LANGUAGE: Karel

CREATED: 2019-06-08

MODIFIED: 2019-11-21

CODE   

/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