MODULE M_NZ_116380V01_WZ1

    !**********************************************************
    !*            Fügepunkt-Deklarationen
    !**********************************************************
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0003_R:=[[3690.12,154.62,365.74],[0.598259,0.0214634,-0.800994,0.00589269],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0004_R:=[[3686.63,102.99,364.53],[0.580574,0.180728,-0.782489,-0.134095],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0005_R:=[[3674.54,85.82,403.14],[0.584727,0.154583,-0.788062,-0.114703],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0006_X:=[[3686.73,0.00,365.51],[0.595635,-0.0231865,-0.802736,0.0172065],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0005_L:=[[3675.06,-85.83,403.26],[0.584723,-0.154689,-0.788033,0.114778],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0004_L:=[[3686.76,-102.98,364.48],[0.580684,-0.180212,-0.782592,0.133714],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0003_L:=[[3690.53,-154.61,365.83],[0.598236,-0.0175559,-0.80108,-0.00880431],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0003_L:=[[3590.42,-478.78,618.20],[0.0195656,-0.67938,0.224206,0.69842],[1,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0005_L:=[[3591.51,-422.64,682.76],[0.0693842,-0.81794,0.456541,0.343119],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0004_L:=[[3596.53,-402.11,690.94],[0.0847815,-0.836241,0.422914,0.338609],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0001_L:=[[3624.08,-352.20,620.58],[0.00752911,-0.671854,0.141746,0.726955],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0002_L:=[[3644.85,-182.56,565.60],[0.178509,0.658237,-0.23069,-0.694003],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0001_L:=[[3645.59,-192.81,616.74],[0.229832,0.632307,-0.277574,-0.685798],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0001_R:=[[3645.73,192.87,612.07],[0.229917,-0.632272,-0.277671,0.685762],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A08_0002_R:=[[3644.48,182.55,563.58],[0.174318,-0.659613,-0.226719,0.69507],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0001_R:=[[3623.78,352.11,620.60],[0.00645478,0.671645,0.142732,-0.726965],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0005_R:=[[3590.15,421.47,680.68],[0.0830287,0.834791,0.425994,-0.338761],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0004_R:=[[3595.28,401.03,689.01],[0.0830389,0.834802,0.425966,-0.338767],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0003_R:=[[3589.06,479.34,615.59],[0.0192831,0.679274,0.224483,-0.698443],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0009_L:=[[3105.17,-363.56,949.05],[0.224884,-0.877964,-0.407864,0.110696],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0010_L:=[[2998.90,-536.73,946.87],[0.34713,-0.82392,-0.419559,0.15693],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0007_L:=[[2971.37,-334.98,1008.16],[0.326506,-0.673339,-0.47775,0.460177],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0010_R:=[[2998.16,536.13,945.92],[0.336495,0.844814,-0.377735,-0.174287],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0009_R:=[[3105.17,363.56,949.04],[0.23693,0.820274,-0.514123,-0.0818016],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0007_R:=[[2970.29,334.98,1007.74],[0.326602,0.67324,-0.477891,-0.460108],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0008_R:=[[2975.84,378.99,993.73],[0.300599,0.69727,-0.446013,-0.473844],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0008_L:=[[2977.17,-379.01,994.21],[0.305569,-0.694068,-0.447101,0.474339],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0002_R:=[[3619.60,371.69,620.12],[0.015174,-0.667103,-0.162655,0.726833],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p4P9_827_155____1220_A07_0002_L:=[[3619.75,-371.73,620.61],[0.0115039,0.667911,-0.159284,-0.726905],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];

    !**********************************************************
    !*            Raumpunkt-Deklarationen
    !**********************************************************
    LOCAL CONST robtarget p10:=[[1320.96,-1962.5,793.25],[0.09962,-0.371931,0.725179,0.57084],[1,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p20:=[[1988.32,-1191.6,-144.21],[0.713903,-0.498431,0.03843,0.490339],[1,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p30:=[[3245.81,156.38,175.56],[0.746629,0.022093,-0.664781,0.011117],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p40:=[[3756.95,167.54,177.1],[0.698824,0.003277,-0.715214,-0.010118],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p50:=[[3759.92,152.22,243.61],[0.649405,-0.00798,-0.760025,-0.023898],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p60:=[[3763.54,150.26,266.77],[0.634256,0.001067,-0.772997,-0.013902],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p70:=[[3770.81,157.17,343.8],[0.585466,0.003828,-0.810585,-0.012914],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p80:=[[3715.01,155.52,373.11],[0.59826,0.0214617,-0.800993,0.00589307],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p90:=[[3715.01,155.53,373.12],[0.598259,0.0214624,-0.800994,0.00589233],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p100:=[[3710.39,103.01,371.72],[0.580575,0.180732,-0.782488,-0.134097],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p110:=[[3710.39,103.01,371.72],[0.580574,0.180731,-0.782488,-0.134097],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p130:=[[3690.48,85.83,407.93],[0.584738,0.154583,-0.788054,-0.114702],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p140:=[[3690.48,85.84,407.92],[0.584739,0.154585,-0.788052,-0.114703],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p160:=[[3708.82,155.33,371.18],[0.599167,0.022178,-0.800287,0.006889],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p170:=[[3770.81,157.17,343.8],[0.585466,0.003828,-0.810585,-0.012914],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p180:=[[3763.54,150.26,266.77],[0.634256,0.001067,-0.772997,-0.013902],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p190:=[[3759.92,152.22,243.61],[0.649405,-0.00798,-0.760025,-0.023898],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p200:=[[3756.95,167.54,177.1],[0.698824,0.003277,-0.715214,-0.010118],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p210:=[[3674.29,159.8,-15.41],[0.698499,0.021569,-0.715234,0.008608],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p220:=[[3645.3,-0.01,17.76],[0.595878,-0.002166,-0.80307,0.00161],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p230:=[[3803.35,-0.01,282.19],[0.595878,-0.002166,-0.80307,0.00161],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p240:=[[3704.32,0.00,370.84],[0.595635,-0.0231865,-0.802736,0.0172066],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p250:=[[3704.32,0.00,370.84],[0.595635,-0.0231863,-0.802737,0.0172063],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p260:=[[3803.35,-0.01,282.19],[0.595878,-0.002166,-0.80307,0.00161],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p270:=[[3645.3,-0.01,17.76],[0.595878,-0.002166,-0.80307,0.00161],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p280:=[[3674.29,-159.8,-15.41],[0.698499,-0.02157,-0.715234,-0.008607],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p290:=[[3762.87,-159.8,177.09],[0.698499,-0.02157,-0.715234,-0.008607],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p300:=[[3759.93,-150.91,221.77],[0.683145,-0.003875,-0.73019,0.010979],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p310:=[[3771.83,-157.33,336.88],[0.6537,-0.016351,-0.756577,-0.000673],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p320:=[[3709.08,-149.38,371.09],[0.599117,-0.015217,-0.799896,0.031506],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p330:=[[3686.07,-85.84,406.58],[0.584725,-0.154691,-0.788031,0.114779],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p340:=[[3686.06,-85.83,406.60],[0.584722,-0.154689,-0.788034,0.114778],[0,1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p350:=[[3695.02,-102.98,366.94],[0.580689,-0.180209,-0.782589,0.133713],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p360:=[[3695.02,-102.98,366.97],[0.580684,-0.180209,-0.782593,0.133712],[0,1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p370:=[[3702.85,-155.05,369.46],[0.598234,-0.0175524,-0.80108,-0.00880698],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p380:=[[3724.78,-155.87,375.93],[0.59824,-0.0175551,-0.801076,-0.00880657],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p390:=[[3771.91,-153.84,336.82],[0.653699,-0.0163474,-0.756578,-0.000672995],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p400:=[[3769.9,-150.8,222.44],[0.683145,-0.003875,-0.73019,0.010979],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p410:=[[3762.87,-159.8,177.09],[0.698499,-0.02157,-0.715234,-0.008607],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p420:=[[3276.61,-159.8,-326.45],[0.698499,-0.02157,-0.715234,-0.008607],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p430:=[[2798.65,271.31,-276.42],[0.027807,-0.097476,-0.216648,0.970973],[0,0,-1,1],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p440:=[[2757.46,-388.61,-291.52],[0.161662,0.687156,-0.45947,-0.539045],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p450:=[[3174.67,-309.8,448.38],[0.08929,0.865638,-0.437312,-0.226841],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p460:=[[3559.63,-359.76,757.01],[0.03699,0.886702,-0.359362,-0.288531],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p470:=[[3630.36,-415.04,708.18],[0.004379,-0.878575,0.27875,0.387796],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p480:=[[3657.4,-437.32,680.13],[0.080128,-0.831153,0.268888,0.480065],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p490:=[[3651.36,-466.66,666.06],[0.016716,-0.859122,0.255938,0.442862],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p500:=[[3641.94,-486.53,649.09],[0.027478,0.809741,-0.223381,-0.541909],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p510:=[[3621.14,-482.88,639.93],[0.013789,0.775149,-0.22464,-0.590331],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p520:=[[3595.12,-480.48,618.32],[0.0195655,-0.67938,0.224206,0.69842],[1,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p530:=[[3595.12,-480.48,618.32],[0.0195654,-0.67938,0.224206,0.698421],[1,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p540:=[[3621.14,-482.88,639.93],[0.013789,0.775149,-0.22464,-0.590331],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p550:=[[3641.94,-486.53,649.09],[0.027478,0.809741,-0.223381,-0.541909],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p560:=[[3651.36,-466.66,666.06],[0.016716,-0.859122,0.255938,0.442862],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p570:=[[3657.4,-437.32,680.13],[0.080128,-0.831153,0.268888,0.480065],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p580:=[[3626.59,-414.28,702.34],[0.006812,-0.875157,0.278701,0.395448],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p590:=[[3595.76,-426.30,689.23],[0.0693843,-0.81794,0.456544,0.343114],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p600:=[[3595.76,-426.30,689.23],[0.069385,-0.81794,0.456544,0.343114],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p610:=[[3602.23,-407.06,699.67],[0.084781,-0.836241,0.422916,0.338608],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p620:=[[3623.07,-411.76,704.2],[0.004379,-0.878575,0.27875,0.387796],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p630:=[[3626.6,-344.75,710.64],[0.015802,-0.888196,0.228871,0.398091],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p650:=[[3684.07,-351.48,703.42],[0.00589361,-0.863942,0.164166,0.476045],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p660:=[[3679.47,-346.40,655.59],[0.00406118,-0.746527,0.128755,0.652766],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p670:=[[3673.06,-357.17,644.57],[0.00733,0.744167,-0.141761,-0.652737],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p680:=[[3661.05,-359.85,619.09],[0.007329,0.744167,-0.141761,-0.652737],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p690:=[[3628.96,-353.30,620.28],[0.00752914,-0.671852,0.141749,0.726956],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p700:=[[3628.96,-353.28,620.30],[0.00752874,-0.671856,0.141745,0.726954],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p710:=[[3661.04,-359.85,619.09],[0.007329,0.744167,-0.141761,-0.652737],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p720:=[[3673.06,-357.17,644.57],[0.00733,0.744167,-0.141761,-0.652737],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p730:=[[3679.47,-346.40,655.59],[0.00406027,-0.746527,0.128756,0.652766],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p740:=[[3691.82,-353.07,708.58],[0.005893,-0.863942,0.164167,0.476045],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p760:=[[3626.6,-344.75,710.64],[0.015802,-0.888196,0.228871,0.398091],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p770:=[[3561.06,-359.97,759.64],[0.033852,0.884151,-0.359671,-0.296258],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p780:=[[3466.63,-344.67,856.66],[0.241504,0.768738,-0.522756,-0.278286],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p790:=[[3445.05,-84.67,877.49],[0.241504,0.768738,-0.522756,-0.278286],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p800:=[[3641.83,-33.71,786.92],[0.087891,0.855298,-0.325286,-0.39361],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p810:=[[3757.14,-27.47,640.88],[0.141896,0.855601,-0.042386,-0.496],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p820:=[[3692.21,-137.64,657.33],[0.194192,0.806553,-0.186417,-0.526318],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p840:=[[3665.79,-184.32,565.00],[0.178509,0.658236,-0.23068,-0.694007],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p850:=[[3665.78,-184.33,565.02],[0.178509,0.658238,-0.230685,-0.694004],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p860:=[[3671.63,-195.15,610.80],[0.229832,0.632308,-0.277567,-0.685799],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p870:=[[3665.50,-194.61,615.82],[0.229833,0.632308,-0.277573,-0.685796],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p880:=[[3677.89,-194.56,568.88],[0.178396,0.659981,-0.230965,-0.692283],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p890:=[[3692.21,-137.64,657.33],[0.194192,0.806553,-0.186417,-0.526318],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p900:=[[3757.14,-27.47,640.88],[0.154043,0.854328,-0.065209,-0.49208],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p910:=[[3728.23,-7.87,630.02],[0.030314,0.860739,-0.014109,-0.507947],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p920:=[[3757.14,27.46,640.88],[0.154043,-0.854328,-0.065209,0.492079],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p930:=[[3692.21,137.63,657.33],[0.194192,-0.806553,-0.186417,0.526318],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p940:=[[3677.89,194.56,568.88],[0.178395,-0.659982,-0.230964,0.692282],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p950:=[[3670.40,195.09,610.94],[0.229913,-0.632278,-0.277667,0.685759],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p960:=[[3670.40,195.09,610.94],[0.229913,-0.632278,-0.277668,0.685759],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p970:=[[3669.05,184.64,562.90],[0.174318,-0.659612,-0.226715,0.695072],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p980:=[[3669.05,184.63,562.89],[0.174319,-0.659612,-0.226713,0.695073],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1000:=[[3692.21,137.64,657.33],[0.194192,-0.806553,-0.186417,0.526318],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1010:=[[3757.14,27.47,640.88],[0.141896,-0.855601,-0.042386,0.496],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1020:=[[3641.83,33.71,786.92],[0.087891,-0.855298,-0.325286,0.39361],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1030:=[[3445.05,84.67,877.49],[0.241504,-0.768738,-0.522756,0.278286],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1040:=[[3466.63,344.67,856.66],[0.241504,-0.768738,-0.522756,0.278286],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1050:=[[3510.87,347.59,736.69],[0.093234,-0.872979,-0.391614,0.275415],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1060:=[[3561.06,359.97,759.64],[0.043256,-0.891603,-0.358662,0.273012],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1070:=[[3636.94,348.07,719.47],[0.02378,0.873762,0.22818,-0.428846],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1080:=[[3700.85,354.9,714.59],[0.005893,0.863942,0.164167,-0.476045],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1090:=[[3679.66,346.70,654.03],[0.00406197,0.746524,0.128752,-0.65277],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1100:=[[3673.61,358.29,639.70],[0.00732961,-0.744169,-0.141763,0.652735],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1110:=[[3661.04,359.85,619.09],[0.007329,-0.744167,-0.141761,0.652737],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1120:=[[3644.64,356.77,619.38],[0.00645618,0.671645,0.142738,-0.726964],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1130:=[[3644.65,356.76,619.38],[0.00645584,0.671645,0.142737,-0.726965],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1140:=[[3661.04,359.85,619.09],[0.007329,-0.744167,-0.141761,0.652737],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1150:=[[3673.61,358.30,639.70],[0.00733008,-0.744168,-0.141767,0.652734],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1160:=[[3679.66,346.71,654.02],[0.00406235,0.746522,0.128754,-0.652772],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1170:=[[3691.82,353.07,708.58],[0.005893,0.863942,0.164168,-0.476045],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1180:=[[3657.35,349.10,712.36],[0.015565,0.870294,0.201856,-0.448998],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1190:=[[3626.6,344.75,710.64],[0.02378,0.873762,0.22818,-0.428846],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1200:=[[3594.96,425.65,688.08],[0.0830287,0.834793,0.425997,-0.338752],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1210:=[[3594.96,425.66,688.08],[0.0830268,0.834792,0.426002,-0.338749],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1220:=[[3600.03,405.13,696.28],[0.0830388,0.834802,0.425966,-0.338768],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1230:=[[3634.02,415.78,713.81],[0.009243,0.871673,0.278631,-0.40307],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1240:=[[3652.11,434.57,676.45],[0.080129,0.831154,0.268888,-0.480065],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1250:=[[3648.35,465.63,663.63],[0.016717,0.859122,0.255938,-0.442862],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1260:=[[3641.94,486.52,649.09],[0.027477,-0.809742,-0.223381,0.541908],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1270:=[[3623.28,485.22,631.53],[0.0137898,-0.775151,-0.22464,0.590329],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1280:=[[3602.33,484.15,615.91],[0.0192833,0.679274,0.224486,-0.698442],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1290:=[[3602.33,484.16,615.94],[0.0192842,0.679278,0.224488,-0.698438],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1300:=[[3623.28,485.23,631.52],[0.0137907,-0.775149,-0.224644,0.59033],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1310:=[[3641.94,486.52,649.09],[0.027477,-0.809742,-0.223381,0.541908],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1320:=[[3644.59,464.35,660.59],[0.016717,0.859122,0.255938,-0.442862],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1330:=[[3652.11,434.57,676.45],[0.080129,0.831154,0.268888,-0.480065],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1340:=[[3629,412.95,713.38],[0.009243,0.871673,0.278631,-0.40307],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1350:=[[3564.86,360.54,766.66],[0.040123,-0.889186,-0.359025,0.280782],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1360:=[[3217.53,360.54,406.99],[0.089291,-0.865637,-0.437312,0.226841],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1370:=[[2811.44,-557.75,637.83],[0.198807,-0.830895,-0.497983,0.148665],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1380:=[[2989.46,-630.67,988.53],[0.198807,-0.830895,-0.497983,0.148665],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1390:=[[3110.83,-368.14,962.19],[0.22488,-0.877965,-0.407865,0.110689],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1400:=[[3110.84,-368.13,962.16],[0.224884,-0.877963,-0.407864,0.110699],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1410:=[[3004.78,-541.47,954.52],[0.347123,-0.823924,-0.41956,0.156918],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1420:=[[3004.79,-541.45,954.48],[0.34713,-0.82392,-0.41956,0.156928],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1430:=[[3016.2,-401.54,972.45],[0.319892,-0.711487,-0.466919,0.416463],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1440:=[[3011.37,-365.82,996.41],[0.308193,-0.691569,-0.450938,0.472656],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1450:=[[2987.57,-334.98,1014.47],[0.326506,-0.673339,-0.477753,0.460176],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1460:=[[2987.57,-334.98,1014.48],[0.326506,-0.673339,-0.477751,0.460177],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1470:=[[3011.37,-365.82,996.41],[0.308193,-0.691569,-0.450938,0.472657],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1480:=[[3016.2,-401.54,972.45],[0.319892,-0.711487,-0.466919,0.416463],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1490:=[[2973.51,-587.54,1045.29],[0.219466,-0.71437,-0.546524,0.377918],[1,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1500:=[[2271.66,-677.11,489.07],[0.219466,-0.71437,-0.546523,0.377919],[1,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1510:=[[2257.39,645.61,582.9],[0.396881,0.633226,-0.430088,-0.506493],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1520:=[[2989.46,630.67,988.53],[0.198807,0.830895,-0.497983,-0.148665],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1530:=[[3005.28,541.83,955.24],[0.336486,0.84482,-0.377736,-0.174275],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1540:=[[3005.29,541.82,955.23],[0.336489,0.844818,-0.377736,-0.174279],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1550:=[[3111.63,368.79,964.04],[0.236925,0.820277,-0.514122,-0.0817934],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1560:=[[3111.64,368.77,964.01],[0.23693,0.820274,-0.514123,-0.0818015],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1570:=[[3030.42,465.27,948.45],[0.291774,0.757406,-0.514667,-0.276263],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1580:=[[3016.2,401.54,972.45],[0.319892,0.711487,-0.466919,-0.416463],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1590:=[[3011.37,365.82,996.41],[0.308193,0.691569,-0.450938,-0.472656],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1600:=[[2982.12,334.99,1012.33],[0.326602,0.673242,-0.477887,-0.460109],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1610:=[[2982.12,334.98,1012.36],[0.326601,0.67324,-0.477892,-0.460107],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1620:=[[3011.37,365.82,996.41],[0.308193,0.691569,-0.450938,-0.472656],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1630:=[[3016.2,401.54,972.45],[0.319892,0.711487,-0.466919,-0.416463],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1640:=[[3030.42,465.27,948.45],[0.291775,0.757406,-0.514667,-0.276263],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1650:=[[2989.03,378.94,998.98],[0.300599,0.69727,-0.446013,-0.473842],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1660:=[[2989.03,378.94,998.98],[0.300599,0.69727,-0.446013,-0.473843],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1670:=[[2985.36,449.95,1030.35],[0.302555,0.687692,-0.456574,-0.476531],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1680:=[[2973.51,587.54,1045.29],[0.219465,0.71437,-0.546523,-0.377918],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1690:=[[2257.39,645.61,582.9],[0.396881,0.633226,-0.430088,-0.506493],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1700:=[[2271.66,-677.11,489.07],[0.219466,-0.71437,-0.546523,0.377919],[1,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1710:=[[2973.51,-587.54,1045.29],[0.219466,-0.71437,-0.546524,0.377918],[1,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1720:=[[2991.45,-379.02,999.77],[0.305569,-0.69407,-0.447099,0.474339],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1730:=[[2991.45,-379.02,999.78],[0.305569,-0.69407,-0.447101,0.474338],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1740:=[[2973.51,-587.54,1045.29],[0.219466,-0.71437,-0.546524,0.377919],[1,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1750:=[[2811.44,-557.75,637.83],[0.198808,-0.830895,-0.497983,0.148665],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1760:=[[3280.52,334.48,401.47],[0.057513,-0.874184,-0.377101,0.300482],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1770:=[[3386.83,257.95,562.46],[0.03371,0.854224,0.226926,-0.466551],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1780:=[[3591.45,321.19,751.77],[0.021787,0.877471,0.228379,-0.421205],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1790:=[[3618.93,332.79,759.16],[0.0217874,0.877471,0.228379,-0.421205],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1800:=[[3658.96,305.43,730.01],[0.019168,0.821853,0.0782521,-0.563974],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1810:=[[3704.09,318.21,627.85],[0.0191673,0.821848,0.0782613,-0.563981],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1820:=[[3695.89,346.36,627.33],[0.000929563,0.836455,0.118102,-0.535159],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1830:=[[3692.39,367.03,626.31],[0.0319525,-0.846648,-0.138306,0.512872],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1840:=[[3663.23,361.57,612.95],[0.0234122,-0.813603,-0.140008,0.563826],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1850:=[[3661.04,359.85,619.09],[0.007329,-0.744167,-0.141761,0.652737],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1860:=[[3630.02,374.02,620.04],[0.0151747,-0.667104,-0.162661,0.726831],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1870:=[[3630.02,374.00,620.03],[0.0151755,-0.667102,-0.162661,0.726833],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1880:=[[3661.04,359.85,619.09],[0.00732922,-0.744167,-0.141762,0.652737],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1890:=[[3663.23,361.57,612.95],[0.0234116,-0.813603,-0.140007,0.563827],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1900:=[[3692.39,367.03,626.31],[0.0319525,-0.846648,-0.138306,0.512872],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1910:=[[3695.89,346.36,627.33],[0.000929072,0.836455,0.118103,-0.535158],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1920:=[[3704.09,318.21,627.85],[0.0191671,0.821848,0.0782619,-0.563981],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1930:=[[3658.96,305.43,730.01],[0.019168,0.821853,0.0782532,-0.563975],[0,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1940:=[[3618.93,332.79,759.16],[0.0217872,0.877471,0.228378,-0.421206],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1950:=[[3587.97,318.82,756.04],[0.027603,0.880976,0.23189,-0.411517],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1960:=[[3386.83,257.95,562.46],[0.044788,0.861586,0.235326,-0.447533],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1970:=[[3374.24,262.31,488.98],[0.021244,0.831978,0.231523,-0.503745],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1980:=[[3364.3,-87.08,406.67],[0.003105,-0.81897,-0.013245,0.573675],[0,0,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p1990:=[[3374.24,-262.31,488.98],[0.021244,-0.831978,0.231523,0.503745],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2000:=[[3386.83,-257.95,562.46],[0.027758,-0.866144,0.22773,0.44403],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2010:=[[3584.09,-316.12,761.21],[0.013804,-0.891636,0.229,0.390325],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2020:=[[3629.80,-337.47,732.12],[0.0121891,-0.884978,0.216003,0.41232],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2030:=[[3659.44,-308.72,748.98],[0.0247454,-0.826081,0.0678485,0.558905],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2040:=[[3707.42,-319.70,627.48],[0.0247461,-0.826076,0.0678495,0.558911],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2050:=[[3690.52,-367.12,630.40],[0.0263606,0.81483,-0.158051,-0.557115],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2060:=[[3660.83,-365.62,620.70],[0.0334035,0.81457,-0.153231,-0.558462],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2070:=[[3630.27,-359.47,619.34],[0.00643406,0.669018,-0.154627,-0.726955],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2080:=[[3630.46,-374.13,619.95],[0.0115019,0.667908,-0.159289,-0.726907],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2090:=[[3630.47,-374.13,619.93],[0.0115024,0.667904,-0.159289,-0.726911],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2100:=[[3630.27,-359.47,619.35],[0.00643366,0.66902,-0.154627,-0.726953],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2110:=[[3660.83,-365.62,620.70],[0.0334029,0.81457,-0.153231,-0.558462],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2120:=[[3690.52,-367.12,630.40],[0.0263609,0.81483,-0.158051,-0.557115],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2130:=[[3707.42,-319.70,627.48],[0.0247462,-0.826076,0.0678495,0.558912],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2140:=[[3659.44,-308.72,748.98],[0.0247455,-0.82608,0.0678481,0.558906],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2150:=[[3629.80,-337.47,732.12],[0.0121893,-0.884978,0.216002,0.41232],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2160:=[[3584.09,-316.12,761.21],[0.013804,-0.891636,0.229,0.390325],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2170:=[[3386.83,-257.95,562.46],[0.027758,-0.866144,0.22773,0.44403],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2180:=[[3281.56,-335.58,401.05],[0.034384,0.854209,-0.379909,-0.35329],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2190:=[[2522.66,-1029.26,29.64],[0.196771,0.541597,-0.454161,-0.679479],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2200:=[[1798.64,-1596.74,-29.24],[0.0677443,0.369219,-0.512197,-0.772491],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2210:=[[1433.44,-1927.23,634.74],[0.0683217,-0.37445,0.690144,0.615484],[1,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p2220:=[[1320.96,-1962.5,793.25],[0.09962,-0.371931,0.725179,0.57084],[1,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];

    LOCAL CONST robtarget p150:=[[3702.33,102.52,368.78],[0.584739,0.154585,-0.788053,-0.114704],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p640:=[[3654.24,-349.19,715.60],[0.0115941,-0.88113,0.208717,0.42416],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p750:=[[3654.24,-349.19,715.60],[0.0115952,-0.881131,0.208716,0.42416],[0,-1,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p830:=[[3668.02,-177.53,582.51],[0.185557,0.684089,-0.222397,-0.669425],[1,-1,0,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
    LOCAL CONST robtarget p990:=[[3678.34,175.99,573.77],[0.179712,-0.677322,-0.221577,0.678117],[0,0,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
																																				
    LOCAL CONST robtarget p120:=[[3703.07,94.35,384.42],[0.582329,0.17073,-0.784714,-0.126363],[0,2,-1,0],[9E+09,105,9E+09,9E+09,9E+09,9E+09]];
																																				 
																																				  
																																				   
																																					
																																				  
																																				  
																																				 
																																				   
																																				  
																																				  
																																					
																																				   
																																				  
																																				 
																																				   
																																					
																																					
																																					
																																					
																																					  
																																					 
																																					
																																					
																																					
																																				   
																																				   
																																					
																																				  
    !


    PROC NZ_116380V01_WZ1()
        !*****************************!
        !***     AU592 BAUTEIL     ***!
        !***     Nieten WZ1      ***!
        !***                       ***!
        !*****************************!
        !
        ! Taktzeitmessung Starten
        TaktZeitMessung\StartZwZeit:="NZ_116300V01_WZ1";
        !
        !
        ! Techpacket einschalten
        NZ_TechInit EIN,Strg1,Zange1;
        ExtAchse EIN,NZ1_1_A8;
        !
        MovePTP p10,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        !E78 - Warte auf Freigabe Nieten Prepos
        StellungsFreigabe FRG03,WarteEIN\HaltInWartungsBereich\Info:="MS3V1 St. 116380V01 Nieten - Vorposition";
        !E79 - Ruecksetzen Freigabe Nieten
        StellungsFreigabe FRG02,Ruecksetzen\Info:="PF2V1 116380V01 Profilfrei MM15-21";
        !
        ! Anforderung Verriegelung
        ! Anforderung Verriegelung 2 - 116335R01 < 116380R01
        ! Anforderung Verriegelung 4 - 116415R01 < 116380R01
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        ! Anforderung Verriegelung 7 - 116390R01 < 116380R01
        RoboterFreigabe ROB02\V2:=ROB04\V3:=ROB06,EIN\Info:="Anf Verr 2-116335R01<116380R01,4-116415R01<116380R01,6-116390R01<116380R01";
        RoboterFreigabe ROB07,EIN\Info:="Anforderung Verriegelung 7 - 116390R01 < 116380R01";
        !
        !E80 - Warte auf Freigabe Nieten
        StellungsFreigabe FRG01,Anfordern\Info:="MS1V1 St. 116380V01 Nieten 1";
        !
        MovePTP p20,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p30,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p40,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,AUS;
        !
        MovePTP p50,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p60,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p70,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p80,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0003_R
        NZ_PTP p4P9_827_155____1220_A08_0003_R,31124,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p90,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p100,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0004_R
        NZ_PTP p4P9_827_155____1220_A08_0004_R,31126,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p110,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p120,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p130,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0005_R
        NZ_PTP p4P9_827_155____1220_A08_0005_R,31128,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p140,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p150,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p160,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p170,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p180,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p190,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p200,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p210,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p220,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p230,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p240,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0006_X
        NZ_PTP p4P9_827_155____1220_A08_0006_X,31129,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p250,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p260,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p270,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p280,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p290,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p300,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p310,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p320,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p330,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0005_L
        NZ_PTP p4P9_827_155____1220_A08_0005_L,31127,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p340,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p350,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0004_L
        NZ_PTP p4P9_827_155____1220_A08_0004_L,31125,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p360,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MoveLIN p370,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0003_L
        NZ_PTP p4P9_827_155____1220_A08_0003_L,31123,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p380,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p390,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p400,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p410,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p420,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,EIN\Info:="Anforderung Verriegelung 6 - 116390R01 < 116380R01";
        !
        MovePTP p430,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p440,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p450,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,AUS;
        !
        MovePTP p460,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p470,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p480,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p490,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p500,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p510,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p520,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0003_L
        NZ_PTP p4P9_827_155____1220_A07_0003_L,31105,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p530,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p540,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p550,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p560,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p570,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p580,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p590,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0005_L
        NZ_PTP p4P9_827_155____1220_A07_0005_L,31109,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p600,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0004_L
        NZ_PTP p4P9_827_155____1220_A07_0004_L,31107,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p610,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p620,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p630,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p640,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p650,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p660,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p670,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p680,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p690,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0001_L
        NZ_PTP p4P9_827_155____1220_A07_0001_L,31101,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p700,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p710,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p720,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p730,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p740,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p750,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p760,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,EIN\Info:="Anforderung Verriegelung 6 - 116390R01 < 116380R01";
        !
        MovePTP p770,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p780,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p790,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,AUS;
        !
        MovePTP p800,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p810,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p820,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p830,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p840,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0002_L
        NZ_PTP p4P9_827_155____1220_A08_0002_L,31121,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p850,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p860,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0001_L
        NZ_PTP p4P9_827_155____1220_A08_0001_L,31119,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p870,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p880,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p890,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p900,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p910,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p920,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p930,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p940,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p950,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0001_R
        NZ_PTP p4P9_827_155____1220_A08_0001_R,31120,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p960,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p970,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A08_0002_R
        NZ_PTP p4P9_827_155____1220_A08_0002_R,31122,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p980,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p990,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1000,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1010,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1020,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1030,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1040,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1050,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1060,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1070,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1080,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1090,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1100,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1110,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1120,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0001_R
        NZ_PTP p4P9_827_155____1220_A07_0001_R,31102,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1130,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1140,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1150,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1160,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1170,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1180,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1190,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1200,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0005_R
        NZ_PTP p4P9_827_155____1220_A07_0005_R,31110,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1210,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0004_R
        NZ_PTP p4P9_827_155____1220_A07_0004_R,31108,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1220,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1230,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1240,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1250,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1260,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1270,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1280,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0003_R
        NZ_PTP p4P9_827_155____1220_A07_0003_R,31106,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1290,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1300,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1310,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1320,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1330,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1340,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1350,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,EIN\Info:="Anforderung Verriegelung 6 - 116390R01 < 116380R01";
        !
        MovePTP p1360,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1370,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1380,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,AUS;
        !
        MovePTP p1390,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0009_L
        NZ_PTP p4P9_827_155____1220_A07_0009_L,31115,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1400,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1410,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0010_L
        NZ_PTP p4P9_827_155____1220_A07_0010_L,31117,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1420,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1430,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1440,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1450,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;

        ! 4P9_827_155____1220_A07_0007_L
        NZ_PTP p4P9_827_155____1220_A07_0007_L,31111,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MovePTP p1460,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1470,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        ! Anforderung Verriegelung 14 - 116335R01 < 116380R01
        RoboterFreigabe ROB06\V2:=ROB14,EIN\Info:="Anforderung Verriegelung 6 - 116390R01 < 116380R01,14 - 116335R01 < 116380R01";
        !
        MovePTP p1480,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1490,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1500,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,AUS;
        !
        MovePTP p1510,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1520,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1530,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0010_R
        NZ_PTP p4P9_827_155____1220_A07_0010_R,31118,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigabe Verriegelung 14 - 116335R01 < 116380R01
        RoboterFreigabe ROB14,AUS;
        !
        MoveLIN p1540,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1550,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0009_R
        NZ_PTP p4P9_827_155____1220_A07_0009_R,31116,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1560,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1570,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1580,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1590,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1600,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0007_R
        NZ_PTP p4P9_827_155____1220_A07_0007_R,31112,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        IF ((diNZ1_MitProzess=1 AND bNZ_ZangeNiO=FALSE) OR diSPS_ProdOhneBauteil=1) THEN
            ArbFertigMeld FM01\Info:="Teilfertigmeldung 1 Nietsteuerung 1 Zange 1 Vorrichtung 116380V01";
        ENDIF
        !
        MovePTP p1610,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1620,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1630,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1640,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Open clamps 15R,21R, 22R for clinching
        StellungsFreigabe FRG01,Loeschen\Info:="MS1V1 St. 116380V01 Nieten 1";
        StellungsFreigabe FRG02,Anfordern\Info:="MS2V1 St. 116380V01 Nieten ";
        !
        MovePTP p1650,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0008_R
        NZ_PTP p4P9_827_155____1220_A07_0008_R,31114,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1660,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1670,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        ! Anforderung Verriegelung 14 - 11635R01 < 116380R01
        RoboterFreigabe ROB06\V2:=ROB14,EIN\Info:="Anforderung Verriegelung 6 - 116390R01 < 116380R01,14 - 11635R01 < 116380R01";
        !
        MovePTP p1680,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1690,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1700,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1710,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1720,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0008_L
        NZ_PTP p4P9_827_155____1220_A07_0008_L,31113,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        MoveLIN p1730,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1740,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1750,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Freigeben Verriegelung 6 - 116390R01 < 116380R01
        ! Freigeben Verriegelung 14 - 116335R01 < 116380R01
        RoboterFreigabe ROB06\V2:=ROB14,AUS;
        !
        MovePTP p1760,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1770,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1780,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! start new path
        !
        MovePTP p1790,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1800,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1810,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1820,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1830,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1840,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1850,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MoveLIN p1860,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! 4P9_827_155____1220_A07_0002_R
        NZ_LIN p4P9_827_155____1220_A07_0002_R,31104,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;

        MoveLIN p1870,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1880,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1890,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1900,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1910,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1920,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1930,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1940,vmax,z10,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1950,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1960,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1970,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;

        MovePTP p1980,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p1990,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2000,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2010,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2020,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2030,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2040,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2050,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2060,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2070,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2080,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
															 
															 
															 

															 
															 
															 
															 
															 
															 

															 
        !
        ! 4P9_827_155____1220_A07_0002_L
        NZ_PTP p4P9_827_155____1220_A07_0002_L,31103,Strg1,Zange1,vmax,tNZ1_Zange1\Wobj:=w116380V01;
        !
        !Stop;
        IF ((diNZ1_MitProzess=1 AND bNZ_ZangeNiO=FALSE) OR diSPS_ProdOhneBauteil=1) THEN
            ArbFertigMeld FM02\Info:="Teilfertigmeldung 2 Nietsteuerung 1 Zange 1 Vorrichtung 116380V01";
        ENDIF
        !
        MoveLIN p2090,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2100,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2110,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2120,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2130,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2140,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2150,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;

        MovePTP p2160,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01;
        !
        ! Anforderung Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB06,EIN;
        !
        MovePTP p2170,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2180,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2190,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2200,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP p2210,vmax,z200,tNZ1_Zange1\Wobj:=w116380V01;
        MovePTP_ROB p2220,vmax,fine,tNZ1_Zange1\Wobj:=w116380V01,ROB07,AUS;
																   
        !
        ! Freigabe Verriegelung
        ! Freigabe Verriegelung 2 - 116335R01 < 116380R01
        ! Freigabe Verriegelung 4 - 116415R01 < 116380R01
        ! Freigabe Verriegelung 7 - 116390R01 < 116380R01
        ! Freigabe Verriegelung 6 - 116390R01 < 116380R01
        RoboterFreigabe ROB02\V2:=ROB04\V3:=ROB07,AUS;
        RoboterFreigabe ROB06,AUS;
        !
        !A80 - Setzen Profilfrei
        StellungsFreigabe FRG01,Setzen\Info:="PF1V1 116380V01 Profilfrei";
        StellungsFreigabe FRG02,Freigeben\Info:="PF2V1 116380V01 Profilfrei MM15-21";
        !
        ! Taktzeitmessung Ende
        TaktZeitMessung\EndeZwZeit;
        !
    ENDPROC

ENDMODULE