LANGUAGE: Karel

CREATED: 2019-07-08

MODIFIED: 2019-11-21

CODE   

/PROG  INTLK_ON_MCH2
/ATTR
OWNER  = MNEDITOR;
COMMENT  = “Mch2 Interlock”;
PROG_SIZE = 1563;
CREATE  = DATE 19-07-08  TIME 22:15:32;
MODIFIED = DATE 19-11-21  TIME 11:34:58;
FILE_NAME = INTLK_ON;
VERSION  = 0;
LINE_COUNT = 35;
MEMORY_SIZE = 2055;
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   : TRUE;
/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:  !THIS PART OF THE PROGRAM ;
18:  !DISABLE THE CLOSING OF THE ;
19:  !MACHINE. DO NOT CHANGE ;
20:  !UNLESS YOU HAVE A GOOD ;
21:  !UNDERSTANDING OF THE PROGRAM ;
22:   ;
23:   ;
24:  LBL[10] ;
25:  !WAIT NEW PART AND ;
26:  !MACHINE MODE AUTO AND ;
27:  !MACHINE OPEN POSITION ;
28:  WAIT (DI[225] AND F[2:NewPartMachine2] AND DI[233]) TIMEOUT,LBL[20] ;
29:  !ENABLE MACHINE CLOSE OFF ;
30:  DO[226]=OFF ;
31:  DO[229]=OFF ;
32:  END ;
33:  LBL[20] ;
34:  !IF MACHINE AUTO JUMP LB 10 ;
35:  IF (DI[233]),JMP LBL[10] ;
/POS
/END