Program

Init Variables
BeforeStart
socket_open("127.0.0.1",29999,"internal")
safety≔0
Set Buzzer=Off
Set Orange=Off
Set S_V_Open=Off
Set S_V_close=On
Close_Trigger_Alaram
Set Orange=Off
Set Buzzer=Off
If Gripper_close≟ False
popup
socket_send_string("popup close the Gripper","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Halt
MoveJ
Home_point
Set Blue=On
Wait: 2.0
Robot Program
popup
socket_send_string("popup Waiting for machine_reference","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Wait Ma1_Reference≟ True or Ma2_Reference≟ True
Wait: 0.2
Close_Trigger_Alaram
Set Orange=Off
Set Buzzer=Off
close popup
socket_send_string("close popup","internal")
socket_send_byte(10,"internal")
If Ma1_Piece_Pres≟ True and Ma1_Reference≟ True
Set Ma1_Start=On
Wait Ma1_Reference=LO
Set Ma1_Start=Off
ElseIf Ma1_Piece_Pres≟ False and Ma1_Reference≟ True
Machine_Call≔1
Wait: 0.2
Set Blue=Off
Call In_To_Ma
Set Ma1_Start=On
Wait Ma1_Reference=LO
Set Ma1_Start=Off
Loop
MoveJ
Home_point
Wait (Ma1_Reference≟ True and Ma1_Complete≟ True and Ma1_Piece_Pres≟
True ) or (Ma2_Reference≟ True and Ma2_Complete≟ True and Ma2_piece_pres≟ True )
If Ma1_Complete≟ True and Ma1_Piece_Pres≟ True
If Ma1_Reference≟ True
Machine_Call≔1
 Wait: 0.2
Call Ma1_to_Out_or_Rej
MoveJ
Home_point
Call In_To_Ma
Else
Set Ma1_Emergency=On
popup
socket_send_string("popup Machine1 not in home position","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Halt
Set Ma1_Start=On
Wait Ma1_Reference=LO
Set Ma1_Start=Off

Thread_1
Total_piece≔M1_Not_ok+M1_Ok+M2_Not_Ok+M2_ok
If Air_Pres_Sen≟1
Wait: 1.0
popup
socket_send_string("popup Air_pressure_out_of_range","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Halt
Wait: 0.01
Thread_2
If Reset≟ True
M1_Not_ok≔0
M1_Ok≔0
Total_piece≔0
If Input_1≟ False and Input_2≟ False and Input_3≟ False and Input_4≟ False
and Input_5≟ False
In1≔0
Else
In1≔1
If Input_6≟ False and Input_7≟ False and Input_8≟ False and Input_9≟ False
and Input_10≟ False
ln2≔0
Else
ln2≔1
Wait: 0.01
Thread_3
ok≔socket_open("127.0.0.1",30002)
speed_low≔0.30
speed_high≔1
Loop
If safety≟1 and (L_Curtain_1≟ False or L_Curtain_2≟ False )
speed≔speed_low
Else
speed≔speed_high
socket_send_string("set speed")
socket_send_string(speed)
socket_send_byte(10)
check≔safety
 Wait safety≟check
Wait: 0.01
Wait: 0.01
Ma1_to_Out_or_Rej
MoveJ
Ma1_App
Ma1_arr
Ma1_arr1
MoveL
Ma1_Dest
Gripper_open
Set S_V_close=Off
Set S_V_Open=On
set_payload(6.5,[0,0,0.065])
Wait: 0.75
If Gripper_open≟ False
popup
socket_send_string("popup Gripper_not_opened_properly","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Halt
Ma1_arr1
MoveJ
Ma1_arr
Ma1_App
If Ma1_Ok≟ True and Ma1_Not_Ok≟ False
Ma1_Result≔1
ElseIf Ma1_Not_Ok≟ True and Ma1_Ok≟ False
Ma1_Result≔0
Wait: 0.2
Switch Ma1_Result
Case 0
popup
socket_send_string("popup clear Rejection Tray","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Wait Rejection=LO
Wait: 0.2
Close_Trigger_Alaram
Set Orange=Off
Set Buzzer=Off
close popup
socket_send_string("close popup","internal")
socket_send_byte(10,"internal")
MoveJ
Rej_App
MoveL
Rej_Dest
Gripper_close
Set S_V_Open=Off
Set S_V_close=On
set_payload(4,[0,0,0.035])
Wait: 1.0
If Gripper_close≟ False
Trigger_Alaram
 Set Orange=On
Set Buzzer=On
popup
socket_send_string("popup Gripper_not_closed_properly","internal")
socket_send_byte(10,"internal")
Halt
Waypoint_2
'Waypoint_1'
Waypoint_3
Waypoint_4
MoveJ
Rej_App
Set M1_Not_ok=M1_Not_ok+1
Case 1
popup
socket_send_string("popup clear Output Tray","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Wait Output=HI
Wait: 0.2
Close_Trigger_Alaram
Set Orange=Off
Set Buzzer=Off
close popup
socket_send_string("close popup","internal")
socket_send_byte(10,"internal")
MoveJ
Ma1_App
Op_app
Op_arr
MoveL
Op_Dest
Gripper_close
Set S_V_Open=Off
Set S_V_close=On
set_payload(4,[0,0,0.035])
Wait: 0.75
If Gripper_close≟ False
Trigger_Alaram
Set Orange=On
Set Buzzer=On
popup
socket_send_string("popup Gripper_not_closed_properly","internal")
socket_send_byte(10,"internal")
Halt
MoveL
Op_arrr
Op_Ap
'Op_arr'
MoveJ
Op_app
Ma1_App
Set M1_Ok=M1_Ok+1
'MoveJ'
In_To_Ma
'MoveJ'
popup
 socket_send_string("popup Waiting for input","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Wait In1≟1 or ln2≟1
Wait: 0.2
Close_Trigger_Alaram
Set Orange=Off
Set Buzzer=Off
close popup
socket_send_string("close popup","internal")
socket_send_byte(10,"internal")
Input_select≔1
Input_selection
Loop Input_select≟1
If cnt_1≟0
If Input_1≟ True
cnt_1≔0
Input_select≔0
Else
cnt_1≔1
Wait: 0.25
ElseIf cnt_1≟1
If Input_2≟ True
cnt_1≔1
Input_select≔0
Else
cnt_1≔2
Wait: 0.25
ElseIf cnt_1≟2
If Input_3≟ True
cnt_1≔2
Input_select≔0
Else
cnt_1≔3
Wait: 0.25
ElseIf cnt_1≟3
If Input_4≟ True
cnt_1≔3
Input_select≔0
Else
cnt_1≔4
Wait: 0.25
ElseIf cnt_1≟4
If Input_5≟ True
cnt_1≔4
Input_select≔0
Else
cnt_1≔5
Wait: 0.25
ElseIf cnt_1≟5
If Input_6≟ True
cnt_1≔5
Input_select≔0
Else
cnt_1≔6
Wait: 0.25
ElseIf cnt_1≟6
 If Input_7≟ True
cnt_1≔6
Input_select≔0
Else
cnt_1≔7
Wait: 0.25
ElseIf cnt_1≟7
If Input_8≟ True
cnt_1≔7
Input_select≔0
Else
cnt_1≔8
Wait: 0.25
ElseIf cnt_1≟8
If Input_9≟ True
cnt_1≔8
Input_select≔0
Else
cnt_1≔9
Wait: 0.25
ElseIf cnt_1≟9
If Input_10≟ True
cnt_1≔9
Input_select≔0
Else
cnt_1≔0
Wait: 0.25
safety≔1
Pallet
Pattern: Square
Corner1_1
Corner2_1
Corner3_1
Corner4_1
PalletSequence
Approach_1
PatternPoint_1
Gripper_open
Set S_V_close=Off
Set S_V_Open=On
set_payload(6.5,[0,0,0.065])
Wait: 0.75
If Gripper_open≟ False
popup
socket_send_string("popup Gripper_not_opened_properly","internal")
socket_send_byte(10,"internal")
Trigger_Alaram
Set Orange=On
Set Buzzer=On
Halt
Exit_1
safety≔0
Switch Machine_Call
Case 0
MoveJ
safe_point
Ma1_Approach
Ma1_arrival
Ma1_arrival0
MoveL
Ma1_Destination
Gripper_close
Set S_V_Open=Off
Set S_V_close=On
set_payload(4,[0,0,0.035])
Wait: 0.5
If Gripper_close≟ False
Trigger_Alaram
Set Orange=On
Set Buzzer=On
popup
socket_send_string("popup Gripper_not_closed_properly","internal")
socket_send_byte(10,"internal")
Halt
Ma1_arrival0
MoveJ
Ma1_arrival
Ma1_Approach
safe_point