.PROGRAM rob.main()

	GLOBAL REAL run.rob
	CALL rob.init()
	CALL err.init()
	CALL rob.move.safe()	

		;die Montage wird durchgeführt
		CALL rob.pick_a()
			timer(1) = 0
			WAIT timer(1) > 5s
		CALL rob.place_a()
			timer(1) = 0
			WAIT timer(1) > 5s
		CALL rob.pick_b()
			timer(1) = 0
			WAIT timer(1) > 5s
		CALL rob.place_b()
			timer(1) = 0
			WAIT timer(1) > 5s		
		CALL rob.pick_c()
			timer(1) = 0
			WAIT timer(1) > 5s
		CALL rob.place_c()
			timer(1) = 0
			WAIT timer(1) > 5s
	;RETURN
.END

;pick_a gilt als Koordinatenursprung
;locations:	x	y	z
pick_a		0	0	-845,000
pick_b		-17	47,56	-845,000
pick_c		-30	95,89	-845,000
place_a		58,2	94,67	-845,000
place_b		76,8	55,05	-845,000
place_c		29,6	55,05	-845,000