path: root/docs/src/code/emc2-motion-joint-controller-block-diag.eps

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E currentfile eexec}bind |
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ge{exit}if currentfile ss readstring ! 0 get/BC ~ | BC 127 le{/BC BC 1 add |
DC 1 DC BC add 1 sub{mystring ~ currentfile ss readstring ! 0 get put}for}{/BC
257 BC sub | currentfile ss readstring ! 0 get/pp ~ | DC 1 DC BC add 1 sub{
mystring ~ pp put}for}?/DC DC BC add |}loop mystring}b/rledecodeascii{/DC 0 |
/BC 0 |{DC mystring length ge{exit}if currentfile ss readhexstring ! 0 get/BC
~ | BC 127 le{/BC BC 1 add | DC 1 DC BC add 1 sub{mystring ~ currentfile ss
readhexstring ! 0 get put}for}{/BC 257 BC sub | currentfile ss readhexstring !
0 get/pp ~ | DC 1 DC BC add 1 sub{mystring ~ pp put}for}?/DC DC BC add |}loop
mystring}b/setup1asciidecodeproc{[/rledecodeascii cvx]cvx bind}b
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userdict/Pscript_Win_Compat 13 dict dup begin/bd{bind def}bind def/ld{load def
}bd/CB{pop pop pop pop}bind def/B{pop pop pop pop}bind def/$x matrix def/SS{
/pagesave save def}bind def/RS{/pagesave where{pop pagesave restore}{$x matrix
invertmatrix concat}ifelse}bind def/ANSIVec[0/grave 1/acute 2/circumflex 3
/tilde 4/macron 5/breve 6/dotaccent 7/dieresis 8/ring 9/cedilla 10
/hungarumlaut 11/ogonek 12/caron 13/dotlessi 39/quotesingle 96/grave 124/bar
130/quotesinglbase 131/florin 132/quotedblbase 133/ellipsis 134/dagger 135
/daggerdbl 136/circumflex 137/perthousand 138/Scaron 139/guilsinglleft 140/OE
145/quoteleft 146/quoteright 147/quotedblleft 148/quotedblright 149/bullet 150
/endash 151/emdash 152/tilde 153/trademark 154/scaron 155/guilsinglright 156
/oe 159/Ydieresis 160/space 161/exclamdown 164/currency 165/yen 166/brokenbar
167/section 168/dieresis 169/copyright 170/ordfeminine 171/guillemotleft 172
/logicalnot 173/hyphen 174/registered 175/macron 176/degree 177/plusminus 178
/twosuperior 179/threesuperior 180/acute 181/mu 182/paragraph 183
/periodcentered 184/cedilla 185/onesuperior 186/ordmasculine 187
/guillemotright 188/onequarter 189/onehalf 190/threequarters 191/questiondown
192/Agrave 193/Aacute 194/Acircumflex 195/Atilde 196/Adieresis 197/Aring 198
/AE 199/Ccedilla 200/Egrave 201/Eacute 202/Ecircumflex 203/Edieresis 204
/Igrave 205/Iacute 206/Icircumflex 207/Idieresis 208/Eth 209/Ntilde 210/Ograve
211/Oacute 212/Ocircumflex 213/Otilde 214/Odieresis 215/multiply 216/Oslash
217/Ugrave 218/Uacute 219/Ucircumflex 220/Udieresis 221/Yacute 222/Thorn 223
/germandbls 224/agrave 225/aacute 226/acircumflex 227/atilde 228/adieresis 229
/aring 230/ae 231/ccedilla 232/egrave 233/eacute 234/ecircumflex 235/edieresis
236/igrave 237/iacute 238/icircumflex 239/idieresis 240/eth 241/ntilde 242
/ograve 243/oacute 244/ocircumflex 245/otilde 246/odieresis 247/divide 248
/oslash 249/ugrave 250/uacute 251/ucircumflex 252/udieresis 253/yacute 254
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%%Page: 1 1
%%BeginPageSetup
userdict begin /pagesave save def end mysetup concat colspRefresh : 1.000 1.000 1.000 sco 0 0 2550 3300 rf ; 
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: 0 0 3229 2391 rc 
2620 780 N M -27 -27 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2593 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2593 753 N M 27 -28 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2620 725 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2620 725 N M 360 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2980 725 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2980 725 N M 0 55 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2980 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2980 780 N M -360 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2620 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2620 780 N M 0 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2620 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2952 1665 N M 28 -28 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2980 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2980 1637 N M -28 -27 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2952 1610 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2952 1610 N M -359 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2593 1610 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2593 1610 N M 0 55 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2593 1665 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2593 1665 N M 359 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2952 1665 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2952 1665 N M 0 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2952 1665 N M 0 0 rr : 0 0 0 sco O ; : 2660 734 490 41 rc 0 0 0 sco %%IncludeFont: Helvetica
(F0) cvn
0.943 
 (Helvetica) cvn /Type1 
T 
(Helvetica) cvn
mF 
(F0_28_35) cvn
F0
28 0 0 35 0 0 
xMF 
F0_28_35
Ji 
2695 734 M 
2.025 0 (motor-pos-fb)A 
; : 2643 1618 525 41 rc 0 0 0 sco F0_28_35
Ji 
2678 1618 M 
2.212 0 (motor-pos-cmd)A 
; : 555 1176 490 41 rc 0 0 0 sco F0_28_35
Ji 
590 1176 M 
2.173 0 (free-pos-cmd)A 
; : 572 1286 490 41 rc 0 0 0 sco F0_28_35
Ji 
607 1286 M 
1.547 0 (free-vel-lim)A 
; : 1919 899 490 41 rc 0 0 0 sco F0_28_35
Ji 
1954 899 M 
1.885 0 (motor-offset)A 
; : 1949 1425 315 41 rc 0 0 0 sco F0_28_35
Ji 
1984 1425 M 
2.000 0 (vel-cmd)A 
; : 605 651 280 41 rc 0 0 0 sco F0_28_35
Ji 
640 651 M 
2.198 0 (pos-fb)A 
; : 571 1535 420 41 rc 0 0 0 sco F0_28_35
Ji 
606 1535 M 
2.051 0 (coarse-pos)A 
; : 1942 1535 315 41 rc 0 0 0 sco F0_28_35
Ji 
1977 1535 M 
2.521 0 (pos-cmd)A 
; : 0 0 3229 2391 rc 
934 1720 N M 0 -166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
934 1554 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1554 N M 277 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1211 1554 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1211 1554 N M 0 166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1211 1720 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1211 1720 N M -277 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
934 1720 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1333 N M 0 -166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
934 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1167 N M 277 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1211 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1211 1167 N M 0 166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1211 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1211 1333 N M -277 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
934 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1902 1333 N M 0 -166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1902 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1902 1167 N M 276 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2178 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2178 1167 N M 0 166 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
2178 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2178 1333 N M -276 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 
1902 1333 N M 0 0 rr : 0 0 0 sco O ; 
N 2399 753 56.000 360 0 An C 1 Lw 1 Lc 1 Lj solid 0 0 0 sco K 
N 2399 1637 56.000 360 0 An C 0 0 0 sco K 
N 2261 1084 55.000 360 0 An C 0 0 0 sco K : 0 0 3229 2391 rc 
2399 753 N M 39 -39 - 1 Lw solid 0 0 0 sco K ; 
2438 714 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1637 N M 39 -39 - 1 Lw solid 0 0 0 sco K ; 
2438 1598 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1084 N M 39 -39 - 1 Lw solid 0 0 0 sco K ; 
2300 1045 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 753 N M -39 -39 - 1 Lw solid 0 0 0 sco K ; 
2360 714 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1637 N M -39 -39 - 1 Lw solid 0 0 0 sco K ; 
2360 1598 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1084 N M -39 -39 - 1 Lw solid 0 0 0 sco K ; 
2222 1045 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 753 N M -39 39 - 1 Lw solid 0 0 0 sco K ; 
2360 792 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1637 N M -39 39 - 1 Lw solid 0 0 0 sco K ; 
2360 1676 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1084 N M -39 40 - 1 Lw solid 0 0 0 sco K ; 
2222 1124 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 753 N M 39 39 - 1 Lw solid 0 0 0 sco K ; 
2438 792 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1637 N M 39 39 - 1 Lw solid 0 0 0 sco K ; 
2438 1676 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1084 N M 39 40 - 1 Lw solid 0 0 0 sco K ; 
2300 1124 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2385 1604 N M 28 0 - 1 Lw solid 0 0 0 sco K ; 
2413 1604 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2247 1051 N M 28 0 - 1 Lw solid 0 0 0 sco K ; 
2275 1051 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1590 N M 0 28 - 1 Lw solid 0 0 0 sco K ; 
2399 1618 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1037 N M 0 28 - 1 Lw solid 0 0 0 sco K ; 
2261 1065 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2352 1637 N M 28 0 - 1 Lw solid 0 0 0 sco K ; 
2380 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2366 1623 N M 0 28 - 1 Lw solid 0 0 0 sco K ; 
2366 1651 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1104 N M 0 27 - 1 Lw solid 0 0 0 sco K ; 
2261 1131 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2385 786 N M 28 0 - 1 Lw solid 0 0 0 sco K ; 
2413 786 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2247 1118 N M 28 0 - 1 Lw solid 0 0 0 sco K ; 
2275 1118 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2432 739 N M 0 28 - 1 Lw solid 0 0 0 sco K ; 
2432 767 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2419 753 N M 27 0 - 1 Lw solid 0 0 0 sco K ; 
2446 753 N M 0 0 rr : 0 0 0 sco O ; : 1664 1397 105 41 rc 0 0 0 sco F0_28_35
Ji 
1699 1397 M 
2.432 0 (d)A 
; : 1654 1452 140 41 rc 0 0 0 sco F0_28_35
Ji 
1689 1452 M 
3.162 0 (dT)A 
; : 0 0 3229 2391 rc 
1681 1444 N M 55 0 - 1 Lw solid 0 0 0 sco K ; 
1736 1444 N M 0 0 rr : 0 0 0 sco O ; 
N 1487 1444 7.000 360 0 An C 0 0 0 sco K 
N 1377 1388 7.000 360 0 An C 0 0 0 sco K 
N 1377 1499 7.000 360 0 An C 0 0 0 sco K : 0 0 3229 2391 rc 
1481 1441 N M -98 -49 - 1 Lw solid 0 0 0 sco K ; 
1383 1392 N M 0 0 rr : 0 0 0 sco O ; 
1481 1441 N M -18 -15 - -4 9 - 22 6 - C : 0 0 0 sco O ; 1 Lw solid 0 0 0 sco K : 0 0 3229 2391 rc 
1481 1441 N M -18 -15 - 0 0 0 sco K ; 
1463 1426 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1463 1426 N M -4 9 - 0 0 0 sco K ; 
1459 1435 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1459 1435 N M 22 6 - 0 0 0 sco K ; 
1481 1441 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1370 1388 N M -76 0 - 0 0 0 sco K ; 
1294 1388 N M 0 0 rr : 0 0 0 sco O ; 
1370 1388 N M -22 -4 - 0 9 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1370 1388 N M -22 -4 - 0 0 0 sco K ; 
1348 1384 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1348 1384 N M 0 9 - 0 0 0 sco K ; 
1348 1393 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1348 1393 N M 22 -5 - 0 0 0 sco K ; 
1370 1388 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1570 1444 N M -76 0 - 0 0 0 sco K ; 
1494 1444 N M 0 0 rr : 0 0 0 sco O ; 
1570 1444 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1570 1444 N M -22 -5 - 0 0 0 sco K ; 
1548 1439 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1548 1439 N M 0 10 - 0 0 0 sco K ; 
1548 1449 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1548 1449 N M 22 -5 - 0 0 0 sco K ; 
1570 1444 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1370 1499 N M -76 0 - 0 0 0 sco K ; 
1294 1499 N M 0 0 rr : 0 0 0 sco O ; 
1370 1499 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1370 1499 N M -22 -5 - 0 0 0 sco K ; 
1348 1494 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1348 1494 N M 0 10 - 0 0 0 sco K ; 
1348 1504 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1348 1504 N M 22 -5 - 0 0 0 sco K ; 
1370 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 808 N M 0 774 - 0 0 0 sco K ; 
2399 1582 N M 0 0 rr : 0 0 0 sco O ; 
2399 808 N M -5 22 - 10 0 - -5 -22 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2399 808 N M -5 22 - 0 0 0 sco K ; 
2394 830 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2394 830 N M 10 0 - 0 0 0 sco K ; 
2404 830 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2404 830 N M -5 -22 - 0 0 0 sco K ; 
2399 808 N M 0 0 rr : 0 0 0 sco O ; 
2399 1582 N M 5 -22 - -10 0 - 5 22 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2399 1582 N M 5 -22 - 0 0 0 sco K ; 
2404 1560 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2404 1560 N M -10 0 - 0 0 0 sco K ; 
2394 1560 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2394 1560 N M 5 22 - 0 0 0 sco K ; 
2399 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2455 753 N M 138 0 - 0 0 0 sco K ; 
2593 753 N M 0 0 rr : 0 0 0 sco O ; 
2455 753 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2455 753 N M 22 5 - 0 0 0 sco K ; 
2477 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2477 758 N M 0 -10 - 0 0 0 sco K ; 
2477 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2477 748 N M -22 5 - 0 0 0 sco K ; 
2455 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2593 1637 N M -138 0 - 0 0 0 sco K ; 
2455 1637 N M 0 0 rr : 0 0 0 sco O ; 
2593 1637 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2593 1637 N M -22 -5 - 0 0 0 sco K ; 
2571 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2571 1632 N M 0 10 - 0 0 0 sco K ; 
2571 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2571 1642 N M 22 -5 - 0 0 0 sco K ; 
2593 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2399 1084 N M -83 0 - 0 0 0 sco K ; 
2316 1084 N M 0 0 rr : 0 0 0 sco O ; 
2399 1084 N M -22 -4 - 0 9 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2399 1084 N M -22 -4 - 0 0 0 sco K ; 
2377 1080 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2377 1080 N M 0 9 - 0 0 0 sco K ; 
2377 1089 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2377 1089 N M 22 -5 - 0 0 0 sco K ; 
2399 1084 N M 0 0 rr : 0 0 0 sco O ; : 999 1597 245 41 rc 0 0 0 sco F0_28_35
Ji 
1034 1597 M 
2.330 0 (cubic)A 
; : 959 1639 490 41 rc 0 0 0 sco F0_28_35
Ji 
994 1639 M 
1.495 0 (interpolator)A 
; : 966 1190 385 41 rc 0 0 0 sco F0_28_35
Ji 
1001 1190 M 
1.883 0 (free mode)A 
; : 973 1231 420 41 rc 0 0 0 sco F0_28_35
Ji 
1008 1231 M 
1.486 0 (trajectory)A 
; : 985 1273 315 41 rc 0 0 0 sco F0_28_35
Ji 
1020 1273 M 
1.803 0 (planner)A 
; : 1926 1190 420 41 rc 0 0 0 sco F0_28_35
Ji 
1961 1190 M 
2.105 0 (backlash &)A 
; : 1924 1231 455 41 rc 0 0 0 sco F0_28_35
Ji 
1959 1231 M 
1.909 0 (screw error)A 
; : 1965 1273 210 41 rc 0 0 0 sco F0_28_35
Ji 
2000 1273 M 
2.635 0 (comp)A 
; : 0 0 3229 2391 rc 
2261 1140 N M 0 110 - 0 0 0 sco K ; 
2261 1250 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1250 N M -83 0 - 0 0 0 sco K ; 
2178 1250 N M 0 0 rr : 0 0 0 sco O ; 
2261 1140 N M -5 22 - 10 0 - -5 -22 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2261 1140 N M -5 22 - 0 0 0 sco K ; 
2256 1162 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2256 1162 N M 10 0 - 0 0 0 sco K ; 
2266 1162 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2266 1162 N M -5 -22 - 0 0 0 sco K ; 
2261 1140 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1902 1223 N M -332 0 - 0 0 0 sco K ; 
1570 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1570 1223 N M 0 165 - 0 0 0 sco K ; 
1570 1388 N M 0 0 rr : 0 0 0 sco O ; 
1902 1223 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1902 1223 N M -22 -5 - 0 0 0 sco K ; 
1880 1218 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1880 1218 N M 0 10 - 0 0 0 sco K ; 
1880 1228 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1880 1228 N M 22 -5 - 0 0 0 sco K ; 
1902 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1570 1388 N M 0 56 - 0 0 0 sco K ; 
1570 1444 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1570 1499 N M 0 138 - 0 0 0 sco K ; 
1570 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2344 1637 N M -774 0 - 0 0 0 sco K ; 
1570 1637 N M 0 0 rr : 0 0 0 sco O ; 
2344 1637 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2344 1637 N M -22 -5 - 0 0 0 sco K ; 
2322 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2322 1632 N M 0 10 - 0 0 0 sco K ; 
2322 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2322 1642 N M 22 -5 - 0 0 0 sco K ; 
2344 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1554 N M -55 0 - 0 0 0 sco K ; 
465 1554 N M 0 0 rr : 0 0 0 sco O ; 
520 1554 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
520 1554 N M -22 -5 - 0 0 0 sco K ; 
498 1549 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
498 1549 N M 0 10 - 0 0 0 sco K ; 
498 1559 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
498 1559 N M 22 -5 - 0 0 0 sco K ; 
520 1554 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 1554 N M -55 0 - 0 0 0 sco K ; 
1819 1554 N M 0 0 rr : 0 0 0 sco O ; 
1874 1554 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1874 1554 N M -22 -5 - 0 0 0 sco K ; 
1852 1549 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1852 1549 N M 0 10 - 0 0 0 sco K ; 
1852 1559 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1852 1559 N M 22 -5 - 0 0 0 sco K ; 
1874 1554 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 1029 N M 0 -110 - 0 0 0 sco K ; 
2261 919 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2261 919 N M -55 0 - 0 0 0 sco K ; 
2206 919 N M 0 0 rr : 0 0 0 sco O ; 
2261 1029 N M 5 -22 - -10 0 - 5 22 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
2261 1029 N M 5 -22 - 0 0 0 sco K ; 
2266 1007 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2266 1007 N M -10 0 - 0 0 0 sco K ; 
2256 1007 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2256 1007 N M 5 22 - 0 0 0 sco K ; 
2261 1029 N M 0 0 rr : 0 0 0 sco O ; : 1325 1314 385 41 rc 0 0 0 sco F0_28_35
Ji 
1360 1314 M 
1.883 0 (free mode)A 
; : 1339 1542 350 41 rc 0 0 0 sco F0_28_35
Ji 
1374 1542 M 
1.658 0 (teleop &)A 
; : 1313 1583 420 41 rc 0 0 0 sco F0_28_35
Ji 
1348 1583 M 
2.016 0 (coord mode)A 
; : 0 0 3229 2391 rc 
1874 1471 N M 0 -55 - 0 0 0 sco K ; 
1874 1416 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 1416 N M 332 0 - 0 0 0 sco K ; 
2206 1416 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 1416 N M 0 55 - 0 0 0 sco K ; 
2206 1471 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 1471 N M -332 0 - 0 0 0 sco K ; 
1874 1471 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 698 N M 0 -56 - 0 0 0 sco K ; 
520 642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 642 N M 332 0 - 0 0 0 sco K ; 
852 642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 642 N M 0 56 - 0 0 0 sco K ; 
852 698 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 698 N M -332 0 - 0 0 0 sco K ; 
520 698 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1582 N M 0 -55 - 0 0 0 sco K ; 
520 1527 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1527 N M 332 0 - 0 0 0 sco K ; 
852 1527 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1527 N M 0 55 - 0 0 0 sco K ; 
852 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1582 N M -332 0 - 0 0 0 sco K ; 
520 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 1582 N M 0 -55 - 0 0 0 sco K ; 
1874 1527 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 1527 N M 332 0 - 0 0 0 sco K ; 
2206 1527 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 1527 N M 0 55 - 0 0 0 sco K ; 
2206 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 1582 N M -332 0 - 0 0 0 sco K ; 
1874 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1223 N M 0 -56 - 0 0 0 sco K ; 
520 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1167 N M 332 0 - 0 0 0 sco K ; 
852 1167 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1167 N M 0 56 - 0 0 0 sco K ; 
852 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1223 N M -332 0 - 0 0 0 sco K ; 
520 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1333 N M 0 -55 - 0 0 0 sco K ; 
520 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
520 1278 N M 332 0 - 0 0 0 sco K ; 
852 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1278 N M 0 55 - 0 0 0 sco K ; 
852 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 1333 N M -332 0 - 0 0 0 sco K ; 
520 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 946 N M 0 -55 - 0 0 0 sco K ; 
1874 891 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 891 N M 332 0 - 0 0 0 sco K ; 
2206 891 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 891 N M 0 55 - 0 0 0 sco K ; 
2206 946 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2206 946 N M -332 0 - 0 0 0 sco K ; 
1874 946 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1294 1637 N M 0 -138 - 0 0 0 sco K ; 
1294 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1294 1388 N M 0 -138 - 0 0 0 sco K ; 
1294 1250 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1294 1637 N M -83 0 - 0 0 0 sco K ; 
1211 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1294 1250 N M -83 0 - 0 0 0 sco K ; 
1211 1250 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1195 N M -82 0 - 0 0 0 sco K ; 
852 1195 N M 0 0 rr : 0 0 0 sco O ; 
934 1195 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
934 1195 N M -22 -5 - 0 0 0 sco K ; 
912 1190 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1190 N M 0 10 - 0 0 0 sco K ; 
912 1200 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1200 N M 22 -5 - 0 0 0 sco K ; 
934 1195 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1306 N M -82 0 - 0 0 0 sco K ; 
852 1306 N M 0 0 rr : 0 0 0 sco O ; 
934 1306 N M -22 -5 - 0 9 - 22 -4 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
934 1306 N M -22 -5 - 0 0 0 sco K ; 
912 1301 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1301 N M 0 9 - 0 0 0 sco K ; 
912 1310 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1310 N M 22 -4 - 0 0 0 sco K ; 
934 1306 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1653 1499 N M 0 -111 - 0 0 0 sco K ; 
1653 1388 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1653 1388 N M 111 0 - 0 0 0 sco K ; 
1764 1388 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1764 1388 N M 0 111 - 0 0 0 sco K ; 
1764 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1764 1499 N M -111 0 - 0 0 0 sco K ; 
1653 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1902 1278 N M -83 0 - 0 0 0 sco K ; 
1819 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1819 1278 N M 0 166 - 0 0 0 sco K ; 
1819 1444 N M 0 0 rr : 0 0 0 sco O ; 
1902 1278 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1902 1278 N M -22 -5 - 0 0 0 sco K ; 
1880 1273 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1880 1273 N M 0 10 - 0 0 0 sco K ; 
1880 1283 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1880 1283 N M 22 -5 - 0 0 0 sco K ; 
1902 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1874 1444 N M -55 0 - 0 0 0 sco K ; 
1819 1444 N M 0 0 rr : 0 0 0 sco O ; 
1874 1444 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1874 1444 N M -22 -5 - 0 0 0 sco K ; 
1852 1439 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1852 1439 N M 0 10 - 0 0 0 sco K ; 
1852 1449 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1852 1449 N M 22 -5 - 0 0 0 sco K ; 
1874 1444 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1819 1444 N M -55 0 - 0 0 0 sco K ; 
1764 1444 N M 0 0 rr : 0 0 0 sco O ; 
1819 1444 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1819 1444 N M -22 -5 - 0 0 0 sco K ; 
1797 1439 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1797 1439 N M 0 10 - 0 0 0 sco K ; 
1797 1449 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1797 1449 N M 22 -5 - 0 0 0 sco K ; 
1819 1444 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1653 1444 N M -83 0 - 0 0 0 sco K ; 
1570 1444 N M 0 0 rr : 0 0 0 sco O ; 
1653 1444 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
1653 1444 N M -22 -5 - 0 0 0 sco K ; 
1631 1439 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1631 1439 N M 0 10 - 0 0 0 sco K ; 
1631 1449 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1631 1449 N M 22 -5 - 0 0 0 sco K ; 
1653 1444 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1570 1444 N M 0 55 - 0 0 0 sco K ; 
1570 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
852 670 N M 55 0 - 0 0 0 sco K ; 
907 670 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
907 670 N M 0 83 - 0 0 0 sco K ; 
907 753 N M 0 0 rr : 0 0 0 sco O ; 
852 670 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
852 670 N M 22 5 - 0 0 0 sco K ; 
874 675 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
874 675 N M 0 -10 - 0 0 0 sco K ; 
874 665 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
874 665 N M -22 5 - 0 0 0 sco K ; 
852 670 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
907 753 N M 1437 0 - 0 0 0 sco K ; 
2344 753 N M 0 0 rr : 0 0 0 sco O ; 
907 753 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
907 753 N M 22 5 - 0 0 0 sco K ; 
929 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
929 758 N M 0 -10 - 0 0 0 sco K ; 
929 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
929 748 N M -22 5 - 0 0 0 sco K ; 
907 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
465 1554 N M 0 83 - 0 0 0 sco K ; 
465 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
1819 1554 N M 0 83 - 0 0 0 sco K ; 
1819 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
354 532 N M 0 1326 - 0 0 0 sco K ; 
354 1858 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
907 753 N M -608 0 - 0 0 0 sco K ; 
299 753 N M 0 0 rr : 0 0 0 sco O ; 
299 753 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
299 753 N M 22 5 - 0 0 0 sco K ; 
321 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
321 758 N M 0 -10 - 0 0 0 sco K ; 
321 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
321 748 N M -22 5 - 0 0 0 sco K ; 
299 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2924 780 N M 0 830 - 0 0 0 sco K ; 
2924 1610 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2924 725 N M 0 -193 - 0 0 0 sco K ; 
2924 532 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2924 532 N M -2570 0 - 0 0 0 sco K ; 
354 532 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2924 1665 N M 0 193 - 0 0 0 sco K ; 
2924 1858 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
2924 1858 N M -2570 0 - 0 0 0 sco K ; 
354 1858 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
934 1637 N M -469 0 - 0 0 0 sco K ; 
465 1637 N M 0 0 rr : 0 0 0 sco O ; 
934 1637 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
934 1637 N M -22 -5 - 0 0 0 sco K ; 
912 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1632 N M 0 10 - 0 0 0 sco K ; 
912 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
912 1642 N M 22 -5 - 0 0 0 sco K ; 
934 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
465 1637 N M -166 0 - 0 0 0 sco K ; 
299 1637 N M 0 0 rr : 0 0 0 sco O ; 
465 1637 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 
465 1637 N M -22 -5 - 0 0 0 sco K ; 
443 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
443 1632 N M 0 10 - 0 0 0 sco K ; 
443 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 
443 1642 N M 22 -5 - 0 0 0 sco K ; 
465 1637 N M 0 0 rr : 0 0 0 sco O ; : 3006 1597 223 41 rc 0 0 0 sco F0_28_35
Ji 
3041 1597 M 
2.324 0 (Output)A 
; : 3006 1639 223 41 rc 0 0 0 sco F0_28_35
Ji 
3041 1639 M 
2.234 0 (to HAL)A 
; : 2985 713 244 41 rc 0 0 0 sco F0_28_35
Ji 
3020 713 M 
2.131 0 (Feedback)A 
; : 2986 754 243 41 rc 0 0 0 sco F0_28_35
Ji 
3021 754 M 
2.470 0 (from HAL)A 
; : 38 713 455 41 rc 0 0 0 sco F0_28_35
Ji 
73 713 M 
1.901 0 (Feedback to)A 
; : 47 754 420 41 rc 0 0 0 sco F0_28_35
Ji 
82 754 M 
2.108 0 (Kinematics)A 
; : 43 1577 350 41 rc 0 0 0 sco F0_28_35
Ji 
78 1577 M 
2.733 0 (Commands)A 
; : 93 1618 210 41 rc 0 0 0 sco F0_28_35
Ji 
128 1618 M 
2.250 0 (from)A 
; : 47 1659 420 41 rc 0 0 0 sco F0_28_35
Ji 
82 1659 M 
2.108 0 (Kinematics)A 
; : 1452 568 630 41 rc 0 0 0 sco F0_28_35
Ji 
1487 568 M 
3.311 0 (JOINT CONTROLLER)A 
; 
LH 
pagesave restore
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/Pscript_Win_Driver /ProcSet findresource dup /terminate get exec
Pscript_Win_Compat dup /terminate get exec
%%EOF