perm filename TX[HAL,HE] blob
sn#199608 filedate 1976-01-30 generic text, type T, neo UTF8
RU AL
Output to tty?Y
Output to a file?
OUTPUT PPN ( [foo,bar] ) = [HAL,HE]
*↑C
↑C
.DDT
BAIL ver. 28-Jan-76 using AL.BAI
End of BAIL initialization.
'411565 %%% File not viewable
1:MEMORY[LOCATION(GOGTAB['250])];
0
1:MEMORY[LOCATION(GOGTAB['250])]←1; "TURN OFF GC"
;
1 "TURN OFF GC"
1:!!GO
;
*(DSKIN "CARB.SEX[HAL,RHT]")
(PROG
(BLOCK $B1.XXT5 $B1.XXT4 $B1.XXT3 $B1.XXT2 $B1.XXT1 $B1.BASE_PLATE $B1.PALLET_SPOT $B1.CARB_SPOT $B1.INSPECTION_POINT $B1.PALLET_GRASP $B1.PALLET $B1.CARB_GRASP $B1.CARB $B1.INSPECTION_OK
(BLKOP[ 1 ]) [IW=W415,OW=W416]
(ASSIGNMENT $B1.BASE_PLATE STATION) [IW=W416,OW=W417]
(ASSIGNMENT BARM FRAME( ROTN( YHAT, 180.0000000*DEG), VECTOR( 43.54000, 56.86000, 10.73000))) [IW=W417,OW=W417]
(ASSIGNMENT BHAND 3.0000000) [IW=W417,OW=W417]
(AFFIX[ $B1.CARB_GRASP, $B1.CARB, $B1.XXT1, TRANS( NILROTN, VECTOR( .0000000, .0000000, .7500000)), NONRIGIDLY,NULL_RECORD ]) [IW=W417,OW=W420]
(AFFIX[ $B1.PALLET_GRASP, $B1.PALLET, $B1.XXT2, TRANS( NILROTN, VECTOR( .0000000, .0000000, .5000000)), RIGIDLY,NULL_RECORD ]) [IW=W420,OW=W421]
(AFFIX[ $B1.CARB_SPOT, $B1.BASE_PLATE, $B1.XXT3, TRANS( NILROTN, VECTOR( 8.000000, 2.500000, .0000000)), NONRIGIDLY,NULL_RECORD ]) [IW=W421,OW=W422]
(AFFIX[ $B1.PALLET_SPOT, $B1.BASE_PLATE, $B1.XXT4, TRANS( NILROTN, VECTOR( 2.500000, 2.500000, .0000000)), NONRIGIDLY,NULL_RECORD ]) [IW=W422,OW=W423]
(AFFIX[ $B1.INSPECTION_POINT, $B1.BASE_PLATE, $B1.XXT5, TRANS( NILROTN, VECTOR( 2.500000, 6.500000, .0000000)), NONRIGIDLY,NULL_RECORD ]) [IW=W423,OW=W424]
(ASSIGNMENT $B1.CARB $B1.CARB_SPOT) [IW=W424,OW=W425]
(ASSIGNMENT $B1.PALLET $B1.PALLET_SPOT) [IW=W425,OW=W425]
(COBLOCK
(BLOCK
(BLKOP[ 1 ]) [IW=W426,OW=W427](WAIT $B1.INSPECTION_READY) [IW=W427,OW=W430]
(IFF(SEQ $B1.INSPECTION_OK .0000000)
(ASSIGNMENT $B1.INSPECTION_OK 1.0000000) [IW=W431,OW=W432]
(ASSIGNMENT $B1.INSPECTION_OK .0000000) [IW=W433,OW=W434]
) [IW=W430,OW=W435](SIGNAL $B1.INSPECTION_DONE) [IW=W435,OW=W436]
(BLKOP[ 2 ]) [IW=W436,OW=W437]
) [IW=W426,OW=W437]
(BLOCK $B3.XXT10 $B3.XXT9 $B3.XXT8 $B3.XXT7 $B3.XXT6
(BLKOP[ 1 ]) [IW=W440,OW=W441]
(PVL( BHAND ))
(MOVE$ BHAND TO 2.5000000) [IW=W441,OW=W442]
(MOVE$ BARM TO $B1.CARB_GRASP) [IW=W442,OW=W443]
(CENTER BARM) [IW=W443,OW=W444]
(AFFIX[ $B1.CARB, BARM, $B3.XXT6,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W444,OW=W445]
(BLOCK
(BLKOP[ 1 ]) [IW=W445,OW=W446]
(COMMNT[ NULL_RECORD ]) [IW=W446,OW=W446]
(MOVE$ $B1.CARB TO (TVADD $B1.PALLET VECTOR( .0000000, .0000000,-.3000000))
(VIA(TVADD $B1.PALLET VECTOR( .0000000, .0000000, 10.00000)))
) [IW=W446,OW=W447]
(BLKOP[ 2 ]) [IW=W447,OW=W450]
) [IW=W445,OW=W450]
(MOVE$ BHAND TO 2.5000000) [IW=W450,OW=W451]
(UNFIX[ $B1.CARB, BARM,NULL_RECORD ]) [IW=W451,OW=W452]
(AFFIX[ $B1.CARB, $B1.PALLET, $B3.XXT7,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W452,OW=W453]
(MOVE$ BHAND TO 5.0000000) [IW=W453,OW=W454]
(MOVE$ BARM TO $B1.PALLET_GRASP
(VIA(TVADD $B1.PALLET VECTOR( .0000000, .0000000, 10.00000)))
) [IW=W454,OW=W455]
(CENTER BARM) [IW=W455,OW=W456]
(AFFIX[ $B1.PALLET, BARM, $B3.XXT8,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W456,OW=W457]
(MOVE$ $B1.PALLET TO $B1.INSPECTION_POINT) [IW=W457,OW=W460]
(MOVE$ BHAND TO 5.0000000) [IW=W460,OW=W461]
(UNFIX[ $B1.PALLET, BARM,NULL_RECORD ]) [IW=W461,OW=W462]
(MOVE$ BARM TO FRAME( ROTN( YHAT, 180.0000000*DEG), VECTOR( 43.54000, 56.86000, 10.73000))
(VIA(TVADD $B1.PALLET_GRASP VECTOR( .0000000, .0000000, 10.00000)))
) [IW=W462,OW=W463](SIGNAL $B1.INSPECTION_READY) [IW=W463,OW=W464](WAIT $B1.INSPECTION_DONE) [IW=W464,OW=W465]
(MOVE$ BARM TO $B1.CARB_GRASP) [IW=W465,OW=W466]
(CENTER BARM) [IW=W466,OW=W467]
(AFFIX[ $B1.CARB, BARM, $B3.XXT9,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W467,OW=W470]
(MOVE$ $B1.CARB TO $B1.CARB_SPOT
(VIA(TVADD $B1.CARB_SPOT ZHAT))
(VIA(TVADD $B1.CARB ZHAT))
) [IW=W470,OW=W471]
(MOVE$ BHAND TO 5.0000000) [IW=W471,OW=W472]
(MOVE$ BARM TO $B1.PALLET_GRASP) [IW=W472,OW=W473]
(CENTER BARM) [IW=W473,OW=W474]
(AFFIX[ $B1.PALLET, BARM, $B3.XXT10,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W474,OW=W475]
(MOVE$ $B1.PALLET TO $B1.PALLET_SPOT) [IW=W475,OW=W476]
(MOVE$ BHAND TO 5.0000000) [IW=W476,OW=W477]
(MOVE$ BARM TO FRAME( ROTN( YHAT, 180.0000000*DEG), VECTOR( 43.54000, 56.86000, 10.73000))) [IW=W477,OW=W500]
(BLKOP[ 2 ]) [IW=W500,OW=W501]
) [IW=W440,OW=W501]
) [IW=W425,OW=W502]
(BLKOP[ 2 ]) [IW=W502,OW=W503]
) [IW=W415,OW=W503]) [IW=W237,OW=W503]
IN WORLD W441, BHAND HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= 3.0000000]
DEPS= <NONE>
CALCS= <NONE>
CHANGERS= <NONE>
(DEXPR[ $B1.CARB_GRASP,NULL_RECORD, TRANS( NILROTN, VECTOR( 8.000000, 2.500000, .7500000)),NULL_RECORD ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
↑
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM421,(TTMUL(TVADD $B1.PALLET VECTOR( .0000000, .0000000, 10.00000))(TINVRT $B3.XXT6)), TRANS( NILROTN, VECTOR( 2.500000, 2.500000, 10.75000)), ITEM421 ])
HAH! This via location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM422,(TTMUL(TVADD $B1.PALLET VECTOR( .0000000, .0000000,-.3000000))(TINVRT $B3.XXT6)), TRANS( NILROTN, VECTOR( 2.500000, 2.500000, .4500000)), ITEM422 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(
(GASSIGN $B1.CARB≠( calc ITEM405: (TTMUL BARM $B3.XXT6)))
(ALSODO[ $B1.CARB,2,(changer ITEM408:
(ASSIGNMENT $B3.XXT6 (TTMUL(TINVRT BARM)
(SPECVAL[ 0,4 ]))) [IW=ANY,OW=ANY]) ]) )
HAH! Can't generate code for this
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM441,[ 5.000000 ],[ 5.000000 ], ITEM441 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM449,(TVADD $B1.PALLET VECTOR( .0000000, .0000000, 10.00000)), TRANS( NILROTN, VECTOR( 2.500000, 2.500000, 10.00000)), ITEM449 ])
HAH! This via location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ $B1.PALLET_GRASP,NULL_RECORD, TRANS( NILROTN, VECTOR( 2.500000, 2.500000, .5000000)),NULL_RECORD ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM469,(TTMUL $B1.INSPECTION_POINT(TINVRT $B3.XXT8)), TRANS( NILROTN, VECTOR( 2.500000, 6.500000, .5000000)), ITEM469 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BHAND
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM473,[ 5.000000 ],[ 5.000000 ], ITEM473 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(
(GASSIGN $B1.PALLET≠( calc ITEM452: (TTMUL BARM $B3.XXT8)))
(ALSODO[ $B1.PALLET,2,(changer ITEM455:
(ASSIGNMENT $B3.XXT8 (TTMUL(TINVRT BARM)
(SPECVAL[ 0,4 ]))) [IW=ANY,OW=ANY]) ]) )
HAH! Can't generate code for this
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM483,(TVADD $B1.PALLET_GRASP VECTOR( .0000000, .0000000, 10.00000)), TRANS( NILROTN, VECTOR( 2.500000, 2.500000, 10.50000)), ITEM483 ])
HAH! This via location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ $B1.CARB_GRASP,NULL_RECORD, TRANS( NILROTN, VECTOR( 8.000000, 2.500000, .7500000)),NULL_RECORD ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM511,(TTMUL(TVADD $B1.CARB_SPOT ZHAT)(TINVRT $B3.XXT9)), TRANS( NILROTN, VECTOR( 8.000000, 2.500000, 1.750000)), ITEM511 ])
HAH! This via location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM515,(TTMUL(TVADD $B1.CARB ZHAT)(TINVRT $B3.XXT9)), TRANS( NILROTN, VECTOR( 8.000000, 2.500000, 1.750000)), ITEM515 ])
HAH! This via location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM512,(TTMUL $B1.CARB_SPOT(TINVRT $B3.XXT9)), TRANS( NILROTN, VECTOR( 8.000000, 2.500000, .7500000)), ITEM512 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BHAND
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM517,[ 5.000000 ],[ 5.000000 ], ITEM517 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ $B1.PALLET_GRASP,NULL_RECORD, FRAME( NILROTN, VECTOR( 2.500000, 2.500000, .5000000)),NULL_RECORD ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM544,(TTMUL $B1.PALLET_SPOT(TINVRT $B3.XXT10)), TRANS( NILROTN, VECTOR( 2.500000, 2.500000, .5000000)), ITEM544 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BHAND
ed.HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
(DEXPR[ ITEM543,[ 5.000000 ],[ 5.000000 ], ITEM543 ])
HAH! This destination location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
BARM
HAH! This initial location is not accessible.
The closest reasonable point is being used.
Called from 401721 Last SAIL call at 157131
*