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32 lines
884 B
32 lines
884 B
extern bool __SVR_CURRENT_JOB;
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extern bool __MSRMSRJNTPOS;
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extern bool __MSRCMDJNTPOS;
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extern bool __MSRCMDPOSE;
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extern bool __SETVELOCITY;
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extern bool __SETACCEL;
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extern bool __DEBUG;
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extern bool __POTFIELDMODE;
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extern bool __MSRSTARTPOTFIELD;
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extern bool __MSRSTOPPOTFIELD;
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extern bool __MSRSETPOS;
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extern bool __CARTMOVE;
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extern bool __DOUS;
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extern bool __DOUS2;
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extern int globi;
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extern float MSRMSRJNTPOS[7];
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extern double MSRMSRCARTPOS[12];
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extern float MSRCMDCARTPOS[12];
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extern double MSRMSRJACOBIAN[42];
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extern double MSRMSRFTTCP[6];
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extern double MSRCMDJNTPOS[7];
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extern double MSRCMDPOSE[3][4];
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extern float USTarget[12];
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extern float USApproach[12];
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extern double VELOCITY;
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extern double ACCELARATION;
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extern double maxVelJnt[LBR_MNJ];
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extern double maxAccJnt[LBR_MNJ];
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extern double maxTrqJnt[LBR_MNJ];
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extern double maxRangeJnt[LBR_MNJ];
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