MAIN PROGRAM;

MANDA A LLAMAR AL RECOVERY

 CALL RECOVERY ;

RESETEA LAS IO

 6: RESET_IO ;
 7: RESET_AUX1_IO ;

LBL100 PARA LOOP

 9: LBL[1000:MAIN LOOP] ;

DECLARACION DE DO´S EN OFF

 11: DO[218:NO VALID DEC. CODE]=OFF ;

 12: DO[293:SCR SRV-NO VALID D.CODE]=OFF ;
 13: DO[222:IN RECOVERY SEE T.P.]=OFF ;
 14: DO[220:IN CYCLE]=OFF ;

MONITOREA PROGRAMAS

 16: MONITOR MONITOR_ROBOT ;

 17: MONITOR MONITOR_AUX1 ;
 18: MONITOR MONITOR_219 ;

SE ESPERA A QUE INICIE EL STYLE Ó UN DECISION CODE Ó ENTRAR A UNA CELDA

 20: WAIT DI[219:INTIATE STYLE]=ON OR DI[296:SCRIBE AXIS DECSN CODE]=ON OR

DI[220:ENTER CELL REQUEST]=ON ;

MONITOREA PROGRAMAS

 22: MONITOR END MONITOR_ROBOT ;

 23: MONITOR END MONITOR_AUX1 ;
 24: //MONITOR END MONITOR_219 ;

SI DRY CYCLE ESTA ON Y EL ROBOT ESTA EN AUTO SALTA AL 501

 32: LBL[501] ;
 34: R[124:IN DRY CYCLE]=1 ;
 35: JMP LBL[500] ;

SI DRY CYCLE ESTA ON Ó EL ROBOT ESTA EN AUTO SALTA AL 502

 37: LBL[502] ;
 38: R[124:IN DRY CYCLE]=0 ;
 39: JMP LBL[500] ;
SALTA A LA LBL 500

 30: JMP LBL[500] ;

 41: LBL[500] ;

43: IF DI[220:ENTER CELL REQUEST]=ON,JMP LBL[2000] ;

LBL2000 TERMINA EL PROGRAMA

 420: LBL[2000:ABORT STYLE] ;

45: IF DI[219:INTIATE STYLE]=ON,JMP LBL[600] ;

 LBL[600] ; TOMA DE DECISION DEL ROBOT

 56: TIMER[10]=STOP ;
 57: R[1:TOTAL CYCLE TIME]=TIMER[10] ;
 58: TIMER[10]=RESET ;
 59: TIMER[10]=START ;
 61: DO[219:ACK INITIATE RBT DECISN]=ON ;
 *TOMA LA DECISION A DONDE DIRIGIRSE
 63: IF GI[2:DEC CODE]=#,JMP LBL[1002] ;
 95: JMP LBL[1003] ;

47: IF DI[296:SCRIBE AXIS DECSN CODE]=ON,JMP LBL[700] ;

 97: LBL[700] ;
 98: DO[296:ACK SCR DECISION CODE ]=ON ;
 100: IF GI[21:SCRIBE SERVO DEC CODE]=#,JMP LBL[2002] ;
 195: LBL[2002:GROUP 1 RUNNING] ; !Ignore If Group 2 Running ;
 198: IF DO[292:RUNNING SCR SRV]=ON OR R[176:IN GROUP 2 PROGM]=1,JMP LBL[1000] ;
 201: IF GI[21:SCRIBE SERVO DEC CODE]=(Start10)#+5,JMP LBL[30(Start0)#+1]
 !Home Routine ;
 219: IF GI[21:SCRIBE SERVO DEC CODE]=100,JMP LBL[307] ; ;
Si no se cumple ninguno mandar al inicio loop
 JMP LBL[1000] ; MAIN LOOP

Si ningun Condicional de LBL 2002, 600, 700 esta active Se regresara al loop

!MAKE SURE THE PLC REQUESTS ;!A VALID DECISION ;

49: JMP LBL[1000] ; MAIN LOOP

!ROBOT DECISION SELECT ;

LBL[10:PICK_LH_PRT_CONV] ;

 228: LBL[10:PICK_LH_PRT_CONV] ;
 229: TIMER[8]=STOP ;
  230: R[2:Pick2Pick Timer]=TIMER[8] ;
 231: TIMER[8]=RESET ;
 232: TIMER[8]=START ;
 233: RUN PICK_LH_PRT_CONV ;
 JMP LBL[1000] ; MAIN LOOP

LBL[20:PICK_RH_PRT_CONV] ;

 237: TIMER[8]=STOP ;
 238: R[2:Pick2Pick Timer]=TIMER[8] ;
 239: TIMER[8]=RESET ;
 240: TIMER[8]=START ;
 241: RUN PICK_RH_PRT_CONV ;
 JMP LBL[1000] ; MAIN LOOP

LBL[30:PICK_LH_PRT_ASMB] ;

 245: RUN PICK_LH_PRT_ASMB ;

 JMP LBL[1000] ; MAIN LOOP

LBL[40:PICK_RH_PRT_ASMB] ;

 249: RUN PICK_RH_PRT_ASMB ;

 JMP LBL[1000] ; MAIN LOOP

LBL[50:PICK_CMNCAP_INDX] ;

 253: RUN PICK_ROW1_CMNCAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP

LBL[60:PICK_THRCAP_INDX] ;

 257: RUN PICK_THRCAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP

LBL[70:PICK_LH_PRT_SCRB] ;

 261: RUN PICK_LH_PRT_SCRB ;

 JMP LBL[1000] ; MAIN LOOP

LBL[80:PICK_RH_PRT_SCRB] ;

 265: RUN PICK_RH_PRT_SCRB ;

 JMP LBL[1000] ; MAIN LOOP

LBL[90:PICK PSU LH] ;

 272: RUN PICK_ROW2_PSU_LH_CAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP
LBL[95:PICK PSU LH] ;

 276: RUN PICK_THRUST_ROW2_PSU_LH_CAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP

LBL[100:PICK PSU RH] ;

 280: RUN PICK_ROW3_PSU_RH_CAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP

LBL[105:PK PSU THST RH] ;

 284: RUN PICK_THRUST_ROW3_PSU_RH_CAP_INDX ;

 JMP LBL[1000] ; MAIN LOOP

LBL[110:DROP_LH_PRT_CONV] ;

 291: RUN DROP_LH_PRT_CONV ;

 JMP LBL[1000] ; MAIN LOOP

294: LBL[120:DROP_RH_PRT_CONV] ;

 295: RUN DROP_RH_PRT_CONV ;

 JMP LBL[1000] ; MAIN LOOP

298: LBL[130:DROP_LH_PRT_ASMB] ;

 299: RUN DROP_LH_PRT_ASMB ;

 JMP LBL[1000] ; MAIN LOOP

302: LBL[140:DROP_RH_PRT_ASMB] ;

 303: RUN DROP_RH_PRT_ASMB ;

 JMP LBL[1000] ; MAIN LOOP

306: LBL[150:DROP_LH_PRT_REJ] ;

 307: RUN DROP_LH_PRT_REJ ;

 JMP LBL[1000] ; MAIN LOOP

310: LBL[160:DROP_RH_PRT_REJ] ;

 311: RUN DROP_RH_PRT_REJ ;

 JMP LBL[1000] ; MAIN LOOP

LBL[170:DROP_LH_CAP_TORQ] ;

 315: RUN DROP_LH_CAP_TORQ ;

 JMP LBL[1000] ; MAIN LOOP

LBL[180:DROP_RH_CAP_TORQ] ;
  319: RUN DROP_RH_CAP_TORQ ;
 JMP LBL[1000] ; MAIN LOOP

LBL[190:DROP_REJ_CHUTE] ;

 323: RUN DROP_REJ_CHUTE ;

 JMP LBL[1000] ; MAIN LOOP

LBL[210:DROP 10] ;

 330: RUN DROP_PSU_LH_CAP_TORQ ;

 JMP LBL[1000] ; MAIN LOOP

LBL[220:DROP 11] ;

 334: RUN DROP_PSU_RH_CAP_TORQ ;

 JMP LBL[1000] ; MAIN LOOP

LBL[250:SERVICE] ;

 342: RUN MOVE_SERVICE ;

 JMP LBL[1000] ; MAIN LOOP

LBL[251:HOME] ;

 346: RUN MOVE_HOME ;

 JMP LBL[1000] ; MAIN LOOP

LBL[252:HOME FROM SERVIC] ;

 350: RUN MOV_HOME_SERVICE ;

 JMP LBL[1000] ; MAIN LOOP

LBL[301:SCRIBER_SERVO_1] ;

 358: RUN SCRIBER_SERVO_1 ;

 JMP LBL[1000] ; MAIN LOOP

LBL[302:SCRIBER_SERVO_2] ;

 362: RUN SCRIBER_SERVO_2 ;

 363: JMP LBL[1000] ;

LBL[303:SCRIBER_SERVO_3] ;

 366: RUN SCRIBER_SERVO_3 ;

 JMP LBL[1000] ; MAIN LOOP

LBL[304:SCRIBER_SERVO_4] ;

 370: RUN SCRIBER_SERVO_4 ;

 JMP LBL[1000] ; MAIN LOOP

LBL[305:SCRIBER_SERVO_5] ;
  374: RUN SCRIBER_SERVO_5 ;
 JMP LBL[1000] ; MAIN LOOP

LBL[306:SCRIBER_SERVO_6] ;

 RUN SCRIBER_SERVO_6 ;
 JMP LBL[1000] ; MAIN LOOP

LBL[307:MOVE_SCRIBE_HOME] ;

 382: RUN MOVE_SCRIBE_HOME ;

 JMP LBL[1000] ; MAIN LOOP

LBL[1003:NO VALID D.CODE] ;

Informa al PLC que ningún código de decisión ha sido leido

391: //DO[218:NO VALID DEC. CODE]=ON ;

392: UALM[120] ;

393: WAIT 2.00(sec) ;

394: !Return To Program Select Start ;

395: JMP LBL[1000] ;

396: JMP LBL[850] ;

LBL[1004:NO VALID D.CODE] ;

399: !INFORM PLC THAT ;

400: !NO VALID DECISION CODE WAS SEEN ;

401: //DO[293:SCR SRV-NO VALID D.CODE]=ON ;

402: UALM[121] ;

403: WAIT 2.00(sec) ;

404: !Return To Program Select Start ;

405: JMP LBL[1000] ;

406: JMP LBL[850] ;

LBL[850] ;

409: WAIT GI[4:FAULT RESPONSE]>=1 ;

410: DO[218:NO VALID DEC. CODE]=OFF ;

411: DO[293:SCR SRV-NO VALID D.CODE]=OFF ;

413: !RETRY DECISION ;

414: IF GI[4:FAULT RESPONSE]=2,JMP LBL[1000] ;

416: !ABORT AND GO HOME ;

417: IF GI[4:FAULT RESPONSE]=4,JMP LBL[2000] ;

!ABORT DECISION REQUESTED ;

LBL[2000:ABORT STYLE] ;

422: DO[218:NO VALID DEC. CODE]=OFF ;

423: DO[293:SCR SRV-NO VALID D.CODE]=OFF ;

425: !WAIT ALL PROGRAMS TO STOP ;

426: WAIT DO[71:ROBOT RUNNING]=OFF AND DO[292:RUNNING SCR SRV]=OFF AND R[175:IN GROUP
1 PROGM]=0 AND R[176:IN GROUP 2 PROGM]=0 ;

428: !ABORT ALL PROGRAMS ;

429: CALL ABORTIT ;