PROG PDEMO_PICK

 (INTRO)

 

LANGUAGE
Karel
CREATED
2019-06-08
MODIFIED
2019-11-21

 

CODE  mceclip0.png

/PROG  PDEMO_PICK
/ATTR
OWNER  = MNEDITOR;
COMMENT  = "";
PROG_SIZE = 1761;
CREATE  = DATE 19-06-08  TIME 12:46:10;
MODIFIED = DATE 19-11-21  TIME 11:35:46;
FILE_NAME = ;
VERSION  = 0;
LINE_COUNT = 65;
MEMORY_SIZE = 2277;
PROTECT  = READ_WRITE;
TCD:  STACK_SIZE = 0,
      TASK_PRIORITY = 50,
      TIME_SLICE = 0,
      BUSY_LAMP_OFF = 0,
      ABORT_REQUEST = 0,
      PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/APPL


AUTO_SINGULARITY_HEADER;
  ENABLE_SINGULARITY_AVOIDANCE   : FALSE;
/MN
   1:  --eg:Copyright (c) 2019 DIY-Robotics.com All rights reserved. ;
   2:  --eg: ;
   3:  --eg:Redistribution and use in source and binary forms, with or without ;
   4:  --eg:modification, are permitted provided that the following conditions
    :  are ;
   5:  --eg:met: ;
   6:  --eg: ;
   7:  --eg:Redistributions of source code must retain the above copyright ;
   8:  --eg:notice, this list of conditions and the following disclaimer. ;
   9:  --eg:Redistributions in binary form must reproduce the above ;
  10:  --eg:copyright notice, this list of conditions and the following
    :  disclaimer ;
  11:  --eg:in the documentation and/or other materials provided with the ;
  12:  --eg:distribution. ;
  13:  --eg:Neither the name of DIY-Robotics.com nor the names of its ;
  14:  --eg:contributors may be used to endorse or promote products derived from ;
  15:  --eg:this software without specific prior written permission. ;
  16:  --eg: ;
  17:   ;
  18:  !WAIT MOLD ;
  19:  LBL[1] ;
  20:  UFRAME_NUM=... ;
  21:  UTOOL_NUM=... ;
  22:   ;
  23:  !Move To Wait ;
  24:J P[...] 100% CNT25    ;
  25:  CALL INTLK_ON_MCH1    ;
  26:   ;
  27:  IF (!DI[214:PressInAuto] OR F[30:CellAlarm]),JMP LBL[999] ;
  28:   ;
  29:  UFRAME_NUM=... ;
  30:  UTOOL_NUM=... ;
  31:   ;
  32:  !ENTERING MOLD ;
  33:  WAIT DI[209:MoldOpen]=ON    ;
  34:  F[1:NewPartMachine1]=(OFF) ;
  35:   ;
  36:  !Move Pick Pos ;
  37:L P[...] 2000mm/sec CNT100    ;
  38:   ;
  39:  !EJECTORS LOGIC ;
  40:  DO[213:EnbEjectorFwd]=ON ;
  41:  WAIT DI[211:EjectorFwd]=ON    ;
  42:   ;
  43:  DO[212:EnbEjectorBack]=ON ;
  44:  WAIT DI[210:EjectorBack]=ON    ;
  45:   ;
  46:  DO[213:EnbEjectorFwd]=OFF ;
  47:   ;
  48:  !Move Out of Mold ;
  49:L P[...] 2000mm/sec CNT100    ;
  50:   ;
  51:  !Exit Press, Start Press Cycle ;
  52:  UFRAME_NUM=... ;
  53:  UTOOL_NUM=... ;
  54:   ;
  55:J P[...] 100% CNT100 DB    0.0mm,CALL INTLK_OFF_MCH1    ;
  56:   ;
  57:  LBL[999] ;
  58:  END ;
  59:   ;
  60:  LBL[900] ;
  61:  !Alarm State ;
  62:  F[30:CellAlarm]=(ON) ;
  63:  END ;
  64:   ;
  65:   ;
/POS
/END

 

mceclip0.png

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