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274421,2.37287E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,xX:=500;CONSTnumMinY:=-500;CONSTnumMaxY:=500;CONSTrans.x<MinXActualPos.trans.x>MaxXORActualPos.trans09]];CONSTrobtargetpPlaceMould:=[[-92.13,-2580.19, .
274421,2.37287E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,
xX:=500;CONSTnumMinY:=-500;CONSTnumMaxY:=500;CONST
rans.x<MinXActualPos.trans.x>MaxXORActualPos.trans
09]];CONSTrobtargetpPlaceMould:=[[-92.13,-2580.19,
MODULEMainModule
CONSTrobtargetpHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.714173,-2.80277E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickMould:=[[1653.99,272.19,1779.41],[5.83312E-05,0.69997,-0.714172,-3.47922E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickClapboard:=[[2036.17,-741.24,1235.05],[0.678651,0.73435,-0.0119011,0,[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.714166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickClapboard:=[[1943.19,173.08,620.72],[1.61422E-05,0.699977,-0.714165,-7.62858E-06],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtarget
.
,[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]Pos;VelSet100,500;AccSet70,70;IFbCurrentPos(pHome,iVacuum;ISleepiVacuum;ENDPROCROCGripClose()SetDOdoag:=bTimeOut;IFbTimeOutTHENErrWrite"RobGripperSign .
,[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]
Pos;VelSet100,500;AccSet70,70;IFbCurrentPos(pHome,
iVacuum;ISleepiVacuum;ENDPROCROCGripClose()SetDOdo
ag:=bTimeOut;IFbTimeOutTHENErrWrite"RobGripperSign
pPrePlace:=[[785.90,-957.40,1722.38],[00.0492402,-0.998779,-0,[-1,-1,-1,0],[9E+09,9E+09,
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