Rem ****** ******
Rem MITSU 5
Rem Ruut ja Ring
Rem ****** ******
Rem
Rem override for the joint
JOvrd 50
Rem variable(s) for sub *FlasH
Def Inte M1
Rem
Rem variables for task MITSU 5
Def Pos Phome
Def Pos P0
Rem variables for task E1
Def Pos P1, P2, P3, P4
Rem initial values to variables
Phome = (+255.00,+0.00,+370.00,+179.20,+0.00,+0.00)(7,1048576)
P0 = (+255.00,+0.00,+350.00,+179.20,+0.00,+0.00)(7,1048576)
Rem
Rem Values for task E1
P1 = P0 + (+75.00,+0.00,+0.00)
P2 = P1 + (+50.00,+50.00,+0.00)
P3 = P2 + (-50.00,+50.00,+0.00)
P4 = P3 + (-75.00,+0.00,+0.00)
Rem
M1%= 0
Rem
Rem ** task MITSU 5 begins…
Rem
*bgn
Mov Phome
Rem
M_Out(12) = 1
Rem
Rem ****** ******
Rem Press GREEN button
Rem ****** ******
Rem
Wait M_In(3) = 1
GoSub *FlasH
Rem
Rem ** Move close distance, Z axis
Rem Mov P0, -10
Rem
Dly 1
Mov P0 + (+0.00,+0.00,+10.00)
M_Out(12) = 0
Dly 1
Rem
Rem ****** ******
Rem square begins…
Rem ****** ******
Mvs P0
M_Out(12) = 1
Dly 1
Mvs P0 + (+100.00,+0.00,+0.00)
M_Out(12) = 0
Dly 1
Mvs P0 + (+100.00,+100.00,+0.00)
M_Out(12) = 1
Dly 1
Mvs P0 + (+0.00,+100.00,+0.00)
M_Out(12) = 1
Dly 1
Mvs P0 + (+0.00,+0.00,+0.00)
Rem … square done
Rem
Rem
Rem ****** ******
Rem Circle begins…
Rem ****** ******
M_Out(13) = 1
Dly 1
Rem start point, middle point, end point
Mvr P0, P0 + (+100.00,+0.00,+0.00), P0 + (+100.00,+100.00,+0.00)
M_Out(13) = 0
Dly 1
M_Out(13) = 1
Rem Mvr start point, middle point, end point
Mvr P0 + (+100.00,+100.00,+0.00), P0 + (+0.00,+100.00,+0.00), P0
Dly 1
M_Out(13) = 0
Rem … circle done
M_Out(12) = 0
Dly 1
GoSub *FlasH
Rem
Rem ****** ******
Rem task E1 begins
Rem ****** ******
M_Out(13) = 1
Dly 1
Mvs P0 + (+0.00,+0.00,+0.00)
Mvs P1
Rem Mvr start point, middle point, end point
Mvr P1, P2, P3
Mvs P4
Mvs P0
Dly 1
M_Out(13) = 0
Rem … task E1 ends
GoTo *bgn
End
Rem ******
Rem
Rem
*FlasH
M_Out(12) = 0
Dly 0.125
M1%= -5
While (M1%>= -5) AND (M1%<= 5)
M_Out(12) = 1
Dly 0.125
M_Out(12) = 0
Dly 0.125
M1%=M1%+1
WEnd
Return