Rem ****** ******
Rem Sorteeri detailid
Rem ****** ******
Rem
Rem
Rem !!After *start open gripper (HOpen 1) immediately
Rem
Rem
Def Pos DROPPOS
Def Pos Phome, P001, P301, PMID, P303, PB, PW
Ovrd 50
Spd 90
Rem initial values to variables
Phome = (+255.00,+0.00,+370.00,+179.20,+0.00,+0.00)(7,1048576)
Rem
Rem
P001 = Phome + (+0.00,+0.00,-50.00)
Rem 301 = pickup
P301 = (+275.68,+74.08,+58.93,+180.00,+0.00,-130.60,+0.00,+0.00)(7,0)
PMID = (+155.49,+173.40,+39.92,+180.00,+0.00,+4.51,+0.00,+0.00)(7,0)
P303 = (+197.92,+201.42,+36.11,+180.00,+0.00,-119.95,+0.00,+0.00)(7,0)
PB = (-140.33,+185.74,+222.36,+180.00,+0.00,-15.36,+0.00,+0.00)(7,0)
PW = (+1.49,+191.49,+225.41,+180.00,+0.00,-15.36,+0.00,+0.00)(7,0)
Rem
*start
Dly 1
HClose 1
Dly 1
HOpen 1
Dly 1
Wait M_In(3) = 1
GoSub *MP_2
HOpen 1
GoTo *start
End
Rem
*MP_2
Rem ZERO pos
Mov P001
M_Out(12) = 0
M_Out(13) = 0
M_Out(14) = 0
M_Out(14) = 1
Dly 1
M_Out(14) = 0
Dly 1
M_Out(14) = 1
Dly 1
M_Out(14) = 0
Dly 1
M_Out(14) = 1
Dly 1
M_Out(14) = 0
Dly 1
M_Out(14) = 1
Rem home pos
Mov P001
HOpen 1
Rem wait for a detail
M_Out(12) = 1
Wait M_In(1) = 1
M_Out(12) = 0
Rem to pickup position
Dly 1
Mov P301 + (+0.00,+0.00,+150.00)
Mov P301 + (+0.00,+0.00,+50.00)
Mvs P301 + (+0.00,+0.00,+1.00)
M_Out(12) = 1
Dly 1
HClose 1
Dly 1
M_Out(12) = 0
Mvs P301 + (+0.00,+0.00,+50.00)
Mov P301 + (+0.00,+0.00,+150.00)
Rem to middle position
Dly 1
Mov PMID + (+0.00,+0.00,+150.00)
Mov PMID + (+0.00,+0.00,+50.00)
Mvs PMID + (+0.00,+0.00,+2.00)
M_Out(12) = 1
Dly 1
HOpen 1
Dly 1
M_Out(12) = 0
Mvs PMID + (+0.00,+0.00,+50.00)
Mov PMID + (+0.00,+0.00,+150.00)
Rem to measuring position
Dly 1
HClose 1
Mov P303 + (+0.00,+0.00,+150.00)
Mov P303 + (+0.00,+0.00,+50.00)
Mvs P303
M_Out(12) = 1
Dly 1
If M_In(900) = 1 Then
GoSub *BCOLOR
Else
GoSub *WCOLOR
EndIf
Rem
Dly 1
M_Out(12) = 0
Mvs P303 + (+0.00,+0.00,+50.00)
Mov P303 + (+0.00,+0.00,+150.00)
Rem color measure done
HOpen 1
Rem back to middle, take detail from middle pos
Dly 1
Mov PMID + (+0.00,+0.00,+150.00)
Mov PMID + (+0.00,+0.00,+50.00)
Mvs PMID + (+0.00,+0.00,+3.00)
M_Out(12) = 1
Dly 1
HClose 1
Dly 1
M_Out(12) = 0
Mvs PMID + (+0.00,+0.00,+50.00)
Mov PMID + (+0.00,+0.00,+150.00)
Rem put detail to drop position
Dly 1
Mov DROPPOS + (+0.00,+0.00,+60.00)
Mov DROPPOS + (+0.00,+0.00,+50.00)
Mvs DROPPOS
M_Out(12) = 1
Dly 1
HOpen 1
Dly 1
M_Out(12) = 0
Mvs DROPPOS + (+0.00,+0.00,+50.00)
Mov DROPPOS + (+0.00,+0.00,+60.00)
Rem home pos
Mov P001
Rem
HOpen 1
M_Out(13) = 0
M_Out(12) = 0
M_Out(13) = 0
M_Out(14) = 0
Return
Rem
*BCOLOR
Rem drop Point for Black
DROPPOS = PB
Return
Rem
*WCOLOR
Rem drop Point for White
DROPPOS = PW
Return