.Program MODL
C ------------------------------------------------------
C ????? ??????? ??? ??-01 ????? ????? ????
C ------------------------------------------------------
C ?????? ???????:
C 1 GO.HOME - ??? ? ?????? ?????????
C 2 SET.SP - ???????? ????? ???????? ???
C 3 TEST - ????
C 4 TAKE.G - ????? ???
C 5 PUT.G - ???????? ???
C 6 TURN.TTV - ???????? ?? ???
C 7 START.K - ???????? ?????? ????
C 8 EJECT - ??????? ????? ?????? ????
C 9 TAKE.DOFF - ?????? ???????? ????
C 10 TAKE.DK - ????? ???? ?? ?????? ????
C 11 PUT.D - ???????? ???? ? ??????
C 12 TURN.DTV - ???????? ???? ?? ??? ???
C 13 TAKE.EP - ????? ?????? ??????
C 14 PUT.FP - ???????? ??????????? ??????
C 15 SCANIT - ?????? ??????
C 16 Exit - ??? ?? ?????
C
C ?????????? ????? ?????
CALL INIML
C ????
RETURN
C ------
C
PRINT 'Robot is ready'
C
10 PRINT '$'
C <==> ??? - ???????? ???????
CALL SWITCH.
JUMP 101
JUMP 10
C 1 ??????
CALL GO.HOME
JUMP 101
JUMP 10
C 2 ??????
CALL SET.SP
JUMP 101
JUMP 10
C 3 ??????
CALL TEST
JUMP 101
JUMP 10
C 4 ??????
CALL TAKE.G
JUMP 101
JUMP 10
C 5 ??????
CALL PUT.G
JUMP 101
JUMP 10
C 6 ??????
CALL TURN.TTV
JUMP 101
JUMP 10
C 7 ??????
CALL START.K
JUMP 101
JUMP 10
C 8 ??????
CALL EJECT
JUMP 101
JUMP 10
C 9 ??????
CALL TAKE.DOFF
JUMP 101
JUMP 10
C 10 ??????
CALL TAKE.DK
JUMP 101
JUMP 10
C 11 ??????
CALL PUT.D
JUMP 101
JUMP 10
C 12 ??????
CALL TURN.DTV
JUMP 101
JUMP 10
C 13 ??????
CALL TAKE.EP
JUMP 101
JUMP 10
C 14 ??????
CALL PUT.FP
JUMP 101
JUMP 10
C 15 ??????
CALL SCANIT
JUMP 101
JUMP 10
C 16 ?????? - ??? ?? ?????
RETURN
C ------
C
101 CALL ERROR.
JUMP 10
.End
C
C
C ????? ???????
C
C
.Program GO.HOME
C --------------------------
C 1 ??? ? ?????? ?????????
C --------------------------
C ?????? ???
C
GO #HOME
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
101 RETURN
.End
.Program SET.SP
C ---------------------------------------
C 2 ???????? ????? ???????? ??? (%)
C ---------------------------------------
C ??????:
C PAR1. - ?????? ????? ??? (1%-300%)
C
IF PAR1. < 1 THEN JUMP 102
IF PAR1. > 300 THEN JUMP 102
SET SPEED = PAR1.
SPEED% SPEED
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ???? ? ??????
102 SET ERRORW. = ER1
C ==> ???
SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TEST
C -----
C 3 ?????
C -----
C ??????:
C PAR1. - ????? ??? (1-3)
C
PRINT 'Test',PAR1.
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
IF PAR1. = 3 THEN JUMP 30
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C 1. ???? ??????? ?????? ????
10 PRINT 'Scanit of Kuasy'
IF IN I.KO.Y THEN JUMP 11
C ?????????? ?????? ????
SET ERRORW. = ER10
JUMP 102
C
11 OUT O.K.D
GO #KUASY.W
GO #KUASY.1
GO #SCANIT
IF IN I.SK.O THEN JUMP 12
GO #KUASY.1
GO #KUASY.W
OUT O.SK.1
GO #HOME
OUT O.SK.0
OUT O.K.E
JUMP 100
C ????
12 GO #KUASY.1
GO #KUASY.W
OUT O.SK.1
GO #HOME
OUT O.SK.0
OUT O.K.E
C ?????????? ??????? ?????? ????
SET ERRORW. = ER16
JUMP 102
C 2. ???? ???????? ??? ???
C ???????? ? ?????? 1
20 OUT O.T1.1, O.T2.1
DELAY 2
IF IN I.T1.Y, I.T2.N THEN JUMP 21
C ?????????? ???????? ??? ???
SET ERRORW. = ER6
JUMP 102
C ???????? ? ?????? 2
21 OUT O.T1.2, O.T2.2
DELAY 2
IF IN I.T2.Y, I.T1.N THEN JUMP 22
C ?????????? ???????? ??? ???
SET ERRORW. = ER6
JUMP 102
C ???????? ? ?????? 1
22 OUT O.T1.1, O.T2.1
DELAY 2
IF IN I.T1.Y, I.T2.N THEN JUMP 100
C ?????????? ???????? ??? ???
SET ERRORW. = ER6
JUMP 102
C 3. ???? Hertell
30 PRINT 'Hertell'
GONEAR #HERTELL,45
GOS #HERTELL
DELAY 5
GOSNEAR #HERTELL,45
GO #HOME
C ==> ???
100 SET MARKER. = NULL.
PRINT 'O.K.'
CALL TRANSC.
JUMP 101
C
RETURN 1
C --------
C ==> ???
102 SET MARKER. = ERRORW.
PRINT 'ERROR',ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.G
C -----------
C 4 ????? ???
C -----------
C ?????? ???
C
IF IN I.G.Y THEN JUMP 10
C ???? - ?????? ??? ????
SET ERRORW. = ER14
JUMP 102
C
10 SET I = INGROUP 2 AND G.MASK
IF I = 0 THEN JUMP 20
C ???? - ??? ?? ???
SET ERRORW. = ER12
JUMP 102
C
20 GONEAR #GRIP.T,40
OPEN
SPEED% 100
SPEED NEXT 150
GOS #GRIP.T
CLOSE
SPEED NEXT 150
GOS #GRIP.P
SPEED% SPEED
GO #GRIP
GO #HOME
C
IF IN I.G.N THEN JUMP 30
C ???? - ?????? ??? ?????
SET ERRORW. = ER13
JUMP 102
C
30 SET I = INGROUP 2 AND G.MASK
IF I = G.N THEN JUMP 100
C ???? - ?????? ????? ???
SET ERRORW. = ER15
JUMP 102
C
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C --------
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.G
C --------------
C 5 ???????? ???
C --------------
C ?????? ???
C
IF IN I.G.N THEN JUMP 10
C ???? - ?????? ??? ?????
SET ERRORW. = ER13
JUMP 102
C
10 SET I = INGROUP 2 AND G.MASK
IF I <> 0 THEN JUMP 20
C ???? - ??? ??? ?? ???
SET ERRORW. = ER11
JUMP 102
C
20 GO #GRIP
GO #GRIP.P
C
DELAY 0.1
SPEED% 100
SPEED NEXT 150
GOS #GRIP.T
OPEN
SPEED% SPEED
GOSNEAR #GRIP.T,40
GO #HOME
C
IF IN I.G.Y THEN JUMP 100
C ???? - ?????? ??? ????
SET ERRORW. = ER14
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C --------
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TURN.TTV
C ------------------
C 6 ???????? ?? ???
C ------------------
C ??????:
C PAR1. - ????? ????? ???????? ??? ??? (1,2)
C
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ???????? ? ?????? 1
10 OUT O.T1.1, O.T2.1
DELAY 2
IF IN I.T1.Y, I.T2.N THEN JUMP 100
C ?????????? ???????? ??? ???
SET ERRORW. = ER6
JUMP 102
C ???????? ? ?????? 2
20 OUT O.T1.2, O.T2.2
DELAY 2
IF IN I.T2.Y, I.T1.N THEN JUMP 100
C ?????????? ???????? ??? ???
SET ERRORW. = ER6
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program START.K
C -------------------------
C 7 ???????? ?????? ????
C -------------------------
C ?????? ???
C
IF IN I.KO.N THEN JUMP 102
OUT O.K.1
DELAY 0.5
OUT O.K.0
C ???????? ????? ?????? ????
WAIT IN I.KO.N
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ?????????? ?????? ????
102 SET ERRORW. = ER10
C ==> ???
SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program EJECT
C ---------------------------------
C 8 ??????? ????? ?????? ????
C ---------------------------------
C ?????? ???
C
IF IN I.KO.N THEN JUMP 102
OUT O.E1.O,O.E2.O
DELAY 0.1
OUT O.E1.C,O.E2.C
DELAY 0.1
OUT O.E2.O
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ?????????? ?????? ????
102 SET ERRORW. = ER10
C ==> ???
SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.DOFF
C ----------------------------
C 9 ?????? ???????? ????
C ----------------------------
C ?????? ???
C ????? ???? ? ???????? ??? ???
CALL TAKE.DTV
JUMP 102
C
GO #BOX
OUT O.GY1.P, O.GY2.P
DELAY 0.5
GO #HOME
C
IF IN I.G11.N, I.G12.N THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER8
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
SET POS.D = 0
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.DK
C ------------------------------------------------
C 10 ????? ???? ?? ?????? ???? ? ???????? ?? ??
C ??????? ?? ??? (??? ????)
C ------------------------------------------------
C ?????? ???
C ???? ???????? ???? ?????
SET POS.D = 0
GO #KUASY.W
C ???????? ?????? ?????? ????
WAIT IN I.KO.Y
OUT O.K.D
GO #KUASY.1
GO #KUASY
MOVES ,,295
C ????? ????
OUT O.GY3.A, O.GY4.A
ENABLE BREAK
SPEED% 100
SPEED NEXT 50
MOVES 10
DELAY 0.5
SPEED% SPEED
MOVES -10
C
IF IN I.G21.Y, I.G22.Y THEN JUMP 10
C ????? ???? ?????
OUT O.GY3.P, O.GY4.P
DELAY 1
OUT O.GY3.A, O.GY4.A
SPEED% 100
SPEED NEXT 50
MOVES 11
DELAY 0.5
SPEED% SPEED
MOVES -11
C
IF IN I.G21.Y, I.G22.Y THEN JUMP 10
C ???? - ???? ?? ?????
SET ERRORW. = ER7
JUMP 103
C
10 DISABLE BREAK
GOS #KUASY
GO #KUASY.1
GO #KUASY.W
OUT O.K.E
C ?????? ?????? ?????? ????
OUT O.SK.1
DELAY 0.1
OUT O.SK.0
C ???????? ???? ?? ??????? ??
GO #TVT2.U
ENABLE BREAK
MOVES 200,,5
SPEED% 100
SPEED NEXT 50
MOVES ,,10
OUT O.GY3.P, O.GY4.P
DELAY 0.5
SPEED NEXT 50
MOVES ,,-10
SPEED% SPEED
DISABLE BREAK
GOS #TVT2.U
GO #HOME
C
IF IN I.G21.N, I.G22.N THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER8
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ???? ?????? ????? ? ??
103 OUT O.GY3.P, O.GY4.P
DELAY 1
SPEED% 100
SPEED NEXT 50
MOVES 10
DELAY 0.5
C
IF IN I.G21.N, I.G22.N THEN JUMP 104
C ???? - ???? ? ?????? ????
SET ERRORW. = ER17
C
104 SPEED% SPEED
MOVES -10
C
DISABLE BREAK
GOS #KUASY
GO #KUASY.1
GO #KUASY.W
OUT O.K.E
C ?????? ?????? ?????? ????
OUT O.SK.1
DELAY 0.1
OUT O.SK.0
GO #HOME
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.D
C ------------------------
C 11 ???????? ???? ? ??????
C ------------------------
C ??????:
C PAR1. - ????? ????? ? ????? (1-6)
C
SET I = PAR1.
LOCATE P1 = W.D1
C ??????? ????????? ????? ? ?????
CALL PAL.W
JUMP 102
C ????? ???? ? ???????? ??? ???
CALL TAKE.DTV
JUMP 102
C ???????? ???? ? ??????
GO #W.D
ENABLE BREAK
GOS POS1
SPEED% 100
SPEED NEXT 50
GOS POS
OUT O.GY1.P, O.GY2.P
DELAY 0.5
SPEED% SPEED
GOS POS1
DISABLE BREAK
GO #W.D
GO #HOME
C
IF IN I.G11.N, I.G12.N THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER8
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TURN.DTV
C -------------------------------------------------
C 12 ???????? ???? ?? ??? ??? (?? ????????)
C -------------------------------------------------
C ?????? ???
C ????? ???? ? ???????? ??? ???
CALL TAKE.DTV
JUMP 102
C ???????? ???? ?? ??????? ??
GO #TVT1.D
ENABLE BREAK
GOS #TVT1.DW
SPEED% 100
SPEED NEXT 50
MOVES ,,5
OUT O.GY1.P, O.GY2.P
SPEED NEXT 50
DELAY 0.5
MOVES ,,10
SPEED% SPEED
DISABLE BREAK
GOS #TVT1.D1
GO #TVT1.D
GO #HOME
C
IF IN I.G11.N, I.G12.N THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER8
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C ???? ???????? ???? ????
SET POS.D = 1
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.EP
C ----------------------------------------------------------
C 13 ????? ?????? ?????? ?? ??? ? ???????? ?? ????? ??????
C ----------------------------------------------------------
C ??????:
C PAR1. - ????? ?????? ? ??? (1-10)
C
SET I = PAR1.
SET J = 1
C ??????? ????????? ???? ??????
CALL PAL.Z
JUMP 102
C ????? ?????? ??????
OUT O.GY3.P, O.GY4.P
GO #PAL.EF
GO #PAL.E
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 50
GOS POS
OUT O.GY3.A, O.GY4.A
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.Y THEN JUMP 10
C ???? - ????? ?? ????
SET ERRORW. = ER4
OUT O.GY3.P ,O.GY4.P
GOS #PAL.E
GO #PAL.EF
GO #HOME
JUMP 102
C ???????? ?????? ?? ????? ??????
10 GOS #PAL.E
GO #PAL.W1
ENABLE BREAK
GONEAR #PAL.W,25
SPEED% 100
SPEED NEXT 50
GOS #PAL.W
OUT O.GY3.P, O.GY4.P
DELAY 0.8
SPEED% SPEED
GOSNEAR #PAL.W,25
DISABLE BREAK
C
IF IN I.GP.N THEN JUMP 100
C ???? - ????? ?? ?????
SET ERRORW. = ER5
JUMP 102
C ==> ???
100 GO #HOME
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.FP
C -----------------------------------
C 14 ???????? ??????????? ?????? ? ???
C -----------------------------------
C ??????:
C PAR1. - ????? ?????? ? ??? (1-10)
C
SET I = PAR1.
SET J = 2
C ??????? ????????? ??????????? ??????
CALL PAL.Z
JUMP 102
C ????? ??????????? ??????
OUT O.GY3.P, O.GY4.P
ENABLE BREAK
GONEAR #PAL.W,25
SPEED% 100
SPEED NEXT 50
GOS #PAL.W
OUT O.GY3.A, O.GY4.A
DELAY 0.5
SPEED% SPEED
GOSNEAR #PAL.W,25
DISABLE BREAK
C
IF IN I.GP.Y THEN JUMP 10
C ???? - ????? ?? ????
SET ERRORW. = ER4
OUT O.GY3.P ,O.GY4.P
GO #HOME
JUMP 102
C ???????? ??????????? ?????? ? ???
10 GO #PAL.W1
GO #PAL.F
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 50
GOS POS
OUT O.GY3.P, O.GY4.P
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.N THEN JUMP 20
C ???? - ????? ?? ?????
SET ERRORW. = ER5
GO #PAL.F
JUMP 102
C
20 GO #PAL.F
GO #PAL.EF
GO #HOME
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program SCANIT
C ---------------
C 15 ?????? ??????
C ---------------
C ?????? ???
C ?????? ?? ??????
SET MARKER. = NULL.
IF IN I.S.O THEN JUMP 10
C ?????? ??????
SET MARKER. = I.S.C
C ==> ???
10 CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
101 RETURN
.End
C
C
C ????????
C
C
.Program TAKE.DTV
C ------------------------------------
C ????? ???? ? ???????? ??? ???
C ------------------------------------
C
GO #TVT1.U
MOVES 200,,5
OUT O.GY1.A, O.GY2.A
IF POS.D = 0 THEN JUMP 10
MOVES ,,19
10 ENABLE BREAK
SPEED% 100
SPEED NEXT 50
MOVES ,,10
DELAY 0.5
SPEED NEXT 50
MOVES ,,-10
SPEED% SPEED
DISABLE BREAK
GOS #TVT1.U
C
IF IN I.G11.Y, I.G12.Y THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER7
RETURN
C ------
100 RETURN 1
.End
.Program PAL.W
C -------------------------------------
C ??????? ????????? ????? ? ?????
C -------------------------------------
C
IF I < 1 THEN JUMP 102
IF I > 6 THEN JUMP 102
C ??????? ???????? Y
IF I <= 3 THEN JUMP 30
SHIFT P1 = ,220
SET I = I - 3
C ??????? ???????? X
30 IF I <= 1 THEN JUMP 40
SHIFT P1 = 100
SET I = I - 1
JUMP 30
C ??????? ??????? ????????? ?????
40 LOCATE POS = O.W(P1)
C ??????? ??????? ????????? ?????
SHIFT P1 = ,,-25
LOCATE POS1 = O.W(P1)
C
100 RETURN 1
C ???? ? ??????
102 SET ERRORW. = ER1
RETURN
.End
.Program PAL.Z
C -----------------------------------
C ??????? ????????? ?????? ? ???
C -----------------------------------
C
IF I < 1 THEN JUMP 102
IF I > 10 THEN JUMP 102
C
IF J = 1 THEN JUMP 10
IF J = 2 THEN JUMP 20
C ???? ? ??????
JUMP 102
C ??? ?????? ?????
10 LOCATE P1 = O.E
LOCATE P2 = PAL.E
JUMP 50
C ??? ??????????? ?????
20 LOCATE P1 = O.F
LOCATE P2 = PAL.F
JUMP 50
C ??????? ???????? Z
50 IF I <= 1 THEN JUMP 60
SHIFT P2 = ,,-24.8
SET I = I - 1
JUMP 50
C ??????? ????????? ?????? ? ???
60 LOCATE POS = P1(P2)
C
100 RETURN 1
C ????
102 SET ERRORW. = ER1
RETURN
.End
.Program INIML
C ---------------------------------
C ?????????? ????? ????? ????
C ---------------------------------
C
C ?????????? ??????????? ????
CALL INID2.
C
C ***** ?????????? ??? / ???? *****
C ???? ???????? ??????
SET I.P.Y = 1
SET I.P.N = -1
C ???? ?????? ?????????? (24 ?)
SET I.E.Y = 2
SET I.E.N = -2
C ???? 1 ????????? ???????? ??? ???
SET I.T1.Y = 7
SET I.T1.N = -7
C ???? 2 ????????? ???????? ??? ???
SET I.T2.Y = 8
SET I.T2.N = -8
C ????? ??????
SET I.S.O = 5
SET I.S.C = -5
C ?????? ?????? ????
SET I.SK.O = 6
SET I.SK.C = -6
C ???? ?????? ?????? ????
SET I.KO.Y = 12
SET I.KO.N = -12
C ???? ??????? ?????? ????
SET I.KC.Y = 11
SET I.KC.N = -11
C ???? ??? ???
SET I.R.Y = -13
SET I.R.N = 13
C ????? ??? Y
C ??? ?????
SET I.GP.Y = 15
SET I.GP.N = -15
C 1 ????
SET I.G11.Y = 3
SET I.G11.N = -3
SET I.G12.Y = 4
SET I.G12.N = -4
C 2 ????
SET I.G21.Y = 9
SET I.G21.N = -9
SET I.G22.Y = 10
SET I.G22.N = -10
C ???? ?????? ??? ? ???????? 2
SET I.G.Y = 24
SET I.G.N = -24
C
C ????? ??? (17-20 ???)
C
C ------------------------------------------------
C ???????? ??? Y
C 1 ???? ????
SET O.GY1.A = 5
SET O.GY2.A = -6
SET O.GY1.P = -5
SET O.GY2.P = 6
C 2 ???? ????
SET O.GY3.A = 1
SET O.GY4.A = -2
SET O.GY3.P = -1
SET O.GY4.P = 2
C ???????? ?? ???
C ? ????????? 1
SET O.T1.1 = -3
SET O.T2.1 = 4
C ? ????????? 2
SET O.T1.2 = 3
SET O.T2.2 = -4
C ????? ?????? ???? (0 -> 1 -> 0)
SET O.K.1 = 7
SET O.K.0 = -7
C ???????? ?????? ????
SET O.K.D = 8
SET O.K.E = -8
C ???? ??????? ?????? ???? (0 -> 1 -> 0)
SET O.SK.1 = 11
SET O.SK.0 = -11
C ?????? ?????
SET O.E1.O = 13
SET O.E2.O = -14
C ??????? ?????
SET O.E1.C = -13
SET O.E2.C = 14
C
C **********
C
SPEED% 100
ODELAY 1
CDELAY 1
TOL NARROW
TOOL
C
C ***** ???? *****
C ?????? ??????
SET ER1 = 50
C ??? ???????? ??????
SET ER2 = 51
C ??? ?????????? 24 ?
SET ER3 = 52
C ????? ?? ????
SET ER4 = 53
C ????? ?? ?????
SET ER5 = 54
C ?????????? ???????? ??? ???
SET ER6 = 55
C ???? ?? ?????
SET ER7 = 56
C ???? ?? ?????
SET ER8 = 57
C ????? ?? ????????
SET ER9 = 58
C ?????????? ?????? ????
SET ER10 = 59
C ??? ??? ?? ???
SET ER11 = 60
C ??? ?? ???
SET ER12 = 61
C ?????? ??? ?????
SET ER13 = 62
C ?????? ??? ????
SET ER14 = 63
C ?????? ????? ???
SET ER15 = 64
C ?????????? ??????? ?????? ????
SET ER16 = 65
C ???? ? ?????? ????
SET ER17 = 66
C
C ***** ??????? *****
C
C ??????: I, J
C ??? ??????
SET MAX.FR. = 16
C ?????? ?????? ????? ???
SET SPEED = 100
C ??? ??? ????? ???
SET G.MASK = 15
C ????? ???
SET G.N = 1
C
C ===== ????? ?????? ????? ????? =====
C
IF START <> 0 THEN JUMP 99
C ???????? ????? (START=0)
SET START = 1
C ???? ???????? ???? ?????
SET POS.D = 0
C ?????????? ?????
OUTGROUP 1 = 0
OUT O.GY1.P, O.GY2.P, O.GY3.P, O.GY4.P
OUT O.T1.1, O.T2.1
OUT O.K.0, O.K.E, O.SK.0
OUT O.E1.C, O.E2.C
DELAY 0.1
OUT O.E2.O
C ???? ??????? ?????? ????
OUT O.SK.1
DELAY 0.5
OUT O.SK.0
C
C ***** ???? *****
C ???? ??????????
10 IF IN I.E.Y THEN JUMP 20
SET ERRORW. = ER3
JUMP 102
C ???? ???????? ??????
20 IF IN I.P.Y THEN JUMP 30
SET ERRORW. = ER2
JUMP 102
C ???? ????????? ???
30 IF IN I.R.Y THEN JUMP 40
SET ERRORW. = ER9
JUMP 102
C ???? ?????? ??? ? ????????
40 IF IN I.G.Y THEN JUMP 50
SET ERRORW. = ER14
JUMP 102
C ???? ????????? ???????? ???
50 IF IN I.T1.Y, I.T2.N THEN JUMP 100
SET ERRORW. = ER6
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
99 RETURN 1
C -------- ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
101 RETURN
C ------
C
C ***** ????????? *****
C ??????:
C #HOME - ?????
C #GRIP - ?????? ??? ??? ???
C #GRIP.P - ??????? ???
C #GRIP.T - ???? ???
C #BOX - ?? ??? ???
C #KUASY.W- ???????? ?????? ?????? ????
C #KUASY.1- ?? ? ?????? ????
C #KUASY - -"-
C #TVT2.U - ??????? ??
C #TVT1.U - -"-
C #TVT1.D - -"-
C #TVT1.DW- -"-
C O.E - ???? ??????? ??? ?????? ?????
C #PAL.E - ??? ?? ??? ?????? ?????
C PAL.E - ???? ????? ????? ? ??? ? ???? ??????? O.E
C O.F - ???? ??????? ??? ??????????? ?????
C #PAL.F - ??? ?? ??? ??????????? ?????
C PAL.F - ???? ??????????? ????? ? ??? ? ???? ??????? O.F
C #PAL.W - ???? ??????
C #PAL.W1 - ??? ?? ????? ??????
C #PAL.EF - ??? ?? ??? ?????
C #HERTELL- ??????? Hertell
C #SCANIT - ?????? ??????? ?????? ????
C O.W - ???? ??????? ??? ?????
C #W.D - ??? ??? ????? ????? ? ??? ?????
C W.D1 - ???? ??? ????? ? ??? ????? O.W
C ??????:
C POS, POS1, P1, P2
.End





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