79 lines
1.7 KiB
Plaintext
79 lines
1.7 KiB
Plaintext
&ACCESS RVP
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&REL 1
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DEF MainModule()
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;FOLD INI
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;FOLD BASISTECH INI
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM()
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INTERRUPT ON 3
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;ENDFOLD
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;FOLD USER INI
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;Make your modifications here
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;ENDFOLD
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;ENDFOLD
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$CYCFLAG[1]=(I_GripSafty1 == FALSE) OR (I_GripSafty2==FALSE)
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INTERRUPT DECL 24 WHEN $CYCFLAG[1] DO StopSafty()
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INTERRUPT ON 24
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;FOLD PTP $POS_ACT Tool[0] Base[0]
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BAS(#INITMOV, 0)
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BAS(#BASE, 0)
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BAS(#TOOL, 0)
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PTP $POS_ACT
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;ENDFOLD
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$ov_pro=40
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LOOP
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AutoRun()
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ENDLOOP
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END
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DEF AutoRun()
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IF I_ProductType <> PdtTypeLast THEN
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MsgNotify("PdtType is Change", "SafeErr")
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Q_Error1=TRUE
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$FLAG[10]=TRUE
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HALT
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ENDIF
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PdtTypeLast=I_ProductType
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WAIT FOR (I_Cmd > 0) AND (I_CmdCount <> Q_CmdCountRet) AND (Q_Cmd_Running==0)
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CmdSave = I_Cmd
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CmdCountLast=I_CmdCount
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Q_Cmd_Running=CmdSave
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PickOffsetX_Save=GetInt16(I_PickOffsetX)
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PickOffsetY_Save=GetInt16(I_PickOffsetY)
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PickOffsetZ_Save=GetInt16(I_PickOffsetZ)
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PlaceOffsetX_Save=GetInt16(I_PlaceOffsetX)
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PlaceOffsetY_Save=GetInt16(I_PlaceOffsetY)
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PlaceOffsetZ_Save=GetInt16(I_PlaceOffsetZ)
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CountX_Save=I_CountX
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CountY_Save=I_CountY
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SWITCH CmdSave
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CASE 1
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FeedBelt1Pick()
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CASE 2
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FeedBelt2Pick()
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CASE 3
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ReFeedBeltPick()
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CASE 4
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WaterBeltPick()
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CASE 5
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NgBeltPlace()
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CASE 10
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Pallet1Place()
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CASE 11
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Pallet2Place()
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ENDSWITCH
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END
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DEF StopSafty()
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INTERRUPT OFF 24
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BRAKE F
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BAS(#BASE, 1)
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BAS(#TOOL, 1)
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LIN_REL {Z 20}
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INTERRUPT ON 24
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END |
