SET   
      SAVE  
      =     L     24.1
      L     DB100.DBW    0
      ITD   
      L     L#224
      *D    
      TAR2  
      +D    
      LAR1  
      L     DID [AR1,P#20.0]
      T     #Line[0].MaxSpeed
      TAK   
      T     LD    30
      TAK   
      L     DID [AR1,P#24.0]
      T     #Line[0].ManSpeed
      L     DID [AR1,P#28.0]
      T     #Line[0].MinSpeed
      L     DID [AR1,P#32.0]
      T     #Line[0].Accuracy
      L     DID [AR1,P#36.0]
      T     #Line[0].Accelerate
      L     DID [AR1,P#40.0]
      T     #Line[0].SlowCurve
      L     DID [AR1,P#44.0]
      T     #Line[0].SlowLine
      L     DBW    0
      L     2
      ==I   
      L     DB20.DBW   10
      L     1
      =     L     24.2
      ==I   
      A     L     24.2
      JCN   A7d0
      L     DBD   52
      T     #Line[0].MaxSpeed
A7d0: L     DB100.DBW    0
      L     1
      ==I   
      JCN   A7d1
      L     #Wheel
      L     #Pulses
      /R    
      L     #Encoder
      DTR   
      *R    
      L     4.000000e+000
      /R    
      T     #ActValue
      JU    A7d2
A7d1: L     #Wheel
      L     #Pulses
      /R    
      L     #Encoder
      DTR   
      *R    
      L     4.000000e+003
      /R    
      T     #ActValue
A7d2: L     #SetPoint
      L     #ActValue
      -R    
      T     #Difference
      ABS   
      T     #AbsValue
      L     #Line[0].Accuracy
      L     #AbsValue
      >=R   
      JCN   A7d3
      SET   
      =     #OnPos
      JU    A7d4
A7d3: CLR   
      =     #OnPos
A7d4: L     2.764800e+001
      L     #Line[0].Accelerate
      /R    
      L     #Cycle
      ITD   
      DTR   
      *R    
      T     #Kiihdytys1
      L     2.764800e+001
      L     #Line[1].Accelerate
      /R    
      L     #Cycle
      ITD   
      DTR   
      *R    
      T     #Kiihdytys2
      CLR   
      A     #JogFWD
      NOT   
      A     #Enable
      =     L     24.2
      A     #JogBWD
      NOT   
      A     L     24.2
      JCN   A7d5
      L     #Line[0].SlowCurve
      SQRT  
      L     2.764800e+004
      TAK   
      /R    
      T     #Kerroin
      L     #AbsValue
      L     #Line[0].SlowLine
      >R    
      JCN   A7d6
      L     #AbsValue
      SQRT  
      L     #Kerroin
      *R    
      T     #Nopeus
      JU    A7d7
A7d6: L     #Line[0].SlowLine
      SQRT  
      L     #Kerroin
      *R    
      L     #Line[0].SlowLine
      /R    
      L     #AbsValue
      *R    
      T     #Nopeus
A7d7: L     #Difference
      L     0.000000e+000
      >R    
      JCN   A7d8
      L     #Line[0].MaxSpeed
      L     2.764800e+002
      *R    
      T     #Maksimi
      JU    A7d9
A7d8: L     #Line[0].MinSpeed
      L     2.764800e+002
      *R    
      T     #Maksimi
A7d9: L     #Nopeus
      L     #Maksimi
      >R    
      JCN   A7da
      T     #Nopeus
A7da: L     #Nopeus
      L     #Memory
      >R    
      JCN   A7db
      L     #Kiihdytys1
      +R    
      T     #Memory
      L     #Nopeus
      >R    
      JCN   A7dd
      T     #Memory
      JU    A7dd
A7db: L     #Nopeus
      T     #Memory
A7dd: L     #Difference
      L     0.000000e+000
      >R    
      JCN   A7de
      L     #Memory
      T     #OhjeArvo
      JU    A7e0
A7de: L     #Memory
      NEGR  
      T     #OhjeArvo
      JU    A7e0
A7d5: L     0.000000e+000
      T     #Nopeus
      CLR   
      A     #JogFWD
      JCN   A7e1
      L     #Line[0].ManSpeed
      L     2.764800e+002
      *R    
      T     #Nopeus
A7e1: CLR   
      A     #JogBWD
      JCN   A7e2
      L     #Line[0].ManSpeed
      L     -2.764800e+002
      *R    
      T     #Nopeus
A7e2: L     #Nopeus
      L     #Memory
      >R    
      JCN   A7e3
      L     #Kiihdytys2
      +R    
      T     #Memory
      L     #Nopeus
      >R    
      JCN   A7e5
      T     #Memory
      JU    A7e5
A7e3: L     #Memory
      L     #Kiihdytys2
      -R    
      T     #Memory
      L     #Nopeus
      <R    
      JCN   A7e5
      T     #Memory
A7e5: L     #Memory
      T     #OhjeArvo
A7e0: L     #Memory
      L     0.000000e+000
      ==R   
      JCN   A7e7
      CLR   
      =     #Release
      JU    A7e8
A7e7: SET   
      =     #Release
A7e8: L     #OhjeArvo
      RND   
      T     #Speed
      CLR   
      A     L     24.1
      SAVE  
      BE