Commit 300b52ba by Jake Read

add pen plotter image and end effector work

parent c75868e9
......@@ -503,6 +503,8 @@ G28 ; home axis - only works if you have homing switches!
![config-move](https://gitlab.cba.mit.edu/jakeread/machineweek/raw/master/images/config-move.gif)
![pen-plotter](https://gitlab.cba.mit.edu/jakeread/machineweek/raw/master/images/pen-plotter.jpg)
# Bill of Materials
The total cost for one machine is ~ **$523 USD**, although the cost of hardware has not been broken up per-unit of hardware (instead, the minimum number of 'packages' is used). The largest expense is in the TinyG controller, which we hope to replace with modular control, in the Motors, and the HDPE and Delrin. This cost scales considerably with aluminum.
......
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' 1001
SA
CN, 90
IF %(25)=1 THEN GOTO UNIT_ERROR
&PWMaterial = 0.374
&PWZorigin = Part Surface
' 2D Contour3
C7
&Tool = 1
C9
TR, 12000
C6
PAUSE 2
JZ, 0.6
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J3, 0.5342, 7.2922, 0.6
J3, 0.5342, 7.2922, 0.2
MS, 0.3333, 0.3333
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M3, 0.5342, 7.2852, -0.1234
M3, 0.5342, 7.2825, -0.1244
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CG, , 0.4842, 4.0426, 0, 0.0625, , 1
M3, 0.4842, 7.1922, -0.1247
CG, , 0.5467, 7.2547, 0.0625, 0, , 1
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M3, 0.5467, 3.9801, -0.2493
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MS, 0.3333, 0.3333
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M3, 0.5342, 7.291, -0.3669
M3, 0.5342, 7.2895, -0.3693
M3, 0.5342, 7.2875, -0.3713
M3, 0.5342, 7.2852, -0.3728
M3, 0.5342, 7.2825, -0.3737
M3, 0.5342, 7.2797, -0.374
MS, 0.9167, 0.9167
M3, 0.5342, 7.2672, -0.374
CG, , 0.5467, 7.2547, 0.0125, 0, , -1
M3, 11.973, 7.2547, -0.374
CG, , 12.0355, 7.1922, 0, -0.0625, , 1
M3, 12.0355, 4.0426, -0.374
CG, , 11.973, 3.9801, -0.0625, 0, , 1
M3, 0.5467, 3.9801, -0.374
CG, , 0.4842, 4.0426, 0, 0.0625, , 1
M3, 0.4842, 7.1922, -0.374
CG, , 0.5467, 7.2547, 0.0625, 0, , 1
CG, , 0.5592, 7.2672, 0, 0.0125, , -1
M3, 0.5592, 7.2797, -0.374
M3, 0.5592, 7.2825, -0.3737
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M3, 11.9855, 7.5301, -0.115
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M3, 11.9855, 7.5368, -0.1234
M3, 11.9855, 7.5395, -0.1244
M3, 11.9855, 7.5423, -0.1247
MS, 0.9167, 0.9167
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M3, 11.973, 10.8419, -0.1247
CG, , 12.0355, 10.7794, 0, -0.0625, , 1
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M3, 11.9605, 7.5368, -0.1234
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M3, 11.9605, 7.5301, -0.115
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MS, 0.3333, 0.3333
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M3, 11.9855, 7.5368, -0.2481
M3, 11.9855, 7.5395, -0.249
M3, 11.9855, 7.5423, -0.2493
MS, 0.9167, 0.9167
M3, 11.9855, 7.5548, -0.2493
CG, , 11.973, 7.5673, -0.0125, 0, , -1
M3, 0.5467, 7.5673, -0.2493
CG, , 0.4842, 7.6298, 0, 0.0625, , 1
M3, 0.4842, 10.7794, -0.2493
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M3, 11.9855, 7.5395, -0.3737
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M3, 0.5467, 7.5673, -0.374
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CG, , 11.973, 7.5673, -0.0625, 0, , 1
CG, , 11.9605, 7.5548, 0, -0.0125, , -1
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M3, 11.9605, 7.5368, -0.3728
M3, 11.9605, 7.5345, -0.3713
M3, 11.9605, 7.5325, -0.3693
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MS, 0.3333, 0.3333
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M3, 0.6496, 3.7048, -0.115
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M3, 0.4842, 3.6051, -0.2493
CG, , 0.5467, 3.6676, 0.0625, 0, , 1
M3, 0.6621, 3.6676, -0.2493
CG, , 0.6746, 3.6801, 0, 0.0125, , -1
M3, 0.6746, 3.6926, -0.2493
M3, 0.6746, 3.6954, -0.249
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M3, 0.6746, 3.7051, -0.2368
J3, 0.6746, 3.7051, 0.2
J3, 0.6496, 3.7051, 0.2
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M3, 0.6746, 3.7051, -0.3615
J3, 0.6746, 3.7051, 0.6
C7
END
UNIT_ERROR:
CN, 91
END
' 1001
SA
CN, 90
IF %(25)=1 THEN GOTO UNIT_ERROR
&PWMaterial = 0.374
&PWZorigin = Part Surface
' 2D Contour3
C7
&Tool = 1
C9
TR, 12000
C6
PAUSE 2
JZ, 0.6
J2, 0.5342, 7.2922
J3, 0.5342, 7.2922, 0.6
J3, 0.5342, 7.2922, 0.2
MS, 0.3333, 0.3333
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M3, 0.5342, 7.2919, -0.4143
M3, 0.5342, 7.291, -0.4169
M3, 0.5342, 7.2895, -0.4193
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M3, 0.5342, 7.2797, -0.424
MS, 0.9167, 0.9167
M3, 0.5342, 7.2672, -0.424
CG, , 0.5467, 7.2547, 0.0125, 0, , -1
M3, 11.973, 7.2547, -0.424
CG, , 12.0355, 7.1922, 0, -0.0625, , 1
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M3, 11.9855, 7.5345, -0.4213
M3, 11.9855, 7.5368, -0.4228
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MS, 0.9167, 0.9167
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M3, 0.5467, 7.5673, -0.424
CG, , 0.4842, 7.6298, 0, 0.0625, , 1
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CG, , 0.5467, 10.8419, 0.0625, 0, , 1
M3, 11.973, 10.8419, -0.424
CG, , 12.0355, 10.7794, 0, -0.0625, , 1
M3, 12.0355, 7.6298, -0.424
CG, , 11.973, 7.5673, -0.0625, 0, , 1
CG, , 11.9605, 7.5548, 0, -0.0125, , -1
M3, 11.9605, 7.5423, -0.424
M3, 11.9605, 7.5395, -0.4237
M3, 11.9605, 7.5368, -0.4228
M3, 11.9605, 7.5345, -0.4213
M3, 11.9605, 7.5325, -0.4193
M3, 11.9605, 7.531, -0.4169
M3, 11.9605, 7.5301, -0.4143
M3, 11.9605, 7.5298, -0.4115
J3, 11.9605, 7.5298, 0.2
J3, 0.6496, 3.7051, 0.2
MS, 0.3333, 0.3333
M3, 0.6496, 3.7051, 0.0394
M3, 0.6496, 3.7051, -0.4115
M3, 0.6496, 3.7048, -0.4143
M3, 0.6496, 3.7039, -0.4169
M3, 0.6496, 3.7024, -0.4193
M3, 0.6496, 3.7004, -0.4213
M3, 0.6496, 3.6981, -0.4228
M3, 0.6496, 3.6954, -0.4237
M3, 0.6496, 3.6926, -0.424
MS, 0.9167, 0.9167
M3, 0.6496, 3.6801, -0.424
CG, , 0.6621, 3.6676, 0.0125, 0, , -1
M3, 11.973, 3.6676, -0.424
CG, , 12.0355, 3.6051, 0, -0.0625, , 1
M3, 12.0355, 0.4555, -0.424
CG, , 11.973, 0.393, -0.0625, 0, , 1
M3, 0.5467, 0.393, -0.424
CG, , 0.4842, 0.4555, 0, 0.0625, , 1
M3, 0.4842, 3.6051, -0.424
CG, , 0.5467, 3.6676, 0.0625, 0, , 1
M3, 0.6621, 3.6676, -0.424
CG, , 0.6746, 3.6801, 0, 0.0125, , -1
M3, 0.6746, 3.6926, -0.424
M3, 0.6746, 3.6954, -0.4237
M3, 0.6746, 3.6981, -0.4228
M3, 0.6746, 3.7004, -0.4213
M3, 0.6746, 3.7024, -0.4193
M3, 0.6746, 3.7039, -0.4169
M3, 0.6746, 3.7048, -0.4143
M3, 0.6746, 3.7051, -0.4115
J3, 0.6746, 3.7051, 0.6
C7
END
UNIT_ERROR:
CN, 91
END
' 1001
SA
CN, 90
IF %(25)=1 THEN GOTO UNIT_ERROR
&PWMaterial = 0.374
&PWZorigin = Part Surface
' Trace2
C7
&Tool = 3
C9
TR, 5000
C6
PAUSE 2
JZ, 0.6
J2, 0.2499, 0.4183
J3, 0.2499, 0.4183, 0.6
J3, 0.2499, 0.4183, 0.2
MS, 1.3333, 1.3333
M3, 0.2499, 0.4183, -0.1341
M3, 0.2502, 0.4183, -0.1419
M3, 0.2511, 0.4183, -0.1497
M3, 0.2526, 0.4183, -0.1574
M3, 0.2548, 0.4183, -0.165
M3, 0.2575, 0.4183, -0.1724
M3, 0.2608, 0.4183, -0.1795
M3, 0.2646, 0.4183, -0.1863
M3, 0.269, 0.4183, -0.1929
M3, 0.2738, 0.4183, -0.199
M3, 0.2792, 0.4183, -0.2048
M3, 0.2849, 0.4183, -0.2101
M3, 0.2911, 0.4183, -0.215
M3, 0.2976, 0.4183, -0.2194
M3, 0.3045, 0.4183, -0.2232
M3, 0.3116, 0.4183, -0.2265
M3, 0.319, 0.4183, -0.2292
M3, 0.3265, 0.4183, -0.2313
M3, 0.3342, 0.4183, -0.2329
M3, 0.342, 0.4183, -0.2338
M3, 0.3499, 0.4183, -0.2341
M3, 12.1698, 0.4183, -0.2341
M3, 12.1776, 0.4183, -0.2338
M3, 12.1854, 0.4183, -0.2329
M3, 12.1931, 0.4183, -0.2313
M3, 12.2007, 0.4183, -0.2292
M3, 12.2081, 0.4183, -0.2265
M3, 12.2152, 0.4183, -0.2232
M3, 12.2221, 0.4183, -0.2194
M3, 12.2286, 0.4183, -0.215
M3, 12.2347, 0.4183, -0.2101
M3, 12.2405, 0.4183, -0.2048
M3, 12.2458, 0.4183, -0.199
M3, 12.2507, 0.4183, -0.1929
M3, 12.2551, 0.4183, -0.1863
M3, 12.2589, 0.4183, -0.1795
M3, 12.2622, 0.4183, -0.1724
M3, 12.2649, 0.4183, -0.165
M3, 12.267, 0.4183, -0.1574
M3, 12.2686, 0.4183, -0.1497
M3, 12.2695, 0.4183, -0.1419
M3, 12.2698, 0.4183, -0.1341
M3, 12.2698, 0.4183, 0.2
J3, 12.2698, 3.6424, 0.2
M3, 12.2698, 3.6424, -0.1341
M3, 12.2695, 3.6424, -0.1419
M3, 12.2686, 3.6424, -0.1497
M3, 12.267, 3.6424, -0.1574
M3, 12.2649, 3.6424, -0.165
M3, 12.2622, 3.6424, -0.1724
M3, 12.2589, 3.6424, -0.1795
M3, 12.2551, 3.6424, -0.1863
M3, 12.2507, 3.6424, -0.1929
M3, 12.2458, 3.6424, -0.199
M3, 12.2405, 3.6424, -0.2048
M3, 12.2347, 3.6424, -0.2101
M3, 12.2286, 3.6424, -0.215
M3, 12.2221, 3.6424, -0.2194
M3, 12.2152, 3.6424, -0.2232
M3, 12.2081, 3.6424, -0.2265
M3, 12.2007, 3.6424, -0.2292
M3, 12.1931, 3.6424, -0.2313
M3, 12.1854, 3.6424, -0.2329
M3, 12.1776, 3.6424, -0.2338
M3, 12.1698, 3.6424, -0.2341
M3, 0.3499, 3.6424, -0.2341
M3, 0.342, 3.6424, -0.2338
M3, 0.3342, 3.6424, -0.2329
M3, 0.3265, 3.6424, -0.2313
M3, 0.319, 3.6424, -0.2292
M3, 0.3116, 3.6424, -0.2265
M3, 0.3045, 3.6424, -0.2232
M3, 0.2976, 3.6424, -0.2194
M3, 0.2911, 3.6424, -0.215
M3, 0.2849, 3.6424, -0.2101
M3, 0.2792, 3.6424, -0.2048
M3, 0.2738, 3.6424, -0.199
M3, 0.269, 3.6424, -0.1929
M3, 0.2646, 3.6424, -0.1863
M3, 0.2608, 3.6424, -0.1795
M3, 0.2575, 3.6424, -0.1724
M3, 0.2548, 3.6424, -0.165
M3, 0.2526, 3.6424, -0.1574
M3, 0.2511, 3.6424, -0.1497
M3, 0.2502, 3.6424, -0.1419
M3, 0.2499, 3.6424, -0.1341
M3, 0.2499, 3.6424, 0.2
J3, 0.2499, 3.6424, 0.6
' Trace2
JZ, 0.6
J2, 0.2499, 4.0053
J3, 0.2499, 4.0053, 0.6
J3, 0.2499, 4.0053, 0.2
MS, 1.3333, 1.3333
M3, 0.2499, 4.0053, -0.1341
M3, 0.2502, 4.0053, -0.1419
M3, 0.2511, 4.0053, -0.1497
M3, 0.2526, 4.0053, -0.1574
M3, 0.2548, 4.0053, -0.165
M3, 0.2575, 4.0053, -0.1724
M3, 0.2608, 4.0053, -0.1795
M3, 0.2646, 4.0053, -0.1863
M3, 0.269, 4.0053, -0.1929
M3, 0.2738, 4.0053, -0.199
M3, 0.2792, 4.0053, -0.2048
M3, 0.2849, 4.0053, -0.2101
M3, 0.2911, 4.0053, -0.215
M3, 0.2976, 4.0053, -0.2194
M3, 0.3045, 4.0053, -0.2232
M3, 0.3116, 4.0053, -0.2265
M3, 0.319, 4.0053, -0.2292
M3, 0.3265, 4.0053, -0.2313
M3, 0.3342, 4.0053, -0.2329
M3, 0.342, 4.0053, -0.2338
M3, 0.3499, 4.0053, -0.2341
M3, 12.1698, 4.0053, -0.2341
M3, 12.1776, 4.0053, -0.2338
M3, 12.1854, 4.0053, -0.2329
M3, 12.1931, 4.0053, -0.2313
M3, 12.2007, 4.0053, -0.2292
M3, 12.2081, 4.0053, -0.2265
M3, 12.2152, 4.0053, -0.2232
M3, 12.2221, 4.0053, -0.2194
M3, 12.2286, 4.0053, -0.215
M3, 12.2347, 4.0053, -0.2101
M3, 12.2405, 4.0053, -0.2048
M3, 12.2458, 4.0053, -0.199
M3, 12.2507, 4.0053, -0.1929
M3, 12.2551, 4.0053, -0.1863
M3, 12.2589, 4.0053, -0.1795
M3, 12.2622, 4.0053, -0.1724
M3, 12.2649, 4.0053, -0.165
M3, 12.267, 4.0053, -0.1574
M3, 12.2686, 4.0053, -0.1497
M3, 12.2695, 4.0053, -0.1419
M3, 12.2698, 4.0053, -0.1341
M3, 12.2698, 4.0053, 0.2
J3, 12.2698, 7.2294, 0.2
M3, 12.2698, 7.2294, -0.1341
M3, 12.2695, 7.2294, -0.1419
M3, 12.2686, 7.2294, -0.1497
M3, 12.267, 7.2294, -0.1574
M3, 12.2649, 7.2294, -0.165
M3, 12.2622, 7.2294, -0.1724
M3, 12.2589, 7.2294, -0.1795
M3, 12.2551, 7.2294, -0.1863
M3, 12.2507, 7.2294, -0.1929
M3, 12.2458, 7.2294, -0.199
M3, 12.2405, 7.2294, -0.2048
M3, 12.2347, 7.2294, -0.2101
M3, 12.2286, 7.2294, -0.215
M3, 12.2221, 7.2294, -0.2194
M3, 12.2152, 7.2294, -0.2232
M3, 12.2081, 7.2294, -0.2265
M3, 12.2007, 7.2294, -0.2292
M3, 12.1931, 7.2294, -0.2313
M3, 12.1854, 7.2294, -0.2329
M3, 12.1776, 7.2294, -0.2338
M3, 12.1698, 7.2294, -0.2341
M3, 0.3499, 7.2294, -0.2341
M3, 0.342, 7.2294, -0.2338
M3, 0.3342, 7.2294, -0.2329
M3, 0.3265, 7.2294, -0.2313
M3, 0.319, 7.2294, -0.2292
M3, 0.3116, 7.2294, -0.2265
M3, 0.3045, 7.2294, -0.2232
M3, 0.2976, 7.2294, -0.2194
M3, 0.2911, 7.2294, -0.215
M3, 0.2849, 7.2294, -0.2101
M3, 0.2792, 7.2294, -0.2048
M3, 0.2738, 7.2294, -0.199
M3, 0.269, 7.2294, -0.1929
M3, 0.2646, 7.2294, -0.1863
M3, 0.2608, 7.2294, -0.1795
M3, 0.2575, 7.2294, -0.1724
M3, 0.2548, 7.2294, -0.165
M3, 0.2526, 7.2294, -0.1574
M3, 0.2511, 7.2294, -0.1497
M3, 0.2502, 7.2294, -0.1419
M3, 0.2499, 7.2294, -0.1341
M3, 0.2499, 7.2294, 0.2
J3, 0.2499, 7.2294, 0.6
' Trace2
JZ, 0.6
J2, 0.2499, 7.5923
J3, 0.2499, 7.5923, 0.6
J3, 0.2499, 7.5923, 0.2
MS, 1.3333, 1.3333
M3, 0.2499, 7.5923, -0.1341
M3, 0.2502, 7.5923, -0.1419
M3, 0.2511, 7.5923, -0.1497
M3, 0.2526, 7.5923, -0.1574
M3, 0.2548, 7.5923, -0.165
M3, 0.2575, 7.5923, -0.1724
M3, 0.2608, 7.5923, -0.1795
M3, 0.2646, 7.5923, -0.1863
M3, 0.269, 7.5923, -0.1929
M3, 0.2738, 7.5923, -0.199
M3, 0.2792, 7.5923, -0.2048
M3, 0.2849, 7.5923, -0.2101
M3, 0.2911, 7.5923, -0.215
M3, 0.2976, 7.5923, -0.2194
M3, 0.3045, 7.5923, -0.2232
M3, 0.3116, 7.5923, -0.2265
M3, 0.319, 7.5923, -0.2292
M3, 0.3265, 7.5923, -0.2313
M3, 0.3342, 7.5923, -0.2329
M3, 0.342, 7.5923, -0.2338
M3, 0.3499, 7.5923, -0.2341
M3, 12.1698, 7.5923, -0.2341
M3, 12.1776, 7.5923, -0.2338
M3, 12.1854, 7.5923, -0.2329
M3, 12.1931, 7.5923, -0.2313
M3, 12.2007, 7.5923, -0.2292
M3, 12.2081, 7.5923, -0.2265
M3, 12.2152, 7.5923, -0.2232
M3, 12.2221, 7.5923, -0.2194
M3, 12.2286, 7.5923, -0.215
M3, 12.2347, 7.5923, -0.2101
M3, 12.2405, 7.5923, -0.2048
M3, 12.2458, 7.5923, -0.199
M3, 12.2507, 7.5923, -0.1929
M3, 12.2551, 7.5923, -0.1863
M3, 12.2589, 7.5923, -0.1795
M3, 12.2622, 7.5923, -0.1724
M3, 12.2649, 7.5923, -0.165
M3, 12.267, 7.5923, -0.1574
M3, 12.2686, 7.5923, -0.1497
M3, 12.2695, 7.5923, -0.1419
M3, 12.2698, 7.5923, -0.1341
M3, 12.2698, 7.5923, 0.2
J3, 12.2698, 10.8164, 0.2
M3, 12.2698, 10.8164, -0.1341
M3, 12.2695, 10.8164, -0.1419
M3, 12.2686, 10.8164, -0.1497
M3, 12.267, 10.8164, -0.1574
M3, 12.2649, 10.8164, -0.165
M3, 12.2622, 10.8164, -0.1724
M3, 12.2589, 10.8164, -0.1795
M3, 12.2551, 10.8164, -0.1863
M3, 12.2507, 10.8164, -0.1929
M3, 12.2458, 10.8164, -0.199
M3, 12.2405, 10.8164, -0.2048
M3, 12.2347, 10.8164, -0.2101
M3, 12.2286, 10.8164, -0.215
M3, 12.2221, 10.8164, -0.2194
M3, 12.2152, 10.8164, -0.2232
M3, 12.2081, 10.8164, -0.2265
M3, 12.2007, 10.8164, -0.2292
M3, 12.1931, 10.8164, -0.2313
M3, 12.1854, 10.8164, -0.2329
M3, 12.1776, 10.8164, -0.2338
M3, 12.1698, 10.8164, -0.2341
M3, 0.3499, 10.8164, -0.2341
M3, 0.342, 10.8164, -0.2338
M3, 0.3342, 10.8164, -0.2329
M3, 0.3265, 10.8164, -0.2313
M3, 0.319, 10.8164, -0.2292
M3, 0.3116, 10.8164, -0.2265
M3, 0.3045, 10.8164, -0.2232
M3, 0.2976, 10.8164, -0.2194
M3, 0.2911, 10.8164, -0.215
M3, 0.2849, 10.8164, -0.2101
M3, 0.2792, 10.8164, -0.2048
M3, 0.2738, 10.8164, -0.199
M3, 0.269, 10.8164, -0.1929
M3, 0.2646, 10.8164, -0.1863
M3, 0.