11.12, C 151.811} C_DIS
$VEL.CP=0.003
LIN {X 722.186, Y 1131.595, Z 6.771, A 69.316, B -11.12, C 151.811} C_DIS
$VEL.CP=0.083
LIN {X 704.115, Y 1131.877, Z 37.906, A 69.316, B -11.12, C 151.811} C_DIS
LIN {X 699.144, Y 1131.954, Z 46.47, A 69.316, B -11.12, C 151.811} C_DIS
LIN {X 700.605, Y 1225.787, Z 46.471, A 69.288, B -11.135, C 151.817} C_DIS
LIN {X 705.577, Y 1225.71, Z 37.906, A 69.288, B -11.135, C 151.817} C_DIS
$VEL.CP=0.003
LIN {X 723.648, Y 1225.428, Z 6.771, A 69.288, B -11.135, C 151.817} C_DIS
$VEL.CP=0.083
LIN {X 705.577, Y 1225.71, Z 37.906, A 69.288, B -11.135, C 151.817} C_DIS
LIN {X 700.605, Y 1225.787, Z 46.471, A 69.288, B -11.135, C 151.817} C_DIS
LIN {X 715.078, Y 1219.866, Z 46.464, A 79.116, B -3.69, C 153.744} C_DIS
LIN {X 729.55, Y 1213.944, Z 46.457, A 90.725, B 3.245, C 157.638} C_DIS
LIN {X 744.022, Y 1208.022, Z 46.449, A 103.116, B 8.278, C 163.436} C_DIS
LIN {X 758.494, Y 1202.1, Z 46.442, A 114.764, B 10.553, C 170.263} C_DIS
LIN {X 772.967, Y 1196.179, Z 46.435, A 124.454, B 10.224, C 177.062} C_DIS
LIN {X 787.439, Y 1190.257, Z 46.428, A 131.77, B 8.009, C -176.765} C_DIS
LIN {X 801.911, Y 1184.335, Z 46.42, A 136.887, B 4.653, C -171.327} C_DIS
LIN {X 816.383, Y 1178.413, Z 46.413, A 140.198, B 0.712, C -166.502} C_DIS
LIN {X 830.856, Y 1172.492, Z 46.406, A 142.101, B -3.43, C -162.127} C_DIS
LIN {X 845.328, Y 1166.57, Z 46.399, A 142.931, B -7.519, C -158.067} C_DIS
LIN {X 859.8, Y 1160.648, Z 46.391, A 142.952, B -11.389, C -154.232} C_DIS
LIN {X 874.272, Y 1154.726, Z 46.384, A 142.375, B -14.94, C -150.569} C_DIS
LIN {X 888.745, Y 1148.805, Z 46.377, A 141.364, B -18.119, C -147.055} C_DIS
LIN {X 903.217, Y 1142.883, Z 46.37, A 140.052, B -20.911, C -143.684} C_DIS
LIN {X 917.689, Y 1136.961, Z 46.362, A 138.543, B -23.326, C -140.458} C_DIS
LIN {X 904.956, Y 1131.577, Z 32.497, A 138.543, B -23.326, C -140.458} C_DIS
$VEL.CP=0.003
LIN {X 881.543, Y 1121.678, Z 7.005, A 138.543, B -23.326, C -140.458} C_DIS
$VEL.CP=0.083
LIN {X 904.956, Y 1131.577, Z 32.497, A 138.543, B -23.326, C -140.458} C_DIS
LIN {X 917.689, Y 1136.961, Z 46.362, A 138.543, B -23.326, C -140.458} C_DIS
LIN {X 1002.254, Y 936.837, Z 46.316, A 135.192, B -20.702, C -139.201} C_DIS
LIN {X 989.562, Y 931.47, Z 32.497, A 135.192, B -20.702, C -139.201} C_DIS
$VEL.CP=0.003
LIN {X 966.15, Y 921.572, Z 7.005, A 135.192, B -20.702, C -139.201} C_DIS
$VEL.CP=0.083
LIN {X 989.562, Y 931.47, Z 32.497, A 135.192, B -20.702, C -139.201} C_DIS
LIN {X 1002.254, Y 936.837, Z 46.316, A 135.192, B -20.702, C -139.201} C_DIS
LIN {X 1086.818, Y 736.712, Z 46.27, A 132.27, B -18.283, C -138.226} C_DIS
LIN {X 1074.169, Y 731.364, Z 32.497, A 132.27, B -18.283, C -138.226} C_DIS
$VEL.CP=0.003
LIN {X 1050.757, Y 721.465, Z 7.005, A 132.27, B -18.283, C -138.226} C_DIS
$VEL.CP=0.083
LIN {X 1074.169, Y 731.364, Z 32.497, A 132.27, B -18.283, C -138.226} C_DIS
LIN {X 1086.818, Y 736.712, Z 46.27, A 132.27, B -18.283, C -138.226} C_DIS
HSD_LOGIC_SET=5
HSD_SPEED_SET=0
HSD_LOGIC_SET=0
$TIMER[11] = -3000
$TIMER_STOP[11] = FALSE
WHILE NOT $TIMER_FLAG[11]
ENDWHILE
PTP {A1 0.000, A2 -100.000, A3 120.000, A4 0.000, A5 -20.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
$ADVANCE=1
END
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