COMMENT ⊗   VALID 00005 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	TRANS	L	     10.00     30.00      1.00    180.00     90.00       .00
C00003 00003	DEFINE	DIAG	
C00004 00004	DEFINE	FREMOT	
C00005 00005	DEFINE	SRCH	
C00006 ENDMK
C⊗;
TRANS	L	     10.00     30.00      1.00    180.00     90.00       .00
TRANS	T	     20.00     30.00      4.00    180.00     90.00       .00


VECT	V	      1.00       .00       .00
VECT	X	      1.00       .00       .00
VECT	Y	       .00      1.00       .00
VECT	Z	       .00       .00      1.00
VECT	F	       .00       .00    -50.00
VECT	NIL	       .00       .00       .00
DEFINE	DIAG	
BEGIN DIAG
MOTION
FREMOT
FLUSH
SRCH

DEFINE	MOTION	
BEGIN DIAGY
CLOSE 1
PARK
DRIVE 1 90 0
DRIVE 2 20 0
DRIVE 3 10 0
DRIVE 4 45 0
DRIVE 5 -90 0
DRIVE 6 200 0
DRIVE 5 90 0
MOVE T
PLACE
OPEN 5
ASSERT T
CHANGE X -.5 NIL 0 0
TOUCH 1
OPEN -1
SKIPE 16
WAIT
OPEN 5
CHANGE X 1 NIL 0 0
TOUCH 1
OPEN -1
SKIPE 6
WAIT
OPEN 5
CENTER 1
CHANGE Z 1 Z 90 0
CHANGE Y 1 Y 10 0
CHANGE X 1 X 10 0
GOTO T

DEFINE	FREMOT	
MOVE T Z -1 NIL 0
PLACE
CHANGE Z 1 NIL 0 0
FREE 1 Z
FORCE F NIL
CHANGE NIL 0 NIL 0 100
MOVE T
STOP F NIL
CHANGE Z -3.5 NIL 0 0
GOTO T
WOBBLE .1
CHANGE Z 1 NIL 200 0
NNUL
GO T
SCREW 60
MERGE
CHANGE NIL 0 NIL 0 200
SCREW -60
MERGE
CHANGE NIL 0 NIL 0 200
PLACE
OPEN 5
MERGE
CHANGE Z .5 NIL 0 0
SAVE H
MOVE T
RESTORE H 1
GO T

DEFINE	SRCH	
MOVE T X 2 NIL 0
SEARCH 2 Z Y
CLOSE -1
NNUL
L: GO T X 2 NIL 0
STOP F NIL
NNUL
CHANGE Z -3.1 NIL 0 100
SKIPN 23
AOJ L
OPEN 5
MERGE
CHANGE Z .5 NIL 0 0
CHANGE Z -1.3 NIL 0 0
CENTER 1
OPEN 5
CONO Z Z NIL 0 0 0
SAVE H
GOTO T X 2 Z 90
RESTORE H 1
CENTER 1
PARK