BEGINPGM202MM
Q295=Q297
Q297=0
FN9:IF+Q295EQU+1GOTOLBL200
Q200=ABSQ200
Q204=ABSQ204
Q214=ABSQ214
LBL200
FN17:SYSWRITEID212=+3
FN18:SYSREADQ0=ID1000NR7441
Q0=2*FRAC(Q0/2)
FN9:IF+Q0EQU+1GOTOLBL199
FN9:IF+Q110EQU+0GOTOLBL199
FN9:IF+Q110EQU+1GOTOLBL199
FN14:ERROR=1000
LBL199
FN10:IF+Q109NE-1GOTOLBL198
FN14:ERROR=1001
LBL198
FN9:IF+Q201EQU+0GOTOLBL189
FN12:IF+Q201LT+0GOTOLBL197
FN0:Q50=-1
FN9:IF+0EQU+0GOTOLBL194
LBL197
FN0:Q50=+1
LBL194
FN9:IF+Q295EQU+1GOTOLBL193
CALLLBL99
LBL193
FN0:Q61=+Q110
FN0:Q62=+Q111
FN18:SYSREADQ299=ID210NR3
FN17:SYSWRITEID210NR3=+0
LBL100
FN1:Q19=+Q203++Q200
Q51=ABSQ200
Q52=ABSQ204
FN11:IF+Q51GT+Q52GOTOLBL12
FN1:Q19=+Q203++Q204
LBL12
FN1:Q20=+Q203++Q200
FN1:Q24=+Q203++Q201
FN0:Q25=+Q208
FN10:IF+Q208NE+0GOTOLBL14
FN0:Q25=+Q206
LBL14
LZ+Q20R0FMAX
LZ+Q24R0FQ206
CYCLDEF9.0VERWEILZEIT
CYCLDEF9.1V.ZEITQ211
FN18:SYSREADQ1=ID20NR5
FN9:IF+Q1EQU+0GOTOLBL182
FN9:IF+Q1EQU+1GOTOLBL182
FN9:IF+Q0EQU+1GOTOLBL181
LBL182
FN18:SYSREADQ36=ID210NR1
FN18:SYSREADQ37=ID210NR2
Q36=Q36+Q37
CYCLDEF13.0ORIENTIERUNG
CYCLDEF13.1WINKELQ36
LM19
LBL181
FN10:IF+Q214NE+0GOTOLBLQ214
LZ+Q20R0FQ25
LZ+Q19R0FMAX
FN9:IF+0EQU+0GOTOLBL99
LBL1
LIX-0.2R0FQ25
LZ+Q20R0FQ25
LZ+Q19R0FMAX
LIX+0.2R0FQ25
FN9:IF+0EQU+0GOTOLBL99
LBL2
LIY-0.2R0FQ25
LZ+Q20R0FQ25
LZ+Q19R0FMAX
LIY+0.2R0FQ25
FN9:IF+0EQU+0GOTOLBL99
LBL3
LIX+0.2R0FQ25
LZ+Q20R0FQ25
LZ+Q19R0FMAX
LIX-0.2R0FQ25
FN9:IF+0EQU+0GOTOLBL99
LBL4
LIY+0.2R0FQ25
LZ+Q20R0FQ25
LZ+Q19R0FMAX
LIY-0.2R0FQ25
LBL99
FN9:IF+Q295EQU+1GOTOLBL192
FN3:Q200=+Q200*+Q50
FN3:Q204=+Q204*+Q50
LBL0
LBL192
FN17:SYSWRITEID210NR3=+Q299
FN10:IF+Q62NE+1GOTOLBL191
LM8
LBL191
FN10:IF+Q61NE+0GOTOLBL190
LM3
FN9:IF+0EQU+0GOTOLBL189
LBL190
LM4
LBL189
ENDPGM202MM
