MODULE maduo
V
AR
num
nox:=0;V
AR
num
noy:=0;V
AR
num
noz:=0;V
AR
num
disx:=0;V
AR
num
disy:=0;V
AR num disz:=0;
V
AR num a1:=0;V
AR num b1:=0;V
AR num c1:=0;
CONST
robtarget
pPick:=[[1962.00,-140.49,745.92],[0.199803,-4.33198E-07,0.979836,-2.86531E-07],[-1,-3,2,0],[9
E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST
jointtarget
home1:=[[2.97566,-16.7117,15.2556,-4.92418,31.5841,5.68641],[9E+09,9E+09,9E+09,9E+09,9E
+09,9E+09]];
PERS
robtarget
pPlace:=[[1919.7,937.54,529.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E
+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST
robtarget
pPlace10:=[[1719.70,837.54,429.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST
robtarget
wating01:=[[1753.43,219.90,1023.02],[0.199803,-2.46214E-07,0.979836,-5.32938E-07],[0,-2,1,0]
,[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
Initall;
prg1;
ENDPROC
PROC Initall()
AccSet 100,100;
VelSet 100, 2000;
nox:=3;noy:=2;noz:=2;
disx:=100;disy:=100;disz:=100;
a1:=1;b1:=1;c1:=1;
ENDPROC
PROC prg1()
MoveAbsJ home1\NoEOffs, v1000, z50, pick1;
FOR k FROM 1 TO noz DO
FOR j FROM 1 TO noy DO
FOR i FROM 1 TO nox DO