0 D ng vi tc bnh thng.

1 D ng vi tc chm.
2 R tri 1
3 R phi 1.
4 R phi 2.
5 R tri 2.
6 Quay 1800 bn tri.
7 Quay 1800 bn phi.
8 Kp qu 1.
9 Kp qu 2.
10 Quay phi dng mt bnh(xe chy lui).
11 Quay tri dng mt bnh(xe chy lui).
12 Chy thng m 1 vch.
13 Chy thng m 2 vch.
14 - Chy thng m 3 vch.
15 Chay thng m 4 vch.
16 Chy thng m 5 vch.
17 Chy thng m 6 vch.
18 Chy thng m 2 vch c encoder.
19 Chy thng m 3 vch c encoder.
20 Chy thng m 4 vch c encoder.
21 Chy thng m 5 vch c encoder.
22 Chy li m 1 vch c encoder.
23 Chy li m 2 vch c encoder.
24 Chy li m 3 vch c encoder.
25 Chy li m 4 vch c encoder.
26 Chy li m 5 vch c encoder.

27 H cnh tay.
28 y ra.
30 Nng cnh tay.
31 Nng cnh tay ln v tr 750mm.
32 Ko vo.
33 Quay tri c kt hp encoder.
34 Quay phi c kt hp encoder.
35 Quay tri 900 dng encoder.
36 Quay phi 900 dng encoder.
37 Chy ti trc mt on.
38 Li mt on.
39 H cnh tay khi gp qu.
40 Quay tri dng mt bnh ( xe chy ti).
41 Quay phi dng mt bnh (xe chy ti ).
42 Li mt on di.
43 D ng kt hp y ra.
44 D ng kp hp ko vo.
45 D ng c kt hp nng cnh tay ln.
46 D ng c kt hp h cnh tay xung.
47 D ng kt hp m cnh tay.
48 Ch x l cc c cu.
49 Phanh nh.
50 Phanh mnh.
51 Phanh trung bnh .
52 Phanh nh.
53 Tr 2 s.
54 Tr 30s.

55 Phanh.
56 Chy lch qua vng gia sn dng encoder(bn phi vch d ng).
57 Chy lch qua vng gia sn dng encoder(bn tri vch d ng).
58 Chy n vng trung tm ( bng encoder).
59 Khi ng 1.
60 Khi ng 2.
61 Chy ti mt on 2.
62 Chy n vng trung tm 2 (dng encoder).
63 Chy m 1 vch ri r phi.
64 Chy m 2 vch ri r phi.
65 Chy thng mt on dng encoder.
66
67
68 M rng cnh tay.
69 Ghi im 2.
97 D ng vi tc chm khng kim tra c enable_cross_flag.
98 D ng vi tc nhanh.
99 Kt thc chng trnh.