0  BEGIN PGM 202 MM
1  Q195 = Q197  
2  Q197 = 0  
3  FN 9: IF +Q195 EQU +1 GOTO LBL 200
4  Q200 = ABS Q200  
5  Q204 = ABS Q204  
6  Q214 = ABS Q214  
7  Q336 = ABS Q336  
8  LBL 200
9  FN 17: SYSWRITE ID212 = +3
10  FN 18: SYSREAD Q0 = ID1000 NR7441
11  Q0 = 2 * FRAC (Q0 / 2)  
12  FN 9: IF +Q0 EQU +1 GOTO LBL 199
13  FN 9: IF +Q110 EQU +0 GOTO LBL 199
14  FN 9: IF +Q110 EQU +1 GOTO LBL 199
15  FN 14: ERROR = 1000
16  LBL 199
17  FN 10: IF +Q109 NE -1 GOTO LBL 198
18  FN 14: ERROR = 1001
19  LBL 198
20  FN 18: SYSREAD Q13 = ID1000 NR7442
21  FN 10: IF +Q13 NE +0 GOTO LBL 188
22  FN 14: ERROR = 1074
23  LBL 188
24  FN 9: IF +Q201 EQU +0 GOTO LBL 189
25  FN 12: IF +Q201 LT +0 GOTO LBL 197
26  FN 0: Q50 = -1
27  FN 9: IF +0 EQU +0 GOTO LBL 194
28  LBL 197
29  FN 0: Q50 = +1
30  LBL 194
31  FN 9: IF +Q195 EQU +1 GOTO LBL 193
32  CALL LBL 99
33  LBL 193
34  FN 0: Q61 = +Q110
35  FN 0: Q62 = +Q111
36  FN 18: SYSREAD Q196 = ID210 NR3
37  FN 17: SYSWRITE ID210 NR3 = +0
38  LBL 100
39  FN 1: Q19 = +Q203 + +Q200
40  Q51 = ABS Q200  
41  Q52 = ABS Q204  
42  FN 11: IF +Q51 GT +Q52 GOTO LBL 12
43  FN 1: Q19 = +Q203 + +Q204
44  LBL 12
45  FN 1: Q20 = +Q203 + +Q200
46  FN 1: Q24 = +Q203 + +Q201
47  FN 0: Q25 = +Q208
48  FN 10: IF +Q208 NE +0 GOTO LBL 14
49  FN 0: Q25 = +Q206
50  LBL 14
51  L Z+Q20 R0 F MAX
52  L Z+Q24 R0 FQ206
53  FN 9: IF +Q211 EQU +0 GOTO LBL 180
54  CYCL DEF 9.0 VERWEILZEIT
55  CYCL DEF 9.1 V.ZEIT Q211
56  LBL 180
57  FN 18: SYSREAD Q1 = ID20 NR5
58  FN 9: IF +Q1 EQU +0 GOTO LBL 182
59  FN 9: IF +Q1 EQU +1 GOTO LBL 182
60  FN 9: IF +Q0 EQU +1 GOTO LBL 181
61  LBL 182
62  FN 18: SYSREAD Q36 = ID210 NR1
63  FN 18: SYSREAD Q37 = ID210 NR2
64  Q36 = Q336 + Q36 + Q37  
65  FN 11: IF +Q13 GT +0 GOTO LBL 187
66  FN 17: SYSWRITE ID990 NR8 = +Q36
67  FN 9: IF +0 EQU +0 GOTO LBL 186
68  LBL 187
69  CYCL DEF 13.0 ORIENTIERUNG
70  CYCL DEF 13.1 WINKEL Q36
71  L MQ13
72  LBL 186
73  FN 20: WAIT FOR M4000==1 
74  LBL 181
75  FN 10: IF +Q214 NE +0 GOTO LBL Q214
76  L Z+Q20 R0 FQ25
77  FN 9: IF +Q195 EQU +1 GOTO LBL 120
78  L Z+Q19 R0 F MAX
79  LBL 120
80  FN 9: IF +0 EQU +0 GOTO LBL 99
81  LBL 1
82  L IX-0.2 R0 FQ25
83  L Z+Q20 R0 FQ25
84  FN 9: IF +Q195 EQU +1 GOTO LBL 121
85  L Z+Q19 R0 F MAX
86  LBL 121
87  L IX+0.2 R0 FQ25
88  FN 9: IF +0 EQU +0 GOTO LBL 99
89  LBL 2
90  L IY-0.2 R0 FQ25
91  L Z+Q20 R0 FQ25
92  FN 9: IF +Q195 EQU +1 GOTO LBL 122
93  L Z+Q19 R0 F MAX
94  LBL 122
95  L IY+0.2 R0 FQ25
96  FN 9: IF +0 EQU +0 GOTO LBL 99
97  LBL 3
98  L IX+0.2 R0 FQ25
99  L Z+Q20 R0 FQ25
100  FN 9: IF +Q195 EQU +1 GOTO LBL 123
101  L Z+Q19 R0 F MAX
102  LBL 123
103  L IX-0.2 R0 FQ25
104  FN 9: IF +0 EQU +0 GOTO LBL 99
105  LBL 4
106  L IY+0.2 R0 FQ25
107  L Z+Q20 R0 FQ25
108  FN 9: IF +Q195 EQU +1 GOTO LBL 124
109  L Z+Q19 R0 F MAX
110  LBL 124
111  L IY-0.2 R0 FQ25
112  LBL 99
113  FN 9: IF +Q195 EQU +1 GOTO LBL 192
114  FN 3: Q200 = +Q200 * +Q50
115  FN 3: Q204 = +Q204 * +Q50
116  LBL 0
117  LBL 192
118  FN 17: SYSWRITE ID210 NR3 = +Q196
119  FN 10: IF +Q62 NE +1 GOTO LBL 191
120  L M8
121  LBL 191
122  FN 9: IF +Q61 EQU -1 GOTO LBL 189
123  FN 9: IF +Q61 EQU +2 GOTO LBL 189
124  FN 9: IF +Q61 EQU +3 GOTO LBL 189
125  FN 9: IF +Q61 EQU +1 GOTO LBL 190
126  L M3
127  FN 9: IF +0 EQU +0 GOTO LBL 189
128  LBL 190
129  L M4
130  LBL 189
131  END PGM 202 MM
