OCM19
P-99
IF[VORD[0016] EQ 1]NRTS
NLOOP (NO DATA FROM ROBOT)
(RECORD C AXIS POSITION FROM ROBOT- OSP)
V71=[VIRD[1048]]+[VIRD[1049]*2]+[VIRD[104A]*4]+[VIRD[104B]*8]
V72=[[VIRD[104C]]+[VIRD[104D]*2]+[VIRD[104E]*4]+[VIRD[104F]*8]]*10
V73=[[VIRD[1338]]+[VIRD[1339]*2]+[VIRD[133A]*4]+[VIRD[133B]*8]]*100
V74=V71+V72+V73
IF [V74 LT 1] NLOOP
VSPOF=V74*1000 (SET DEGREES FOR ORIENTATION TO SYSTEM VARIABLE)
M19 (MOVE TO LOAD PROGRAM)
IF[V74 LT 180]NALM1
IF[V74 GT 0]NALM1
VUACM[1]='BAD DATA M19'
VDOUT[992]=8001
NALM1
V80=9988
NRTS P-5
RTS