bool __SVR_CURRENT_JOB = false;
bool __MSRMSRJNTPOS = false;
bool __MSRCMDJNTPOS = false;
bool __MSRCMDPOSE = false;
bool __SETVELOCITY = false;
bool __SETACCEL = false;
bool __DEBUG = false;
bool __POTFIELDMODE = false;
bool __MSRSTARTPOTFIELD = false;
bool __MSRSTOPPOTFIELD = false;
bool __MSRSETPOS = false;
bool __CARTMOVE = false;
bool __DOUS = false;
bool __DOUS2 = false;

int globi = 0;

float MSRMSRJNTPOS[7];
double MSRCMDJNTPOS[7];
double MSRMSRCARTPOS[12];
float MSRCMDCARTPOS[12];
double MSRMSRJACOBIAN[42];
double MSRMSRFTTCP[6];
double MSRCMDPOSE[3][4];
float USTarget[12];
float USApproach[12];
double VELOCITY = 20;
double ACCELARATION = 10;
//double maxVelJnt[] = {110.0,110.0,128.0,128.0,204.0,184.0,184.0};
double maxAccJnt[] = {1.0,1.0,1.0,1.0,2.0,1.0,1.0};
double maxTrqJnt[] = {176.0,176.0,100.0,100.0,100.0,38.0,38.0};
double maxRangeJnt[] = {170.0,120.0,170.0,120.0,170.0,120.0,170.0};