RESUMO

Aff_Prog prog,"B52";
CASES REFERÊNCIA (B52) CASES UTILIZADOS P/ HJF

H79
CASE 1: CASE 3:
CASE 21: CASE 23:
CASE 31: CASE 33:
FORA DE CASE
PROC REFERÊNCIA NOVOS PROC (HJF) PROC REFERÊNCIA (B52) NOVOS PROC (HJF)
CASE 3,21 E 33(B52)
T_PR_A01_HJF; T_DP_T14_B52; T_DP_T14_HJF;
T_PR_A01_B52; T_col_HJF; T_Degagement_B52; T_Degagement_HJF;
T_col_B52; MANTEN T_Presentation; T_RO_T14_B52 T_RO_T14_HJF
T_Presentation; T_DP_H01_HJF;
T_DP_H01_B52; T_Mesure_T14_HJF;
T_Mesure_T14_B52;
Lunete
REFERÊNCIA CASE 1(B52) UTILIZADO CASE 3(H79) CASE 3 DO H79 JÁ ALTERADO P/ HJF
Lunete
Lunete
TOOLDATE REFERÊNCIA (B52)
NOVO TOOLDATE (HJF)
Lunete
ROBTARGET REFERÊNCIA (B52)
NOVOS ROBTARGET (HJF)
Lunete
WOBJDATA REFERÊNCIA (B52)
NOVOS WOBJDATA (HJF)
Lunete
Aff_Prog prog,"B52";
CASES REFERÊNCIA (X52) CASES UTILIZADOS P/ HJF
H79
CASE 1: CASE 3:
CASE 21: CASE 23:
CASE 31: CASE 33:
FORA DE CASE
PROC REFERÊNCIA NOVOS PROC (HJF) PROC REFERÊNCIA (B52) NOVOS PROC (HJF)
CASE 3,21 E 33(B52)
T_PR_A02_HJF; T_DP_T14_B52; T_DP_T14_HJF;
T_PR_A02_X52; T_col_HJF; T_Degagement_X52; T_Degagement_HJF;
T_col_X52_F2; MANTEN T_Presentation; T_RO_T14_X52; T_RO_T14_HJF
T_Presentation; T_Mesure_T14_HJF;
T_Mesure_T14_B52; T_DP_H02_HJF;
T_DP_H02_X52;
Para-brisa
Para-brisa
Para-brisa
TOOLDATE REFERÊNCIA (B52)
NOVO TOOLDATE (HJF)
Para-brisa
ROBTARGET REFERÊNCIA (B52)
NOVOS ROBTARGET (HJF)

WOBJDATA REFERÊNCIA (B52)
NOVOS WOBJDATA (HJF)
Para-brisa
PROC T_PR_A01_B52() PROC T_PR_A01_H79()
Aff_Traj "Pega Lunete B52"; Aff_Traj "Pega Lunete H79";
AntiReboucle; AntiReboucle;
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
! !
! 10: Seguranca (SA) Colle ! 10: Seguranca (SA) Colle
! 11: Seguranca (SA) A01 ! 11: Seguranca (SA) A01
! 12: Seguranca (SA) T14 ! 12: Seguranca (SA) T14
! 13: Seguranca (SA) H01 ! 13: Seguranca (SA) H01
ORDRE\O10\O11\O12\O13; ORDRE\O10\O11\O12\O13;
! E2: Autorizacao Pegar Peça A01 ! E2: Autorizacao Pegar Peça A01
EVENT\E2; EVENT\E2;
! 12: Seguranca (SA) T14 ! 11: Seguranca (SA) A01
! 13: Seguranca (SA) H01 ! 12: Seguranca (SA) T14
ORDRE\O10\O12\O13; ! 13: Seguranca (SA) H01
! ORDRE\O10\O12\O13;
MoveJ [[651.19,1512.60,-863.76],[0.916792,0.120381,0.0504604,-0.377431],[0,0,0,0], MoveJ [[651.51,1512.94,-845.60],[0.916793,0.120375,0.0504588,-0.377432],[0,-1,0,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A01_H79;
MoveJ [[-0.01,0.00,-227.98],[1,-1.81215E-06,-6.81027E-07,-9.34128E-06],[0,0,1,0], MoveJ [[0.00,0.00,-249.50],[1,7.43193E-07,-1.93246E-07,2.04483E-08],[0,-1,1,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A01_H79;
! Pega vidro no centrador; ! Pega vidro;
MoveL p_pr_A01_B52,V_moyen,Z_arret,Preh_vide1\WObj:=A01_B52; MoveL p_pr_A01_H79,V_moyen,Z_arret,Preh_vide1\WObj:=A01_H79;
! O2: Fim Pegar Peça A01 ! O2: Fim Pegar Peça A01
! E3: Autorizacao Recuo ! E3: Autorizacao Recuo
EVENT\E3; EVENT\E3;
ORDRE\O10\O12\O13; ORDRE\O10\O12\O13;
! !
MoveJ [[-35.88,11.98,-250.64],[1,-1.48907E-05,1.98131E-06,-1.02399E-05],[0,0,1,0], MoveJ [[0.00,0.00,-249.49],[1,-1.5866E-06,-7.40187E-07,-2.99864E-07],[0,0,1,0],
[0.000990198,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_plein1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=A01_H79;
Move_Ordre [[-35.88,11.98,-250.64],[1,-1.48907E-05,1.98131E-06,-1.02399E-05],[0,0,1,0], Move_Ordre [[0.00,0.01,-249.48],[1,-5.50452E-06,2.97978E-07,4.78512E-07],[0,0,1,0],[-0.000328161,9E+09,9E+09,9E+09,9E+09,9E+09]]\
[0.000990198,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\O13,V_rapide,Z_large,Preh_plein1,A01_B52; O10\O11\O12\O13,V_rapide,Z_large,Preh_plein3,A01_H79;
MoveJ [[651.19,1512.60,-863.77],[0.916792,0.120381,0.0504604,-0.377431],[0,0,0,0], MoveJ [[651.51,1512.94,-845.62],[0.916792,0.120381,0.050461,-0.377431],[0,-1,0,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=A01_H79;
MoveJ fin_pr_A01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=A01_B52; MoveJ fin_pr_A01_H79,V_rapide,Z_arret,Preh_plein3\WObj:=A01_H79;
! !
! ENDPROC
ENDPROC
Lunete
PROC T_col_B52() PROC T_col_H79()
Aff_Traj "Traj. cola B52"; Aff_Traj "Traj. cola H79";
! !
! 04: Fim de cola
MoveJ deb_Colle_B52,V_rapide,Z_arret,buse1\ MoveJ deb_Colle_H79,V_rapide,Z_arret,buse1\
! 10: Seguranca (SA) Colle
WObj:=obj_preh1; WObj:=obj_preh3;
! 04: Fim de cola ! 11: Seguranca (SA) A01
! !
! 10: Seguranca (SA) Colle ! 12: Seguranca (SA) T14
! 11: Seguranca (SA) A01 ! 13: Seguranca (SA) H01
! 12: Seguranca (SA) T14 ORDRE\O4\O10\O11\O12\O13;
! 13: Seguranca (SA) H01 !
ORDRE\O4\O10\O11\O12\O13; ! Autorisation de service pistolet 1 : Ordre outil 5
! ! Fin de mesure 1 : Ordre outil 6
! !ORD_OUTIL\O5;
! Autorisation de service pistolet 1 : Ordre outil 5 ORD_OUTIL\O5\O6;
! Retorno Origem Cola !
! Fin de mesure 1 : Ordre outil 6 ! Attente mesure terminee : Evenement outil 4
AffAttAiguillage; ! Retorno Origem Cola
ORD_OUTIL\O5\O6; EVT_OUTIL\E4;
WaitUntil(DInput(EV4_1)<>DInput(EV11_1)); AffAttAiguillage;
! Attente mesure terminee : Evenement outil 4 ! Degage buse/air 1 : Ordre outil 3
RazAttaiguillage; WaitUntil(DInput(EV4_1)<>DInput(EV11_1));
EVT_OUTIL\E4; ! Autorisation de service pistolet 1 : Ordre outil 5
IF EV4_1=1 AND EV11_1=0 THEN RazAttaiguillage;
! Degage buse/air 1 : Ordre outil 3 ORD_OUTIL\O3\O5;
AutoriseTraj; IF EV4_1=1 AND EV11_1=0 THEN
! Autorisation de service pistolet 1 : Ordre outil 5 !
GOTO lab4; AutoriseTraj;
ORD_OUTIL\O3\O5; !Attente autorisation recul encollage
ELSE GOTO lab4;
!Attente autorisation recul encollage EVENT\E6;
IF EV11_1=1 AND EV4_1=0 THEN ELSE
EVENT\E6; ! 04: Fim de cola
! Depósito mesa H01 saída AutoriseTraj;
T_DP_H01_B52; ! Depósito mesa H01 saída
GOTO lab11; T_DP_H01_H79;
ELSE GOTO lab11;
ENDIF ELSE
ENDIF ENDIF
ORDRE\O4\O10\O11\O12\O13; MoveJ [[3287.68,1.22,829.66],[0.612553,-
! ENDIF
! 0.274246,0.346163,-0.655545],[0,-1,-1,1],
lab4: !
MoveJ [[2544.98,96.97,888.06],[0.732974,- [1.6864,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,b
! lab4:
0.271832,0.35193,-0.514782],[0,-1,-1,1], use1\WObj:=obj_preh3;
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen MoveJ [[2830.40,96.96,947.84],[0.714803,-
ORD_OUTIL\O2\O5; ! Autorisation de service pistolet 1 : Ordre outil 5
,buse1\WObj:=obj_preh1; 0.296795,0.387532,-0.500787],[0,-1,-1,1],[1.42849E-
! Attente chauffage 1 OK : Evenement outil 6 ORD_OUTIL\O2\O5;
MoveJ fin_Colle_B52,V_rapide,Z_arret,buse1\ 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,buse1\
EVT_OUTIL\E2\E6; ! Attente chauffage 1 OK : Evenement outil 6
! Envoi code produit EVT_OUTIL\E2\E6;
! MoveJ fin_Colle_H79,V_rapide,Z_arret,buse1\
SetGO cod_prod1,1; !Envoi code produit
! 10: Seguranca (SA) Colle WObj:=obj_preh3;
SetGO cod_debit1,1; SetGO cod_prod1,3;
! 11: Seguranca (SA) A01 !
! Tempo pour retarder le start du code SetGO cod_debit1,1;
! 12: Seguranca (SA) T14 ! 10: Seguranca (SA) Colle
WaitTime 0.2; ! Tempo pour retarder le start du code
! 13: Seguranca (SA) H01 ! 11: Seguranca (SA) A01
! Start 1 : Ordre outil 1 WaitTime 0.2;
ORDRE\O10\O11\O12\O13; ! 12: Seguranca (SA) T14
! Marche Air 1 : Ordre outil 3 ! Start 1 : Ordre outil 1
! Raz code produit ! 13: Seguranca (SA) H01
! Autorisation de service pistolet 1 : Ordre outil 5 ! Marche Air 1 : Ordre outil 3
SetGO cod_prod1,0; ORDRE\O10\O11\O12\O13;
ORD_OUTIL\O1\O3\O5; ! Autorisation de service pistolet 1 : Ordre outil 5
SetGO cod_debit1,0; ! Raz code produit
! Attente pression 1 OK : Evenement outil 5 ORD_OUTIL\O1\O3\O5;
! Raz ordre outil et maintien service pistolet SetGO cod_prod1,0;
EVT_OUTIL\E5; ! Attente pression 1 OK : Evenement outil 5
ORD_OUTIL\O5; SetGO cod_debit1,0;
! EVT_OUTIL\E5;
! ! Raz ordre outil et maintien service pistolet
! 10: Seguranca (SA) Colle !
lab11: ORD_OUTIL\O5;
! 11: Seguranca (SA) A01 ! 10: Seguranca (SA) Colle
! !
ENDPROC lab11:
!
ENDPROC
Lunete
! E21: Demande de mesure 1
PROC T_Mesure_T14_B52() EVENT2\E21; PROC T_Mesure_T14_H79()
Aff_Traj "Medição B52"; ! 10: Seguranca (SA) Colle Aff_Traj "Medição Lunete H79"; ! E21: Demande de mesure 1
AntiReboucle; ! 11: Seguranca (SA) A01 AntiReboucle; EVENT2\E21;
! ! 13: Seguranca (SA) H01 ! ! 10: Seguranca (SA) Colle
MoveJ deb_dep_T14_B52,V_rapide,fine,Preh_plein1\ ! 16: Inhibition (BI) T14 MoveJ deb_dep_T14_H79,V_rapide,fine,Preh_plein3\
! 11: Seguranca (SA) A01
WObj:=T14_B52; ORDRE\O10\O11\O13\O16; WObj:=T14_H79; ! 13: Seguranca (SA) H01
! ORDRE2; ! ! 16: Inhibition (BI) T14
MoveJ [[3180.87,2058.27,1978.18],[0.282224,0.945438,- ! MoveJ [[3180.88,2058.31,1978.07],[0.28218,0.945459,-
ORDRE\O10\O11\O13\O16;
0.151458,0.0596426],[-1,-1,-1,0], ! Aguarda verificacao 1; 0.151424,0.0596074],[-1,-1,-1,0], !
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_ MoveJ p_Mesure1_B52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52; [2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_
!PONTO NOVO MEDIÇÃO
plein1\WObj:=T14_B52; ! plein3\WObj:=T14_H79; ! Aguarda verificacao 1;
! ! 10: Seguranca (SA) Colle ! MoveJ p_Mesure1_H79,V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
! Aguarda carroceria ! 11: Seguranca (SA) A01 ! Aguarda carroceria !
MoveJ [[2818.02,445.99,2215.93],[0.190103,0.924537,- ! 13: Seguranca (SA) H01 MoveJ [[2818.07,445.98,2215.86],[0.190069,0.924555,-
0.102377,-0.314023],[-2,-1,-1,0], ! 16: Inhibition (BI) T14 0.102365,-0.313995],[-2,-1,-1,0], ! 11: Seguranca (SA) A01
[0.00153951,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Pr ! 21: Robot en point de Mesure 1 [0.0018691,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Pre
! 13: Seguranca (SA) H01
eh_plein1\WObj:=T14_B52; ORDRE\O10\O11\O13\O16; h_plein3\WObj:=T14_H79; ! 16: Inhibition (BI) T14 AffAttAiguillage;
! EVENT2; ! ! 21: Robot en point de Mesure 1 WaitUntil(DInput(EV25_1)<>DInput(EV26_1));
! 29: Aguarda Mdição Carroceria ORDRE2\O21; AffAttAiguillage; ORDRE\O10\O11\O13\O16; RazAttaiguillage;
ORDRE2\O29; EVENT2\E22; WaitUntil(DInput(EV21_1)<>DInput(EV15_1));
EVENT2; IF EV25_1=1 AND EV26_1=0 THEN
! ORDRE2; RazAttaiguillage; ORDRE2\O21; AutoriseTraj;
AffAttAiguillage; ! IF EV21_1=1 AND EV15_1=0 THEN EVENT2\E22; T_DP_T14_H79;
WaitUntil(DInput(EV21_1)<>DInput(EV15_1)); ! Aguarda verificacao 2; AutoriseTraj; ORDRE2; ELSE
RazAttaiguillage; MoveJ [[3003.69,-19.84,977.32],[0.00239114,-0.920933,-0.00564634,0.389672],[- GOTO lab25; ! IF EV26_1=1 AND EV25_1=0 THEN
IF EV21_1=1 AND EV15_1=0 THEN 1,-1,-1,0], ELSE ! Nova verificacao 2;128370 AutoriseTraj;
AutoriseTraj; [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein1\ IF EV15_1=1 AND EV21_1=0 THEN! ! Liberação carroceria
GOTO lab25; WObj:=T14_B52; AutoriseTraj; ! Aguarda verificacao 2; T_Degagement_H79;
ELSE ! ! Retorno origem MoveJ p_Mesure2_H79,V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
!
IF EV15_1=1 AND EV21_1=0 THEN ! 10: Seguranca (SA) Colle T_RO_T14_HHA; ! Deposito vidro; AutoriseTraj;
AutoriseTraj; ! 11: Seguranca (SA) A01 IF EV25_1=1 AND EV26_1=0 THEN ! ! 10: Seguranca (SA) Colle ! Depósito mesa H01 saída
! Retorno Origem ! 13: Seguranca (SA) H01 AutoriseTraj; AutoriseTraj; ! 11: Seguranca (SA) A01 T_DP_H01_H79;
T_RO_T14_B52; ! 16: Inhibition (BI) T14 T_DP_T14_B52; ! Depósito mesa H01 saída ! 13: Seguranca (SA) H01 ELSE
! ! 22: Robot en point de Mesure 2 ELSE T_DP_H01_HHA; ! 16: Inhibition (BI) T14 ENDIF
AutoriseTraj; ORDRE\O10\O11\O13\O16; IF EV26_1=1 AND EV25_1=0 THEN ELSE ! 22: Robot en point de Mesure 2 ENDIF
! Depósito mesa H01 saída EVENT2; AutoriseTraj; ENDIF ORDRE\O10\O11\O13\O16; !
T_DP_H01_B52; ORDRE2\O22; !Liberação carroceria ENDIF EVENT2; lab15:
ELSE EVENT2\E23; T_Degagement_B52; ! ORDRE2\O22; !
ENDIF ORDRE2; ! !SAIDA RETORNO ORIGEM !EVENT2\E23; ENDPROC
ENDIF ! AutoriseTraj; GOTO lab15; !ORDRE2;
! ! ! Depósito mesa H01 saída ! !
!SAIDA RETORNO ORIGEM ! Aguarda verificacao 3; T_DP_H01_B52; !TRAJETORIA DE MEDICAO !
GOTO lab15; MoveJ p_Mesure3_B52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52;
ELSE lab25: ! Nova verificacao 3;128370
! ! ENDIF ! !
!TRAJETORIA DE MEDICAO ! 10: Seguranca (SA) Colle ENDIF Init_vecteur; ! Aguarda verificacao 3;
lab25: ! 11: Seguranca (SA) A01 ! ! 10: Seguranca (SA) Colle !MoveJ p_Mesure3_H79, V_rapide, Z_arret, Preh_plein3\WObj:=T14_H79;
! ! 13: Seguranca (SA) H01 lab15: ! 11: Seguranca (SA) A01 ! Deposito vidro;
Init_vecteur; ! 16: Inhibition (BI) T14 ! ! 12: Seguranca (SA) T14 ! 10: Seguranca (SA) Colle
! 10: Seguranca (SA) Colle ! 23: Robot en point de Mesure 3 ENDPROC ! 13: Seguranca (SA) H01 ! 11: Seguranca (SA) A01
! 11: Seguranca (SA) A01 ORDRE\O10\O11\O13\O16; ! 16: Inhibition (BI) T14 ! 13: Seguranca (SA) H01
! 12: Seguranca (SA) T14 EVENT2; ORDRE\O10\O11\O12\O13\O16; ! 16: Inhibition (BI) T14
! 13: Seguranca (SA) H01 ORDRE2\O23; ! 22: Robot en point de Mesure 3
! 16: Inhibition (BI) T14 ! !ORDRE\O10\O11\O13\O16;
ORDRE\O10\O11\O12\O13\O16; AffAttAiguillage; !EVENT2;
WaitUntil(DInput(EV25_1)<>DInput(EV26_1));
RazAttaiguillage;
!ORDRE2\O23; Lunete
PROC T_DP_T14_B52() PROC T_DP_T14_H79()
Aff_Traj "Deposita Lunete B52"; Aff_Traj "Deposita Lunete H79";
! !
Init_vecteur; Init_vecteur;
MoveJ p_Mesure3_B52,V_rapide,Z_arret,Preh_plein1\ MoveJ p_Mesure2_H79,V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
WObj:=T14_B52; ! ! 10: Seguranca (SA) Colle
! 10: Seguranca (SA) Colle ResetDecalage; ! 11: Seguranca (SA) A01
! 11: Seguranca (SA) A01 ! ! 13: Seguranca (SA) H01
! 13: Seguranca (SA) H01 MoveL [[2905.58,4.71,1013.88], ! 21: Robot en point de Mesure 1
! 21: Robot en point de Mesure 1 [0.000769046,0.922388,0.00335082,-0.386249],[-2,-1,-1,0], ! E25: Attente de mesure Echange
! E25: Attente de mesure Echange [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen ORDRE\O10\O11\O13\O16;
ORDRE\O10\O11\O13\O16; ,Preh_vide1\WObj:=T14_B52; EVENT2;
EVENT2; MoveL [[2874.77,0.53,1156.65],[0.000848465,-0.925125,- ORDRE2\O21;
ORDRE2\O21; 0.00206762,0.379656],[-2,-1,-1,0], ! ResetDecalage;
Echange_vecteur; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide Echange_vecteur; !
SetDecalage; 1\WObj:=T14_B52; SetDecalage; MoveL [[3186.61,-4.57,1067.59],
!E5: Autorizacao de deposito MoveJ [[2860.12,405.21,1748.81],[0.0595017,0.929125,- !E5: Autorizacao de deposito [0.000199092,0.904245,0.00484195,-0.426986],[-1,-1,-1,0],
EVENT\E5; 0.00413223,-0.364922],[-1,-1,-1,0],[- EVENT\E5; [0.00263815,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen
! 10: Seguranca (SA) Colle 0.000328161,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,P ! 10: Seguranca (SA) Colle ,Preh_vide1\WObj:=T14_H79;
! 11: Seguranca (SA) A01 reh_vide1\WObj:=T14_B52; ! 11: Seguranca (SA) A01 MoveJ [[3156.44,31.53,1168.65],
! 13: Seguranca (SA) H01 Move_Ordre [[2860.12,405.21,1748.81],[0.0595022,0.929125,- ! 13: Seguranca (SA) H01 [0.0157201,0.900526,0.00758155,-0.434452],[-1,-1,-1,0],
! 16: Inhibition (BI) T14 0.00413241,-0.364923],[-1,-1,-1,0],[1.42849E- ! 16: Inhibition (BI) T14 [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_vide
ORDRE\O10\O11\O13\O16; 06,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\O13\ ORDRE\O10\O11\O13\O16; 1\WObj:=T14_H79;
! O16,V_rapide,Z_large,Preh_vide1,T14_B52; ! !MoveJ [[2733.22,1221.17,1718.29],
MoveL [[2928.46,4.13,1012.98], MoveJ [[2914.87,1821.72,1474.38],[0.0230314,0.844283,- MoveL [[3177.21,-10.84,1042.41],[0.000522193,0.916873,0.00519733,-0.399145],[-1,-1,-
[0.330398,0.899424,0.161692,-0.23607],[-2,-1,-1,0],
[0.00158509,0.920994,0.00399638,-0.389553],[-2,-1,-1,0], 0.535388,-0.00380092],[-1,-1,-1,0], 1,0],[0.00373678,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\
[0,9E+09,9E+09,9E+09,9E+09,9E+09]], V_rapide, Z_large,
[0.00296774,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen [0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large, WObj:=T14_H79; Preh_vide1\WObj:=T14_H79;
,Preh_plein1\WObj:=T14_B52; Preh_vide1\WObj:=T14_B52; MoveL [[3148.45,-8.31,1016.60],[0.000399433,0.905634,0.00397885,-0.424042],[-1,-1,-
!MoveJ [[2733.22,1221.17,1718.29],
MoveL [[2894.26,6.34,980.49], ! 1,0],[0.00483541,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\
[0.330398,0.899424,0.161692,-0.23607],[-2,-1,-1,0],
[0.00286553,0.923376,0.00112579,-0.383884],[-2,-1,-1,0], MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; WObj:=T14_H79; [0,9E+09,9E+09,9E+09,9E+09,9E+09]], V_rapide, Z_large,
[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]],V_lent,Z_moyen,P ! 10: Seguranca (SA) Colle MoveL [[3139.16,-8.37,1012.70],[0.000399082,0.905634,0.00397737,-0.424041],[-1,-1,-
Preh_vide1\WObj:=T14_H79;
reh_plein1\WObj:=T14_B52; ! 11: Seguranca (SA) A01 1,0],[0.00483541,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_large,Preh_plein3\
MoveJ [[2935.11,488.69,1840.56],[0.0736355,0.921926,-
MoveL [[2891.43,6.34,978.84], ! 12: Seguranca (SA) T14 WObj:=T14_H79; 0.00359159,-0.380286],[-1,-1,-1,0],
[0.00284806,0.929291,0.00117005,-0.369334],[-2,-1,-1,0], ! 13: Seguranca (SA) H01 ! [0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,
[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]],V_lent,Z_moyen,P ORDRE\O1\O10\O11\O12\O13; ! Deposito vidro; Preh_vide1\WObj:=T14_H79;
reh_plein1\WObj:=T14_B52; ! MoveL p_dp_T14_H79,V_lent,Z_arret,Preh_plein3\WObj:=T14_H79;
Move_Ordre [[2935.11,488.69,1840.56],[0.0736355,0.921926,-
! Deposito vidro; ENDPROC ! 0.00359159,-0.380286],[-1,-1,-1,0],
MoveL p_dp_T14_B52,V_lent,Z_arret,Preh_plein1\ !MoveL [[3116.26,-16.82,1000.68],[0.00315429,-0.90387,-0.00165752,0.427792],[-1,-1,-
[0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\
WObj:=T14_B52; 1,0],[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]], V_lent, Z_arret, Preh_plein3\
O13\O16,V_rapide,Z_large,Preh_vide1,T14_H79;
! O5: Fim deposito vidro; WObj:=T14_H79; !
! 10: Seguranca (SA) Colle ! MoveJ [[2914.87,1821.72,1474.39],[0.0230329,0.844283,-
! 11: Seguranca (SA) A01 ! 0.535389,-0.0037991],[-1,-1,-1,0],[1.42849E-
! 13: Seguranca (SA) H01 ! O5: Fim deposito vidro; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\
! 16: Inhibition (BI) T14 ! 10: Seguranca (SA) Colle WObj:=T14_H79;
ORDRE\O5\O10\O11\O13\O16; ! 11: Seguranca (SA) A01 MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
! E14: Autorizacao Recuo T14 ! 13: Seguranca (SA) H01 ! 10: Seguranca (SA) Colle
EVENT\E14; ! 16: Inhibition (BI) T14 ! 11: Seguranca (SA) A01
! 10: Seguranca (SA) Colle ORDRE\O5\O10\O11\O13\O16; ! 12: Seguranca (SA) T14
! 11: Seguranca (SA) A01 ! E14: Autorizacao Recuo T14 ! 13: Seguranca (SA) H01
! 13: Seguranca (SA) H01 EVENT\E14; ORDRE\O1\O10\O11\O12\O13;
! 16: Inhibition (BI) T14 ! 10: Seguranca (SA) Colle !
ORDRE\O10\O11\O13\O16; ! 11: Seguranca (SA) A01 ENDPROC
! 16: Inhibition (BI) T14
Lunete
PROC T_DP_H01_B52()
Aff_Traj "Deposita mesa saída B52"; PROC T_DP_H01_H79()
AntiReboucle; Aff_Traj "Deposita mesa saída H79";
! AntiReboucle;
MoveJ deb_dep_H01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=H01_B52; !
! MoveJ deb_dep_H01_H79,V_rapide,Z_arret,Preh_plein3\WObj:=H01_H79;
ORDRE\O10\O11\O12\O13; ! 13: Seguranca (SA) H01
! ORDRE\O10\O11\O12\O13;
! E8: Autorizacao Deposito H01 !
EVENT\E8; ! E8: Autorizacao Deposito H01
! 10: Seguranca (SA) Colle EVENT\E8;
ORDRE\O10\O11\O12; ! 12: Seguranca (SA) T14
MoveJ [[1344.77,20.89,-543.81],[0.00617564,0.0129899,-0.00168255,-0.999895],[-1,0,-1,0], !
[0.300148,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=H01_B52; MoveJ [[1338.51,35.82,-690.01],[0.00617623,0.0129966,-0.00168262,-0.999895],[-1,0,-1,0],
MoveJ [[5.74,-28.68,-202.36],[0.00616331,0.0129785,-0.00169316,-0.999895],[-1,0,-1,0], [0.304433,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=H01_H79;
[0.296632,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=H01_B52; MoveJ [[3.32,-0.57,-129.75],[0.00616751,0.0129752,-0.00169174,-0.999895],[-1,0,-1,0],
! [0.296413,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=H01_H79;
! Deposito vidro; !Deposito vidro;
MoveJ p_dp_H01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=H01_B52; MoveL p_dp_H01_H79,V_moyen,Z_arret,Preh_plein3\WObj:=H01_H79;
! ! O8: Fim Depositar Peça H01
! O8: Fim Depositar Peça H01 ! 10: Seguranca (SA) Colle
! 10: Seguranca (SA) Colle ! 11: Seguranca (SA) A01
! 11: Seguranca (SA) A01 ! 12: Seguranca (SA) T14
! 12: Seguranca (SA) T14 ORDRE\O8\O10\O11\O12;
ORDRE\O8\O10\O11\O12; ! E5: Autorizacao Recuo H01
! E5: Autorizacao Recuo H01 EVENT\E9;
EVENT\E9; ! 10: Seguranca (SA) Colle
! 12: Seguranca (SA) T14 ORDRE\O10\O11\O12;
ORDRE\O10\O11\O12; MoveJ [[-0.17,3.29,-80.13],[0.00617162,0.01298,-0.00169281,-0.999895],[-1,0,-1,0],
! [0.296413,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_H79;
MoveJ [[5.72,-28.68,-202.40],[0.00615696,0.0129893,-0.00168387,-0.999895],[-1,0,-1,0], MoveJ [[1338.51,35.82,-690.01],[0.00617574,0.0129971,-0.0016826,-0.999895],[-1,0,-1,0],
[0.295753,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_B52; [0.304213,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_H79;
MoveJ [[1344.69,20.89,-543.94],[0.00616659,0.0130353,-0.00167681,-0.999895],[-1,0,-1,0], MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
[0.297182,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_B52; !
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; ! 10: Seguranca (SA) Colle
! ! 11: Seguranca (SA) A01
! 13: Seguranca (SA) H01 ENDPROC
!
ENDPROC
Lunete
PROC T_Degagement_B52()
Aff_Traj "Degagement B52"; PROC T_Degagement_H79()
AntiReboucle; Aff_Traj "Degagement H79";
! AntiReboucle;
MoveJ deb_dega_T14_B52,V_moyen,Z_arret,Preh_plein1\WObj:=T14_B52; !
! MoveJ deb_dega_T14_H79,V_moyen,Z_arret,Preh_plein3\WObj:=T14_H79;
! 16: Inhibition (Bi) T14 ! 13: Seguranca (SA) H01
ORDRE\O10\O11\O13\O16; ! 16: Inhibition (Bi) T14
! ORDRE\O10\O11\O13\O16;
! E26: Autorisation Dégagement ! E26: Autorisation Dégagement
EVENT2\E26; EVENT2\E26;
ORDRE2; ! 10: Seguranca (SA) Colle
! 10: Seguranca (SA) Colle ! 13: Seguranca (SA) H01
! 11: Seguranca (SA) A01 ! 16: Inhibition (Bi) T14
! 13: Seguranca (SA) H01 ORDRE\O10\O11\O13\O16;
! 16: Inhibition (Bi) T14 !
ORDRE\O10\O11\O13\O16; MoveJ [[2944.79,611.44,2179.46],[0.138807,0.911521,-0.0396465,-0.385085],[-1,-1,-1,0],
! [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[2854.45,77.10,1622.96],[0.0852012,0.929568,-0.0335287,-0.357099],[-2,-1,-1,0], MoveJ [[3457.10,1885.16,1830.81],[0.254125,0.921328,0.290493,0.0467829],[-1,-1,-1,0],
[0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855815],[-2,-1,-1,0],[1.42849E- MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; !
MoveJ [[3674.38,2208.60,1548.41],[0.142607,0.972101,-0.107009,0.152419],[-1,-1,-1,0], ! 10: Seguranca (SA) Colle
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; ! 11: Seguranca (SA) A01
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; ! 12: Seguranca (SA) T14
! ! 13: Seguranca (SA) H01
! 10: Seguranca (SA) Colle ! 16: Inhibition (Bi) T14
! 11: Seguranca (SA) A01 ORDRE\O10\O11\O12\O13;
! 12: Seguranca (SA) T14 !
! 13: Seguranca (SA) H01 ORDRE2;
! 16: Inhibition (Bi) T14 ENDPROC
!
ORDRE2;
ENDPROC
Lunete
PROC T_RO_T14_B52()
Aff_Traj "Retorno Origem T14 B52"; PROC T_RO_T14_H79()
AntiReboucle; Aff_Traj "Retorno Origem T14 H79";
! AntiReboucle;
! Aguarda carroceria !
MoveJ [[2818.02,445.99,2215.93],[0.190103,0.924537,-0.102377,-0.314023],[-2,-1,-1,0], ! Aguarda carroceria
[0.00153951,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52; MoveJ [[2818.07,445.98,2215.86],[0.190069,0.924555,-0.102365,-0.313995],[-2,-1,-1,0],
! [0.0018691,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
! ORDRE\O10\O11\O13\O16;
! E15: Espera Autorizacao Retorno Origem !
EVENT\E15; ! E15: Espera Autorizacao Retorno Origem
ORDRE2; EVENT\E15;
! !
MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855815],[-2,-1,-1,0],[1.42849E- MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855805],[-2,-1,-1,0],[1.42849E-
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[3674.38,2208.60,1548.41],[0.142607,0.972101,-0.107009,0.152419],[-1,-1,-1,0], MoveJ [[3674.38,2208.60,1548.41],[0.142608,0.972101,-0.10701,0.152421],[-1,-1,-1,0],
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; [2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
! !
! Posicao Home ! Posicao Home
! !
! !
ORDRE2; ORDRE2;
ENDPROC ENDPROC
Lunete
PROC T_PR_A01_B52() PROC T_PR_A01_H79()
Aff_Traj "Pega Lunete B52"; Aff_Traj "Pega Lunete H79";
! !
! E2: Autorizacao Pegar Peça A01 ! E2: Autorizacao Pegar Peça A01
EVENT\E2; EVENT\E2;
MoveJ [[651.19,1512.60,-863.76],[0.916792,0.120381,0.0504604,-0.377431],[0,0,0,0], MoveJ [[651.51,1512.94,-845.60],[0.916793,0.120375,0.0504588,-0.377432],[0,-1,0,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A01_H79;
MoveJ [[-0.01,0.00,-227.98],[1,-1.81215E-06,-6.81027E-07,-9.34128E-06],[0,0,1,0], MoveJ [[0.00,0.00,-249.50],[1,7.43193E-07,-1.93246E-07,2.04483E-08],[0,-1,1,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A01_H79;
! Pega vidro no centrador; ! Pega vidro;
MoveL p_pr_A01_B52,V_moyen,Z_arret,Preh_vide1\WObj:=A01_B52; MoveL p_pr_A01_H79,V_moyen,Z_arret,Preh_vide1\WObj:=A01_H79;
! E3: Autorizacao Recuo ! E3: Autorizacao Recuo
EVENT\E3; EVENT\E3;
ORDRE\O10\O12\O13; ORDRE\O10\O12\O13;
! !
MoveJ [[-35.88,11.98,-250.64],[1,-1.48907E-05,1.98131E-06,-1.02399E-05],[0,0,1,0], MoveJ [[0.00,0.00,-249.49],[1,-1.5866E-06,-7.40187E-07,-2.99864E-07],[0,0,1,0],
[0.000990198,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_plein1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=A01_H79;
Move_Ordre [[-35.88,11.98,-250.64],[1,-1.48907E-05,1.98131E-06,-1.02399E-05],[0,0,1,0], Move_Ordre [[0.00,0.01,-249.48],[1,-5.50452E-06,2.97978E-07,4.78512E-07],[0,0,1,0],[-0.000328161,9E+09,9E+09,9E+09,9E+09,9E+09]]\
[0.000990198,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\O13,V_rapide,Z_large,Preh_plein1,A01_B52; O10\O11\O12\O13,V_rapide,Z_large,Preh_plein3,A01_H79;
MoveJ [[651.19,1512.60,-863.77],[0.916792,0.120381,0.0504604,-0.377431],[0,0,0,0], MoveJ [[651.51,1512.94,-845.62],[0.916792,0.120381,0.050461,-0.377431],[0,-1,0,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=A01_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=A01_H79;
MoveJ fin_pr_A01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=A01_B52; MoveJ fin_pr_A01_H79,V_rapide,Z_arret,Preh_plein3\WObj:=A01_H79;
! !
! ENDPROC
ENDPROC
Lunete
PROC T_col_B52() PROC T_col_H79()
Aff_Traj "Traj. cola B52"; Aff_Traj "Traj. cola H79";
! !
! 04: Fim de cola
MoveJ deb_Colle_B52,V_rapide,Z_arret,buse1\ MoveJ deb_Colle_H79,V_rapide,Z_arret,buse1\
! !
ORDRE\O4\O10\O11\O12\O13; ! Autorisation de service pistolet 1 : Ordre outil 5
! ! Fin de mesure 1 : Ordre outil 6
! !ORD_OUTIL\O5;
! Autorisation de service pistolet 1 : Ordre outil 5 ORD_OUTIL\O5\O6;
! Retorno Origem Cola !
! Fin de mesure 1 : Ordre outil 6 ! Attente mesure terminee : Evenement outil 4
AffAttAiguillage; ! Retorno Origem Cola
ORD_OUTIL\O5\O6; EVT_OUTIL\E4;
WaitUntil(DInput(EV4_1)<>DInput(EV11_1)); AffAttAiguillage;
! Attente mesure terminee : Evenement outil 4 ! Degage buse/air 1 : Ordre outil 3
RazAttaiguillage; WaitUntil(DInput(EV4_1)<>DInput(EV11_1));
EVT_OUTIL\E4; ! Autorisation de service pistolet 1 : Ordre outil 5
IF EV4_1=1 AND EV11_1=0 THEN RazAttaiguillage;
! Degage buse/air 1 : Ordre outil 3 ORD_OUTIL\O3\O5;
GOTO lab4; AutoriseTraj;
ORD_OUTIL\O3\O5; !Attente autorisation recul encollage
ELSE GOTO lab4;
!Attente autorisation recul encollage EVENT\E6;
IF EV11_1=1 AND EV4_1=0 THEN ELSE
EVENT\E6; ! 04: Fim de cola
! Depósito mesa H01 saída AutoriseTraj;
T_DP_H01_B52; ! Depósito mesa H01 saída
GOTO lab11; T_DP_H01_H79;
ELSE GOTO lab11;
ENDIF ELSE
ENDIF ENDIF
ORDRE\O4\O10\O11\O12\O13; MoveJ [[3287.68,1.22,829.66],[0.612553,-
! ENDIF
! 0.274246,0.346163,-0.655545],[0,-1,-1,1],
lab4: !
MoveJ [[2544.98,96.97,888.06],[0.732974,- [1.6864,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,b
! lab4:
0.271832,0.35193,-0.514782],[0,-1,-1,1], use1\WObj:=obj_preh3;
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen MoveJ [[2830.40,96.96,947.84],[0.714803,-
ORD_OUTIL\O2\O5; ! Autorisation de service pistolet 1 : Ordre outil 5
,buse1\WObj:=obj_preh1; 0.296795,0.387532,-0.500787],[0,-1,-1,1],[1.42849E-
! Attente chauffage 1 OK : Evenement outil 6 ORD_OUTIL\O2\O5;
MoveJ fin_Colle_B52,V_rapide,Z_arret,buse1\ 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,buse1\
EVT_OUTIL\E2\E6; ! Attente chauffage 1 OK : Evenement outil 6
! Envoi code produit EVT_OUTIL\E2\E6;
! MoveJ fin_Colle_H79,V_rapide,Z_arret,buse1\
SetGO cod_prod1,1; !Envoi code produit
! 10: Seguranca (SA) Colle WObj:=obj_preh3;
SetGO cod_debit1,1; SetGO cod_prod1,3;
! Tempo pour retarder le start du code SetGO cod_debit1,1;
WaitTime 0.2; ! Tempo pour retarder le start du code
! Start 1 : Ordre outil 1 WaitTime 0.2;
ORDRE\O10\O11\O12\O13; ! 12: Seguranca (SA) T14
! Marche Air 1 : Ordre outil 3 ! Start 1 : Ordre outil 1
! Raz code produit ! 13: Seguranca (SA) H01
! Autorisation de service pistolet 1 : Ordre outil 5 ! Marche Air 1 : Ordre outil 3
SetGO cod_prod1,0; ORDRE\O10\O11\O12\O13;
ORD_OUTIL\O1\O3\O5; ! Autorisation de service pistolet 1 : Ordre outil 5
SetGO cod_debit1,0; ! Raz code produit
! Attente pression 1 OK : Evenement outil 5 ORD_OUTIL\O1\O3\O5;
! Raz ordre outil et maintien service pistolet SetGO cod_prod1,0;
EVT_OUTIL\E5; ! Attente pression 1 OK : Evenement outil 5
ORD_OUTIL\O5; SetGO cod_debit1,0;
! EVT_OUTIL\E5;
! ! Raz ordre outil et maintien service pistolet
lab11: ORD_OUTIL\O5;
! !
ENDPROC lab11:
!
ENDPROC
Lunete
! E21: Demande de mesure 1
PROC T_Mesure_T14_B52() EVENT2\E21;
Aff_Traj "Medição B52"; ! 10: Seguranca (SA) Colle
AntiReboucle; ! 11: Seguranca (SA) A01
MoveJ deb_dep_T14_B52,V_rapide,fine,Preh_plein1\ ! 16: Inhibition (BI) T14
WObj:=T14_B52; ORDRE\O10\O11\O13\O16;
! ORDRE2;
MoveJ [[3180.87,2058.27,1978.18],[0.282224,0.945438,- !
0.151458,0.0596426],[-1,-1,-1,0], ! Aguarda verificacao 1;
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_ MoveJ p_Mesure1_B52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52;
plein1\WObj:=T14_B52; !
! ! 10: Seguranca (SA) Colle
! Aguarda carroceria ! 11: Seguranca (SA) A01
MoveJ [[2818.02,445.99,2215.93],[0.190103,0.924537,- ! 13: Seguranca (SA) H01
0.102377,-0.314023],[-2,-1,-1,0], ! 16: Inhibition (BI) T14
[0.00153951,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Pr ! 21: Robot en point de Mesure 1
eh_plein1\WObj:=T14_B52; ORDRE\O10\O11\O13\O16;
! EVENT2;
! 29: Aguarda Mdição Carroceria ORDRE2\O21;
ORDRE2\O29; EVENT2\E22;
! ORDRE2;
AffAttAiguillage; !
WaitUntil(DInput(EV21_1)<>DInput(EV15_1)); ! Aguarda verificacao 2;
RazAttaiguillage; MoveJ [[3003.69,-19.84,977.32],[0.00239114,-0.920933,-0.00564634,0.389672],[-
IF EV21_1=1 AND EV15_1=0 THEN 1,-1,-1,0], IF EV25_1=1 AND EV26_1=0 THEN
AutoriseTraj; [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein1\ AutoriseTraj;
GOTO lab25; WObj:=T14_B52; T_DP_T14_B52;
ELSE ! ELSE
IF EV15_1=1 AND EV21_1=0 THEN ! 10: Seguranca (SA) Colle IF EV26_1=1 AND EV25_1=0 THEN
AutoriseTraj; ! 11: Seguranca (SA) A01 AutoriseTraj;
! Retorno Origem ! 13: Seguranca (SA) H01 !Liberação carroceria
T_RO_T14_B52; ! 16: Inhibition (BI) T14 T_Degagement_B52;
! ! 22: Robot en point de Mesure 2 !
AutoriseTraj; ORDRE\O10\O11\O13\O16; AutoriseTraj;
! Depósito mesa H01 saída EVENT2; ! Depósito mesa H01 saída
T_DP_H01_B52; ORDRE2\O22; T_DP_H01_B52;
ELSE EVENT2\E23; ELSE
ENDIF ORDRE2; ENDIF
ENDIF ! ENDIF
! ! !
!SAIDA RETORNO ORIGEM ! Aguarda verificacao 3; lab15:
GOTO lab15; MoveJ p_Mesure3_B52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52; !
! ! ENDPROC
!TRAJETORIA DE MEDICAO ! 10: Seguranca (SA) Colle
lab25: ! 11: Seguranca (SA) A01
Init_vecteur; ! 16: Inhibition (BI) T14
! 10: Seguranca (SA) Colle ! 23: Robot en point de Mesure 3
! 12: Seguranca (SA) T14 EVENT2;
! 13: Seguranca (SA) H01 ORDRE2\O23;
! 16: Inhibition (BI) T14 !
ORDRE\O10\O11\O12\O13\O16; AffAttAiguillage;
WaitUntil(DInput(EV25_1)<>DInput(EV26_1));
RazAttaiguillage;
Lunete
PROC T_DP_T14_B52()
Aff_Traj "Deposita Lunete B52"; PROC T_DP_T14_H79()
AntiReboucle; Aff_Traj "Deposita Lunete H79";
! AntiReboucle;
Init_vecteur; !
MoveJ p_Mesure3_B52,V_rapide,Z_arret,Preh_plein1\ Init_vecteur;
WObj:=T14_B52; ! MoveJ p_Mesure2_H79,V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
! 10: Seguranca (SA) Colle ResetDecalage; ! 10: Seguranca (SA) Colle
! 11: Seguranca (SA) A01 ! ! 11: Seguranca (SA) A01
! 13: Seguranca (SA) H01 MoveL [[2905.58,4.71,1013.88], ! 13: Seguranca (SA) H01
! 21: Robot en point de Mesure 1 [0.000769046,0.922388,0.00335082,-0.386249],[-2,-1,-1,0], ! 21: Robot en point de Mesure 1
! E25: Attente de mesure Echange [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen ! E25: Attente de mesure Echange
ORDRE\O10\O11\O13\O16; ,Preh_vide1\WObj:=T14_B52; ResetDecalage;
EVENT2; MoveL [[2874.77,0.53,1156.65],[0.000848465,-0.925125,- EVENT2;!
ORDRE2\O21; 0.00206762,0.379656],[-2,-1,-1,0], MoveL [[3186.61,-4.57,1067.59],
ORDRE2\O21;
Echange_vecteur; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide ! [0.000199092,0.904245,0.00484195,-0.426986],[-1,-1,-1,0],
SetDecalage; 1\WObj:=T14_B52; [0.00263815,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen
Echange_vecteur;
!E5: Autorizacao de deposito MoveJ [[2860.12,405.21,1748.81],[0.0595017,0.929125,- ,Preh_vide1\WObj:=T14_H79;
SetDecalage;
EVENT\E5; 0.00413223,-0.364922],[-1,-1,-1,0],[- MoveJ [[3156.44,31.53,1168.65],
!E5: Autorizacao de deposito
! 10: Seguranca (SA) Colle 0.000328161,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,P [0.0157201,0.900526,0.00758155,-0.434452],[-1,-1,-1,0],
EVENT\E5;
! 11: Seguranca (SA) A01 reh_vide1\WObj:=T14_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_vide
! 13: Seguranca (SA) H01 Move_Ordre [[2860.12,405.21,1748.81],[0.0595022,0.929125,- 1\WObj:=T14_H79;
! 16: Inhibition (BI) T14 0.00413241,-0.364923],[-1,-1,-1,0],[1.42849E- !MoveJ [[2733.22,1221.17,1718.29],
ORDRE\O10\O11\O13\O16; 06,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\O13\ [0.330398,0.899424,0.161692,-0.23607],[-2,-1,-1,0],
! O16,V_rapide,Z_large,Preh_vide1,T14_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]], V_rapide, Z_large,
MoveL [[2928.46,4.13,1012.98], MoveJ [[2914.87,1821.72,1474.38],[0.0230314,0.844283,- ! Preh_vide1\WObj:=T14_H79;
[0.00158509,0.920994,0.00399638,-0.389553],[-2,-1,-1,0], 0.535388,-0.00380092],[-1,-1,-1,0], !MoveJ [[2733.22,1221.17,1718.29],
MoveL [[3177.21,-10.84,1042.41],[0.000522193,0.916873,0.00519733,-0.399145],[-1,-1,-
[0.00296774,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen [0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large, [0.330398,0.899424,0.161692,-0.23607],[-2,-1,-1,0],
1,0],[0.00373678,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\
,Preh_plein1\WObj:=T14_B52; Preh_vide1\WObj:=T14_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]], V_rapide, Z_large,
WObj:=T14_H79;
MoveL [[2894.26,6.34,980.49], ! Preh_vide1\WObj:=T14_H79;
MoveL [[3148.45,-8.31,1016.60],[0.000399433,0.905634,0.00397885,-0.424042],[-1,-1,-
[0.00286553,0.923376,0.00112579,-0.383884],[-2,-1,-1,0], MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; MoveJ [[2935.11,488.69,1840.56],[0.0736355,0.921926,-
1,0],[0.00483541,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\
[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]],V_lent,Z_moyen,P ! 10: Seguranca (SA) Colle 0.00359159,-0.380286],[-1,-1,-1,0],
WObj:=T14_H79;
reh_plein1\WObj:=T14_B52; ! 11: Seguranca (SA) A01 [0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,
MoveL [[3139.16,-8.37,1012.70],[0.000399082,0.905634,0.00397737,-0.424041],[-1,-1,-
MoveL [[2891.43,6.34,978.84], ! 12: Seguranca (SA) T14 Preh_vide1\WObj:=T14_H79;
1,0],[0.00483541,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_large,Preh_plein3\
[0.00284806,0.929291,0.00117005,-0.369334],[-2,-1,-1,0], ! 13: Seguranca (SA) H01 WObj:=T14_H79;Move_Ordre [[2935.11,488.69,1840.56],[0.0736355,0.921926,-
[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]],V_lent,Z_moyen,P ORDRE\O1\O10\O11\O12\O13; ! 0.00359159,-0.380286],[-1,-1,-1,0],
reh_plein1\WObj:=T14_B52; ! [0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\
! Deposito vidro;
! Deposito vidro; ENDPROC O13\O16,V_rapide,Z_large,Preh_vide1,T14_H79;
MoveL p_dp_T14_H79,V_lent,Z_arret,Preh_plein3\WObj:=T14_H79;
MoveL p_dp_T14_B52,V_lent,Z_arret,Preh_plein1\ ! !
WObj:=T14_B52; !MoveLMoveJ [[2914.87,1821.72,1474.39],[0.0230329,0.844283,-
[[3116.26,-16.82,1000.68],[0.00315429,-0.90387,-0.00165752,0.427792],[-1,-1,-
! O5: Fim deposito vidro; 0.535389,-0.0037991],[-1,-1,-1,0],[1.42849E- V_lent, Z_arret, Preh_plein3\
1,0],[0.000770471,9E+09,9E+09,9E+09,9E+09,9E+09]],
! 10: Seguranca (SA) Colle 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\
WObj:=T14_H79;
! 11: Seguranca (SA) A01 ! WObj:=T14_H79;
! 13: Seguranca (SA) H01 ! MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
! 16: Inhibition (BI) T14 ! O5: Fim! 10: Seguranca
deposito (SA) Colle
vidro;
ORDRE\O5\O10\O11\O13\O16; ! 11: Seguranca
(SA) Colle
! E14: Autorizacao Recuo T14 ! 12: Seguranca
! 11: Seguranca (SA) A01(SA) T14
EVENT\E14; ! 13: Seguranca
! 13: Seguranca (SA) H01(SA) H01
! 10: Seguranca (SA) Colle ORDRE\O1\O10\O11\O12\O13;
ORDRE\O5\O10\O11\O13\O16;
! 13: Seguranca (SA) H01 ! E14:ENDPROC
Autorizacao Recuo T14
! 16: Inhibition (BI) T14 EVENT\E14;
ORDRE\O10\O11\O13\O16; ! 10: Seguranca (SA) Colle
Lunete
PROC T_DP_H01_B52()
Aff_Traj "Deposita mesa saída B52"; PROC T_DP_H01_H79()
AntiReboucle; Aff_Traj "Deposita mesa saída H79";
! AntiReboucle;
MoveJ deb_dep_H01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=H01_B52; !
! MoveJ deb_dep_H01_H79,V_rapide,Z_arret,Preh_plein3\WObj:=H01_H79;
ORDRE\O10\O11\O12\O13; ! 13: Seguranca (SA) H01
! ORDRE\O10\O11\O12\O13;
! E8: Autorizacao Deposito H01 !
EVENT\E8; ! E8: Autorizacao Deposito H01
! 10: Seguranca (SA) Colle EVENT\E8;
ORDRE\O10\O11\O12; ! 12: Seguranca (SA) T14
MoveJ [[1344.77,20.89,-543.81],[0.00617564,0.0129899,-0.00168255,-0.999895],[-1,0,-1,0], !
[0.300148,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=H01_B52; MoveJ [[1338.51,35.82,-690.01],[0.00617623,0.0129966,-0.00168262,-0.999895],[-1,0,-1,0],
MoveJ [[5.74,-28.68,-202.36],[0.00616331,0.0129785,-0.00169316,-0.999895],[-1,0,-1,0], [0.304433,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=H01_H79;
[0.296632,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=H01_B52; MoveJ [[3.32,-0.57,-129.75],[0.00616751,0.0129752,-0.00169174,-0.999895],[-1,0,-1,0],
! [0.296413,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein3\WObj:=H01_H79;
! Deposito vidro; !Deposito vidro;
MoveJ p_dp_H01_B52,V_rapide,Z_arret,Preh_plein1\WObj:=H01_B52; MoveL p_dp_H01_H79,V_moyen,Z_arret,Preh_plein3\WObj:=H01_H79;
! ! O8: Fim Depositar Peça H01
! O8: Fim Depositar Peça H01 ! 10: Seguranca (SA) Colle
ORDRE\O8\O10\O11\O12; ! E5: Autorizacao Recuo H01
! E5: Autorizacao Recuo H01 EVENT\E9;
ORDRE\O10\O11\O12; MoveJ [[-0.17,3.29,-80.13],[0.00617162,0.01298,-0.00169281,-0.999895],[-1,0,-1,0],
! [0.296413,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_H79;
MoveJ [[5.72,-28.68,-202.40],[0.00615696,0.0129893,-0.00168387,-0.999895],[-1,0,-1,0], MoveJ [[1338.51,35.82,-690.01],[0.00617574,0.0129971,-0.0016826,-0.999895],[-1,0,-1,0],
[0.295753,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_B52; [0.304213,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_H79;
MoveJ [[1344.69,20.89,-543.94],[0.00616659,0.0130353,-0.00167681,-0.999895],[-1,0,-1,0], MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
[0.297182,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H01_B52; !
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; ! 10: Seguranca (SA) Colle
! 13: Seguranca (SA) H01 ENDPROC
!
ENDPROC
Lunete
PROC T_Degagement_B52()
Aff_Traj "Degagement B52"; PROC T_Degagement_H79()
AntiReboucle; Aff_Traj "Degagement H79";
! AntiReboucle;
MoveJ deb_dega_T14_B52,V_moyen,Z_arret,Preh_plein1\WObj:=T14_B52; !
! MoveJ deb_dega_T14_H79,V_moyen,Z_arret,Preh_plein3\WObj:=T14_H79;
! ORDRE\O10\O11\O13\O16;
ORDRE2; ! 10: Seguranca (SA) Colle
ORDRE\O10\O11\O13\O16; MoveJ [[2944.79,611.44,2179.46],[0.138807,0.911521,-0.0396465,-0.385085],[-1,-1,-1,0],
! [0.00208883,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[2854.45,77.10,1622.96],[0.0852012,0.929568,-0.0335287,-0.357099],[-2,-1,-1,0], MoveJ [[3457.10,1885.16,1830.81],[0.254125,0.921328,0.290493,0.0467829],[-1,-1,-1,0],
[0.000221155,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855815],[-2,-1,-1,0],[1.42849E- MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; !
MoveJ [[3674.38,2208.60,1548.41],[0.142607,0.972101,-0.107009,0.152419],[-1,-1,-1,0], ! 10: Seguranca (SA) Colle
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; ! 11: Seguranca (SA) A01
! 16: Inhibition (Bi) T14 ENDPROC
!
ORDRE2;
ENDPROC
Lunete
PROC T_RO_T14_B52()
Aff_Traj "Retorno Origem T14 B52"; PROC T_RO_T14_H79()
AntiReboucle; Aff_Traj "Retorno Origem T14 H79";
! AntiReboucle;
! Aguarda carroceria !
MoveJ [[2818.02,445.99,2215.93],[0.190103,0.924537,-0.102377,-0.314023],[-2,-1,-1,0], ! Aguarda carroceria
[0.00153951,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein1\WObj:=T14_B52; MoveJ [[2818.07,445.98,2215.86],[0.190069,0.924555,-0.102365,-0.313995],[-2,-1,-1,0],
! [0.0018691,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein3\WObj:=T14_H79;
! ORDRE\O10\O11\O13\O16;
! E15: Espera Autorizacao Retorno Origem !
EVENT\E15; ! E15: Espera Autorizacao Retorno Origem
ORDRE2; EVENT\E15;
! !
MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855815],[-2,-1,-1,0],[1.42849E- MoveJ [[2467.75,1475.96,1661.16],[0.339518,0.753939,-0.55586,0.0855805],[-2,-1,-1,0],[1.42849E-
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
MoveJ [[3674.38,2208.60,1548.41],[0.142607,0.972101,-0.107009,0.152419],[-1,-1,-1,0], MoveJ [[3674.38,2208.60,1548.41],[0.142608,0.972101,-0.10701,0.152421],[-1,-1,-1,0],
[2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_B52; [2.18958,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein3\WObj:=T14_H79;
! !
! Posicao Home ! Posicao Home
! !
! !
ORDRE2; ORDRE2;
ENDPROC ENDPROC
Lunete
PROC T_PR_A02_X52() PROC T_PR_A02_X79()
Aff_Traj "Pega A02 X52"; Aff_Traj "Pega para brisa H79";
! !
! !
! ! E2: Autorizacao Pegar Peça A01
! E2: Autorizacao Pegar Peça A01 EVENT\E2;
ORDRE\O10\O12\O13; MoveJ [[1656.00,-1780.54,-1241.52],[0.861582,-0.1072,0.418044,0.267252],[-1,0,-1,0],
! [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A02_X79;
MoveJ [[1619.80,-1793.34,-1240.66],[0.862101,-0.10623,0.417187,0.267304],[-1,0,-1,0], MoveJ [[659.39,-1055.75,-1318.51],[0.884758,-0.438721,0.139954,0.0716948],[-2,0,-1,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A02_X52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A02_X79;
MoveJ [[655.22,-1055.74,-1320.04],[0.88478,-0.438694,0.139912,0.0716666],[-2,0,-1,0], MoveJ [[-96.26,-951.42,-762.44],[0.98528,-0.164883,0.00721945,-0.0445605],[-2,0,-2,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A02_X52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_vide1\WObj:=A02_X79;
MoveJ [[-100.42,-951.45,-764.03],[0.985284,-0.164851,0.00721224,-0.044586],[-2,0,-2,0], MoveJ [[4.16,0.00,-284.99],[1,1.20138E-06,1.74289E-07,-1.29336E-05],[-2,-1,-2,0],
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A02_X52; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A02_X79;
MoveJ [[0.01,-0.06,-103.67],[1,3.29423E-05,4.63191E-06,-9.35769E-06],[-2,-1,-2,0],[2.45502E- !
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=A02_X52; MoveJ p_pr_A02_X79,V_moyen,Z_arret,Preh_vide1\WObj:=A02_X79;
! !
MoveJ p_pr_A02_X52,V_moyen,Z_arret,Preh_vide1\WObj:=A02_X52; ! O2: Fim Pegar Peça A01
! O2: Fim Pegar Peça A01 ! 12: Seguranca (SA) T14
! 13: Seguranca (SA) H01 ! E3: Autorizacao Recuo
ORDRE\O2\O10\O12\O13; EVENT\E3;
! ! O2: Fim Pegar Peça A01
! E3: Autorizacao Recuo ! 10: Seguranca (SA) Colle
EVENT\E3; ! 12: Seguranca (SA) T14
! O2: Fim Pegar Peça A01 ORDRE\O10\O12\O13;
! 12: Seguranca (SA) T14 MoveJ [[4.18,0.02,-285.06],[1,-1.4785E-05,-1.42697E-06,-1.57621E-05],[-2,0,-2,0],
! 13: Seguranca (SA) H01 [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein2\WObj:=A02_X79;
ORDRE\O10\O12\O13; Move_Ordre [[4.18,0.02,-285.06],[1,-1.4785E-05,-1.42697E-06,-1.57621E-05],[-2,0,-2,0],[0,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\
! O12\O13,V_rapide,Z_large,Preh_plein2,A02_X79;
MoveJ [[0.00,-0.01,-286.63],[1,1.52567E-06,2.22312E-07,-9.47657E-06],[-2,-1,-2,0], MoveJ [[669.19,-1055.61,-1331.17],[0.884781,-0.438693,0.13991,0.0716638],[-2,0,-1,0],[-
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=A02_X52; 0.000217272,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein2\WObj:=A02_X79;
Move_Ordre [[0.00,-0.01,-286.63],[1,1.52567E-06,2.22312E-07,-9.47657E-06],[-2,-1,-2,0], !
[0,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\O13,V_rapide,Z_large,Preh_plein1,A02_X52; MoveJ fin_pr_A02_X79,V_rapide,Z_arret,Preh_plein2\WObj:=A02_X79;
MoveJ [[669.21,-1055.75,-1331.07],[0.884782,-0.438692,0.139909,0.0716647],[-2,0,-1,0],[2.45502E- !
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=A02_X52; ! 10: Seguranca (SA) Colle
MoveJ fin_pr_A02_X52,V_rapide,Z_arret,Preh_plein1\WObj:=A02_X52;
!
! 12: Seguranca (SA) T14
Para-brisa
PROC T_col_X52_F2() MoveJ [[135.09,331.09,791.13],[0.688823,0.196121,-0.178493,-0.674685],[-1,0,- PROC T_col_H79() MoveJ [[213.67,143.20,786.15],[0.601691,0.231401,-
Aff_Traj "Traj. cola L52"; 2,1],[5.0614,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,buse1\ Aff_Traj "Traj. cola H79"; 0.185572,-0.741609],[-1,0,-2,1],
AntiReboucle; WObj:=obj_preh1; AntiReboucle; [4.68457,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen
! ! ! ,Z_arret,buse1\WObj:=obj_preh2;
MoveJ deb_Colle_L52,V_rapide,Z_arret,buse1\ ! 04: Fim de cola MoveJ deb_Colle_H79,V_rapide,Z_arret,buse1\ !
WObj:=obj_preh1; ! 10: Seguranca (SA) Colle WObj:=obj_preh2; ! 04: Fim de cola
! ! 11: Seguranca (SA) A01 ! ! 10: Seguranca (SA) Colle
! 10: Seguranca (SA) Colle ! 12: Seguranca (SA) T14 ! 10: Seguranca (SA) Colle ! 11: Seguranca (SA) A01
! 11: Seguranca (SA) A01 ! 13: Seguranca (SA) H01 ! 11: Seguranca (SA) A01 ! 12: Seguranca (SA) T14
! 12: Seguranca (SA) T14 ORDRE\O4\O10\O11\O12\O13; ! 12: Seguranca (SA) T14 ! 13: Seguranca (SA) H01
! 13: Seguranca (SA) H01 ! ! 13: Seguranca (SA) H01 ORDRE\O4\O10\O11\O12\O13;
ORDRE\O10\O11\O12\O13; !! Autorisation de service pistolet 1 : Ordre outil 5 ORDRE\O10\O11\O12\O13; !
! !! Fin de mesure 1 : Ordre outil 6 ! !! Autorisation de service pistolet 1 : Ordre outil 5
!Retorno Origem Cola ORD_OUTIL\O1\O5\O6; ! Retorno Origem Cola !! Fin de mesure 1 : Ordre outil 6
AffAttAiguillage; ! AffAttAiguillage; ORD_OUTIL\O1\O5\O6;
WaitUntil(DInput(EV4_1)<>DInput(EV11_1)); !! Attente mesure terminee : Evenement outil 4 WaitUntil(DInput(EV4_1)<>DInput(EV11_1)); !! Attente mesure terminee : Evenement outil 4
RazAttaiguillage; EVT_OUTIL\E4; RazAttaiguillage; EVT_OUTIL\E4;
IF EV4_1=1 AND EV11_1=0 THEN ! IF EV4_1=1 AND EV11_1=0 THEN !! Degage buse/air 1 : Ordre outil 3
AutoriseTraj; !! Degage buse/air 1 : Ordre outil 3 AutoriseTraj; !! Autorisation de service pistolet 1 : Ordre outil 5
GOTO lab4; !! Autorisation de service pistolet 1 : Ordre outil 5 GOTO lab4; ORD_OUTIL\O1\O3\O5;
ELSE ORD_OUTIL\O1\O3\O5; ELSE !
IF EV11_1=1 AND EV4_1=0 THEN ! IF EV11_1=1 AND EV4_1=0 THEN !Attente autorisation recul encollage
AutoriseTraj; !Attente autorisation recul encollage AutoriseTraj; EVENT\E6;
! Depósito mesa saída EVENT\E6; ! Depósito mesa saída !
T_DP_H02_X52; ! T_DP_H02_X79; ! 04: Fim de cola
GOTO lab11; ! 04: Fim de cola GOTO lab11; ! 10: Seguranca (SA) Colle
ELSE ! 10: Seguranca (SA) Colle ELSE ! 11: Seguranca (SA) A01
ENDIF ! 11: Seguranca (SA) A01 ENDIF ! 12: Seguranca (SA) T14
ENDIF ! 12: Seguranca (SA) T14 ENDIF ! 13: Seguranca (SA) H01
! ! 13: Seguranca (SA) H01 ! ORDRE\O4\O10\O11\O12\O13;
lab4: ORDRE\O4\O10\O11\O12\O13; lab4: !
! ! ! MoveJ [[372.17,187.28,480.65],
!! Autorisation de service pistolet 1 : Ordre outil 5 MoveJ [[304.88,187.27,505.15],[0.689613,0.199109,-0.175431,-0.673805],[- !! Autorisation de service pistolet 1 : Ordre outil [0.684974,0.216041,-0.192782,-0.668559],[-1,0,-2,1],
ORD_OUTIL\O2\O5; 1,0,-2,1],[5,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,buse1\ 5 [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg
!! Attente chauffage 1 OK : Evenement outil 6 WObj:=obj_preh1; ORD_OUTIL\O2\O5; e,buse1\WObj:=obj_preh2;
EVT_OUTIL\E2\E6; MoveJ [[246.37,-1384.72,1132],[0.617228,-0.401917,-0.661564,-0.140804],[- !! Attente chauffage 1 OK : Evenement outil 6 !
!! Envoi code produit 1,0,-1,0],[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,buse1\ EVT_OUTIL\E2\E6; MoveJ fin_Colle_H79,V_rapide,Z_arret,buse1\
SetGO cod_prod1,2; WObj:=obj_preh1; !! Envoi code produit WObj:=obj_preh2;
SetGO cod_debit,1; ! SetGO cod_prod1,3; !
! Tempo pour retarder le start du code MoveJ fin_Colle_L52,V_rapide,Z_arret,buse1\WObj:=obj_preh1; SetGO cod_debit,1; ! 10: Seguranca (SA) Colle
WaitTime 0.2; ! ! Tempo pour retarder le start du code ! 11: Seguranca (SA) A01
! Start 1 : Ordre outil 1 ! 10: Seguranca (SA) Colle WaitTime 0.2; ! 12: Seguranca (SA) T14
! Marche Air 1 : Ordre outil 3 ! 11: Seguranca (SA) A01 ! Start 1 : Ordre outil 1 ! 13: Seguranca (SA) H01
! Autorisation de service pistolet 1 : Ordre outil 5 ! 12: Seguranca (SA) T14 ! Marche Air 1 : Ordre outil 3 ORDRE\O10\O11\O12\O13;
ORD_OUTIL\O1\O3\O5; ! 13: Seguranca (SA) H01 ! Autorisation de service pistolet 1 : Ordre outil 5 !
! Attente pression 1 OK : Evenement outil 5 ORDRE\O10\O11\O12\O13; ORD_OUTIL\O1\O3\O5; ! Raz code produit
EVT_OUTIL\E5; ! ! Attente pression 1 OK : Evenement outil 5 SetGO cod_prod1,0;
!Attente autorisation encollage ! Raz code produit EVT_OUTIL\E5; SetGO cod_debit,0;
!EVENT\E4; SetGO cod_prod1,0; ! ! Raz ordre outil et maintien service pistolet
! ! Raz ordre outil et maintien service pistolet ! 11: Seguranca (SA) A01 ORD_OUTIL\O5;
! 11: Seguranca (SA) A01 ORD_OUTIL\O5; ! 12: Seguranca (SA) T14 !
! 12: Seguranca (SA) T14 ! ! 13: Seguranca (SA) H01 lab11:
! 13: Seguranca (SA) H01 lab11: ORDRE\O11\O12\O13; !
ORDRE\O11\O12\O13; ! ENDPROC
ENDPROC Para-brisa
PROC T_Mesure_T14_B52() PROC T_Mesure_T14_H79()
Aff_Traj "Medição Para brisa B52"; Aff_Traj "Deposita Para brisa H79";
! ! E21: Demande de mesure 1 ! ! E21: Demande de mesure 1
MoveJ EVENT2\E21; MoveJ EVENT2\E21;
deb_dep_T14_B52,V_rapide,Z_large,Preh_plein1\ ! deb_dep_T14_H79,V_rapide,Z_large,Preh_plein2 !
WObj:=T14_X52; ! 10: Seguranca (SA) Colle \WObj:=T14_X79; ! 10: Seguranca (SA) Colle
! ! 11: Seguranca (SA) A01 ! ! 11: Seguranca (SA) A01
MoveJ [[2134.26,-2448.64,2159.65],[0.157633,- ! 13: Seguranca (SA) H01 MoveJ [[2134.26,-2448.64,2159.65], ! 13: Seguranca (SA) H01
0.913674,0.123931,-0.353542],[-1,0,0,0], ! 16: Inhibition (Bi) T14 [0.157633,-0.913674,0.123931,-0.353542],[- ! 16: Inhibition (Bi) T14
[0.00143068,9E+09,9E+09,9E+09,9E+09,9E+09]],V_r ORDRE\O10\O11\O13\O16; 1,0,0,0], ORDRE\O10\O11\O13\O16;
apide,Z_large,Preh_plein1\WObj:=T14_X52; ORDRE2; [0.00143068,9E+09,9E+09,9E+09,9E+09,9E+09]], !
MoveJ [[509.55,-503.89,2168.10],[0.182559,- ! V_rapide,Z_large,Preh_plein2\WObj:=T14_X79; ! Aguarda verificacao 1;
0.980178,-0.0248096,-0.0728589],[0,-1,1,0],[- ! Aguarda verificacao 1; MoveJ [[509.49,-503.82,2167.97], MoveJ
0.00120604,9E+09,9E+09,9E+09,9E+09,9E+09]],V_ra MoveJ [0.182516,-0.980188,-0.0248126,-0.0728317], p_Mesure1_H79,V_rapide,Z_arret,Preh_plein2
pide,Z_arret,Preh_plein1\WObj:=T14_X52; p_Mesure1_B52,V_rapide,Z_arret,Preh_plein1\ [0,-1,1,0],[- \WObj:=T14_X79;
! WObj:=T14_X52; 0.000986314,9E+09,9E+09,9E+09,9E+09,9E+09]], !
! 29: Aguarda Mdição Carroceria ! V_rapide,Z_arret,Preh_plein2\WObj:=T14_X79; ! 10: Seguranca (SA) Colle
ORDRE2\O29; ! 10: Seguranca (SA) Colle ! ! 11: Seguranca (SA) A01
! ! 11: Seguranca (SA) A01 AffAttAiguillage; ! 13: Seguranca (SA) H01
AffAttAiguillage; ! 13: Seguranca (SA) H01 ! 16: Inhibition (Bi) T14
WaitUntil(DInput(EV21_1)<>DInput(EV15_1)); ! 16: Inhibition (Bi) T14 WaitUntil(DInput(EV21_1)<>DInput(EV15_1)); ! 21: Robot en point de Mesure 1
RazAttaiguillage; ! 21: Robot en point de Mesure 1 RazAttaiguillage; ! E25: Attente de mesure Echange
IF EV21_1=1 AND EV15_1=0 THEN ! E25: Attente de mesure Echange IF EV21_1=1 AND EV15_1=0 THEN ORDRE\O10\O11\O13\O16;
AutoriseTraj; ORDRE\O10\O11\O13\O16; AutoriseTraj; !
GOTO lab25; EVENT2; GOTO lab25; EVENT2;
ELSE ORDRE2\O21; ELSE ORDRE2\O21;
IF EV15_1=1 AND EV21_1=0 THEN ! IF EV15_1=1 AND EV21_1=0 THEN !
AutoriseTraj; AffAttAiguillage; AutoriseTraj; AffAttAiguillage;
T_RO_T14_X52; T_RO_T14_X79;
! WaitUntil(DInput(EV25_1)<>DInput(EV26_1)); ! WaitUntil(DInput(EV25_1)<>DInput(EV26_1));
AutoriseTraj; RazAttaiguillage; AutoriseTraj; RazAttaiguillage;
! Depósito mesa saída IF EV25_1=1 AND EV26_1=0 THEN ! Depósito mesa saída IF EV25_1=1 AND EV26_1=0 THEN
T_DP_H02_X52; AutoriseTraj; T_DP_H02_X79; AutoriseTraj;
! ! Depósito vidro na carroceria ! ! Depósito vidro na carroceria
ELSE T_DP_T14_B52; ELSE T_DP_T14_H79;
ENDIF ELSE ENDIF ELSE
ENDIF IF EV26_1=1 AND EV25_1=0 THEN ENDIF IF EV26_1=1 AND EV25_1=0 THEN
! AutoriseTraj; ! AutoriseTraj;
!SAIDA RETORNO ORIGEM ! Liberação Carroceria !SAIDA RETORNO ORIGEM ! Liberação Carroceria
GOTO lab15; T_Degagement_X52; GOTO lab15; T_Degagement_X79;
! ! ! !
!TRAJETORIA DE MEDICAO AutoriseTraj; !TRAJETORIA DE MEDICAO AutoriseTraj;
lab25: ! Depósito mesa saída lab25: ! Depósito mesa saída
! T_DP_H02_X52; ! T_DP_H02_X79;
Init_vecteur; ELSE Init_vecteur; ELSE
! ENDIF ! ENDIF
! 10: Seguranca (SA) Colle ENDIF ! 10: Seguranca (SA) Colle ENDIF
! 11: Seguranca (SA) A01 ! ! 11: Seguranca (SA) A01 !
! 12: Seguranca (SA) T14 lab15: ! 12: Seguranca (SA) T14 lab15:
! 13: Seguranca (SA) H01 ! ! 13: Seguranca (SA) H01 !
! 16: Inhibition (Bi) T14 ENDPROC ! 16: Inhibition (Bi) T14 ENDPROC
ORDRE\O10\O11\O12\O13\O16; ORDRE\O10\O11\O12\O13\O16;
Para-brisa
PROC T_DP_H02_X79()
PROC T_DP_H02_X52() Aff_Traj "Depósito mesa de saída X79";
Aff_Traj "Deposita mesa saída X52"; AntiReboucle;
AntiReboucle; MoveJ deb_dep_H02_X79,V_rapide,Z_arret,Preh_plein2\WObj:=H02_X79;
! !
MoveJ deb_dep_H02_X52,V_rapide,Z_arret,Preh_plein1\WObj:=H02_X52; ! 10: Seguranca (SA) Colle
! 12: Seguranca (SA) T14 ! 13: Seguranca (SA) H01
ORDRE\O10\O11\O12\O13; !
! ! E8: Autorizacao Deposito H01
! E8: Autorizacao Deposito H01 EVENT\E8;
ORDRE\O10\O11\O12; !
! MoveJ [[170.28,-459.4,-1259.51],[0.699056,-0.295709,0.260065,0.596861],[-1,0,-1,0],
MoveJ [[0.04,0.00,-246.50],[1,-7.57284E-07,-7.49504E-08,4.02953E-07],[-1,-1,-2,0], [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein2\WObj:=H02_X79;
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein1\WObj:=H02_X52; MoveJ [[2.56,0,-245.03],[1,-5.72767E-07,-6.26706E-08,-4.03795E-07],[-1,-1,-2,0],
! [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_plein2\WObj:=H02_X79;
MoveL p_dp_H02_X52,V_moyen,Z_arret,Preh_plein1\WObj:=H02_X52; !
! ! Deposito vidro;
! O8: Fim Depositar Peça H01 MoveL p_dp_H02_X79,V_moyen,fine,Preh_plein2\WObj:=H02_X79;
! 11: Seguranca (SA) A01 ! O8: Fim Depositar Peça H01
ORDRE\O8\O10\O11\O12; ! 11: Seguranca (SA) A01
! E9: Autorizacao Recuo H01 ! 12: Seguranca (SA) T14
EVENT\E9; ORDRE\O8\O10\O11\O12;
! 10: Seguranca (SA) Colle ! E5: Autorizacao Recuo H01
! 11: Seguranca (SA) A01 EVENT\E9;
ORDRE\O10\O11\O12; ! 11: Seguranca (SA) A01
! ! 12: Seguranca (SA) T14
MoveJ [[0.05,0.00,-246.50],[1,-3.35927E-08,-1.96564E-08,-2.01978E-06],[-1,-1,-2,0], ORDRE\O10\O11\O12;
[0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_vide1\WObj:=H02_X52; !
! MoveJ [[2.56,0,-245.03],[1,4.77803E-07,1.72014E-08,-1.39994E-06],[-1,-1,-2,0],
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H02_X79;
! MoveJ [[157.66,-424.72,-1299.13],[0.595071,-0.290248,0.321509,0.676963],[-1,0,-1,0],
! 10: Seguranca (SA) Colle [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_moyen,Preh_vide1\WObj:=H02_X79;
! 12: Seguranca (SA) T14 MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
ORDRE\O10\O11\O12\O13; ! 10: Seguranca (SA) Colle
ENDPROC ! 12: Seguranca (SA) T14
!
ENDPROC
Para-brisa
PROC T_DP_T14_B52() PROC T_DP_T14_H79()
AntiReboucle; Aff_Traj "Deposita Para brisa X79";
Init_vecteur; AntiReboucle;
! Aguarda verificacao 1; ! Init_vecteur;
MoveJ p_Mesure1_B52,V_rapide,Z_arret,Preh_plein1\ ! 10: Seguranca (SA) Colle ! Aguarda verificacao 1; ! 10: Seguranca (SA) Colle
WObj:=T14_X52; ! 11: Seguranca (SA) A01 MoveJ ! 11: Seguranca (SA) A01
! 10: Seguranca (SA) Colle ! 13: Seguranca (SA) H01 p_Mesure1_H79,V_rapide,Z_arret,Preh_plein ! 13: Seguranca (SA) H01
! 11: Seguranca (SA) A01 ! 16: Inhibition (Bi) T14 2\WObj:=T14_X79; ORDRE\O10\O11\O13\O16;
! 13: Seguranca (SA) H01 ORDRE\O10\O11\O13\O16; ! 10: Seguranca (SA) Colle !
! 16: Inhibition (Bi) T14 ! ! 11: Seguranca (SA) A01 !
! 20: Aguarda Medição Carroceria ResetDecalage; ! 13: Seguranca (SA) H01 ResetDecalage;
! 21: Robot en point de Mesure 1 ! ! 21: Robot en point de Mesure 1 !
ORDRE\O10\O11\O13\O16; MoveJ [[478.30,13.23,1154.72], ! E25: Attente de mesure Echange !
EVENT2; [0.00159148,0.972766,0.00122327,0.231779],[0,- ORDRE\O10\O11\O13\O16; MoveJ [[567.53,-0.55,1159.18],[6.73577E-06,-
ORDRE2\O20\O21; 1,1,0],[2.45502E- EVENT2; 0.966088,1.03704E-05,-0.258211],[0,-1,1,0],
! 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_mo ORDRE2\O21; [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moye
Echange_vecteur; yen,Preh_vide1\WObj:=T14_X52; ! n,Preh_vide1\WObj:=T14_X79;
SetDecalage; MoveJ [[804.66,-377.94,1684.37],[0.0649041,- !EVENT2\E25; MoveJ [[804.66,-377.94,1684.37],[0.0649043,-
!E5: Autorizacao de deposito 0.972683,0.0157521,-0.222322],[0,-1,1,0],[2.45502E- !ORDRE2; 0.972683,0.0157518,-0.222322],[0,-1,1,0],[2.45502E-
EVENT\E5; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg ! 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,P
! 10: Seguranca (SA) Colle e,Preh_vide1\WObj:=T14_X52; Echange_vecteur; reh_vide1\WObj:=T14_X79;
! 11: Seguranca (SA) A01 Move_Ordre [[804.66,-377.94,1684.37], ! Move_Ordre [[804.66,-377.94,1684.37],
! 13: Seguranca (SA) H01 [0.0649041,-0.972683,0.0157521,-0.222322],[0,- SetDecalage; [0.0649043,-0.972683,0.0157518,-0.222322],[0,-1,1,0],
! 16: Inhibition (Bi) T14 1,1,0],[2.45502E- ! [2.45502E-06,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\
ORDRE\O10\O11\O13\O16; 06,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\O11\O12\ !E5: Autorizacao de deposito O11\O12\O13\
ORDRE2; O13\O16,V_rapide,Z_large,Preh_vide1,T14_X52; EVENT\E5; O16,V_rapide,Z_large,Preh_vide1,T14_X79;
! MoveJ [[1119.21,-1364.44,1810.04],[0.196193,- ! 10: Seguranca (SA) Colle MoveJ [[1119.17,-1364.44,1810.01],[0.196187,-
MoveJ [[555.92,12.79,1001.07], 0.955294,0.0471706,-0.216094],[0,-1,1,0], ! 11: Seguranca (SA) A01 0.955301,0.0471679,-0.21607],[0,-1,1,0],
[0.00159291,0.972766,0.00122459,0.23178],[0,-1,1,0],[- [0,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg ! 13: Seguranca (SA) H01 [0.000222182,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapi
0.000217272,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large, e,Preh_vide1\WObj:=T14_X52; ORDRE\O10\O11\O13\O16; de,Z_large,Preh_vide1\WObj:=T14_X79;
Preh_plein1\WObj:=T14_X52; MoveJ [[1119.17,-1364.44,1810.03],[0.196191,- ! !
!MoveL [[563.32,11.58,987.55],[0.000933568,0.972766,- 0.9553,0.0471696,-0.216069],[0,-1,1,0],[2.45502E- MoveL [[600.52,11.19,973.44], !Move_Ordre [[1119.17,-1364.44,1810.03],
0.000206906,0.231789],[0,-1,1,0],[- 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg [0.00208998,0.963592,- [0.196193,-0.9553,0.0471689,-0.216069],[0,-1,1,0],
0.000766588,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moy e,Preh_vide1\WObj:=T14_X52; 0.000658366,0.267369],[0,-1,1,0],[- [2.45502E-06,9E+09,9E+09,9E+09,9E+09,9E+09]]\O10\
en,Preh_plein1\WObj:=T14_X52; ! 0.000546861,9E+09,9E+09,9E+09,9E+09,9E+0 O11\O12\O13\O16, V_rapide, Z_large, Preh_vide1,
MoveL [[565.14,12.74,982.82], !Move_Ordre [[1119.17,-1364.44,1810.03], 9]],V_moyen,Z_moyen,Preh_plein2\ T14_X79;
[0.00159325,0.972766,0.0012237,0.231779],[0,-1,1,0],[2.45502E- [0.196191,-0.9553,0.0471696,-0.216069],[0,-1,1,0], WObj:=T14_X79; MoveJ [[1119.17,-1364.44,1810.03],[0.196193,-
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_moyen,Z_moyen,Preh_pl [2.45502E-06,9E+09,9E+09,9E+09,9E+09,9E+09]]\ ! 0.9553,0.0471689,-0.216069],[0,-1,1,0],[2.45502E-
ein1\WObj:=T14_X52; O10\O11\O12\O13\O16, V_rapide, Z_large, ! Deposito vidro; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,P
! Preh_vide1, T14_X52; MoveL reh_vide1\WObj:=T14_X79;
! Deposito vidro; MoveJ [[2387.98,-2717.97,1799.76],[0.179807,- p_dp_T14_X79,V_moyen,Z_arret,Preh_plein2 MoveJ [[2387.98,-2717.97,1799.76],[0.179807,-
MoveL p_dp_T14_X52,V_lent,Z_arret,Preh_plein1\ 0.721708,0.634041,-0.211657],[-1,-1,0,0],[2.45502E- \WObj:=T14_X79; 0.721709,0.63404,-0.211657],[-1,-1,0,0],[2.45502E-
WObj:=T14_X52; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg ! O5: Fim deposito vidro; 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,P
! e,Preh_vide1\WObj:=T14_X52; ! 10: Seguranca (SA) Colle reh_vide1\WObj:=T14_X79;
! O5: Fim deposito vidro; MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; ! 11: Seguranca (SA) A01 !
! 10: Seguranca (SA) Colle ! 10: Seguranca (SA) Colle ! 13: Seguranca (SA) H01 MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
! 11: Seguranca (SA) A01 ! 11: Seguranca (SA) A01 ORDRE\O5\O10\O11\O13\O16; ! 10: Seguranca (SA) Colle
! 13: Seguranca (SA) H01 ! 12: Seguranca (SA) T14 ! E14: Autorizacao Recuo T14 ! 11: Seguranca (SA) A01
! 16: Inhibition (Bi) T14 ! 13: Seguranca (SA) H01 EVENT\E14; ! 12: Seguranca (SA) T14
ORDRE\O5\O10\O11\O13\O16; ORDRE\O1\O10\O11\O12\O13; ! 13: Seguranca (SA) H01
! ! ORDRE\O1\O10\O11\O12\O13;
! E14: Autorizacao Recuo T14 ENDPROC !
EVENT\E14; ENDPROC
Para-brisa
PROC T_Degagement_X52() PROC T_Degagement_X52()
Aff_Traj "Degagement X52"; Aff_Traj "Degagement X52";
! !
MoveJ deb_dega_T14_X52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_X52; MoveJ deb_dega_T14_X52,V_rapide,Z_arret,Preh_plein1\WObj:=T14_X52;
! !
! 16: Inhibition (Bi) T14 ! 16: Inhibition (Bi) T14
! !
ORDRE2; ORDRE2;
! !
! 16: Inhibition (Bi) T14 ! 16: Inhibition (Bi) T14
! !
MoveJ [[746.29,-1312.63,1984.56],[0.243629,-0.966242,-0.034218,- MoveJ [[746.29,-1312.63,1984.56],[0.243629,-0.966242,-0.034218,-0.076489],[0,-1,1,0],[2.45502E-
0.076489],[0,-1,1,0],[2.45502E- 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_X52;
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\ MoveJ [[662.96,-1363.99,1474.46],[0.262014,-0.596179,-0.72793,-0.214565],[0,0,0,0],
WObj:=T14_X52; [0.00121095,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_X52;
MoveJ [[662.96,-1363.99,1474.46],[0.262014,-0.596179,-0.72793,-0.214565], MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
[0,0,0,0], !
[0.00121095,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\ ! 10: Seguranca (SA) Colle
WObj:=T14_X52; ! 11: Seguranca (SA) A01
ORDRE\O10\O11\O12\O13; ENDPROC
!
ORDRE2;
!
ENDPROC
Para-brisa
PROC T_RO_T14_X52() PROC T_RO_T14_X52()
Aff_Traj "Retorno_Origem_X52"; Aff_Traj "Retorno_Origem_X52";
! !
MoveJ [[509.55,-503.89,2168.10],[0.182559,- MoveJ [[509.55,-503.89,2168.10],[0.182559,-0.980178,-0.0248096,-0.0728589],[0,-1,1,0],[-
0.980178,-0.0248096,-0.0728589],[0,-1,1,0],[- 0.00120604,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_arret,Preh_plein1\WObj:=T14_X52;
0.00120604,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rap !
ide,Z_arret,Preh_plein1\WObj:=T14_X52; !
ORDRE\O10\O11\O13\O16; ! E15: Autorisation Retorno Origem
! EVENT\E15;
! E15: Autorisation Retorno Origem ORDRE2;
EVENT\E15; !
ORDRE2; MoveJ [[746.29,-1312.63,1984.56],[0.243629,-0.966242,-0.034218,-0.076489],[0,-1,1,0],[2.45502E-
! 06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_X52;
MoveJ [[746.29,-1312.63,1984.56],[0.243629,- MoveJ [[662.96,-1363.99,1474.46],[0.262014,-0.596179,-0.72793,-0.214565],[0,0,0,0],
0.966242,-0.034218,-0.076489],[0,-1,1,0],[2.45502E- [0.00121095,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_large,Preh_plein1\WObj:=T14_X52;
06,9E+09,9E+09,9E+09,9E+09,9E+09]],V_rapide,Z_larg MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut;
e,Preh_plein1\WObj:=T14_X52; !
MoveJ [[662.96,-1363.99,1474.46],[0.262014,- ! 10: Seguranca (SA) Colle
0.596179,-0.72793,-0.214565],[0,0,0,0], ! 11: Seguranca (SA) A01
[0.00121095,9E+09,9E+09,9E+09,9E+09,9E+09]],V_ra ! 12: Seguranca (SA) T14
pide,Z_large,Preh_plein1\WObj:=T14_X52; ! 13: Seguranca (SA) H01
MoveJ p_reb_prg,V_rapide,Z_arret,Tool_defaut; ORDRE\O10\O11\O12\O13;
! !
! 10: Seguranca (SA) Colle ORDRE2;
! 12: Seguranca (SA) T14 ENDPROC
!
ORDRE2;
!
ENDPROC
Para-brisa
CASE 1: CASE 3: CASE 21: CASE 23: CASE 33:
Aff_Prog prog,"B52"; Aff_Prog prog,"HJF"; H79 Aff_Prog prog,"B52"; Aff_Prog prog,"HJF";
H79 CASE 31:
Aff_Prog prog,"B52"; Aff_Prog prog,"HJF"; H79
! pulse sur la sortie Acquittement code ! pulse sur la sortie Acquittement code ! pulse sur la sortie Acquittement code ! pulse sur la sortie Acquittement code ! pulse sur la sortie Acquittement code ! pulse sur la sortie Acquittement code
PulseDO\PLength:=1,ACQ_CODE1; PulseDO\PLength:=1,ACQ_CODE1; PulseDO\PLength:=1,ACQ_CODE1; PulseDO\PLength:=1,ACQ_CODE1; PulseDO\PLength:=1,ACQ_CODE1; PulseDO\PLength:=1,ACQ_CODE1;
! SCA RAZ pompe et RAZ chauffage ! SCA RAZ pompe et RAZ chauffage ! SCA RAZ pompe et RAZ chauffage ! SCA RAZ pompe et RAZ chauffage ! SCA RAZ pompe et RAZ chauffage ! SCA RAZ pompe et RAZ chauffage
PulseDO\PLength:=1,doRaz_P; PulseDO\PLength:=1,doRaz_P; PulseDO\PLength:=1,doRaz_P; PulseDO\PLength:=1,doRaz_P; PulseDO\PLength:=1,doRaz_P; PulseDO\PLength:=1,doRaz_P;
PulseDO\PLength:=1,doRaz_C; PulseDO\PLength:=1,doRaz_C; PulseDO\PLength:=1,doRaz_C; PulseDO\PLength:=1,doRaz_C; PulseDO\PLength:=1,doRaz_C; PulseDO\PLength:=1,doRaz_C;
AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj;
! Prise maquette A02 ! Prise maquette A02 ! Prise maquette A02 ! Prise maquette A02 ! Prise maquette A02 ! Prise maquette A02
T_PR_A01_B52; T_PR_A01_HJF; T_PR_A01_B52; T_PR_A01_HJF; T_PR_A01_B52; T_PR_A01_HJF;
! ! encollage H79 ! ! ! !
AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj; AutoriseTraj;
! encollage B52 T_col_HJF; ! encollage B52 ! encollage H79 ! Depósito mesa H01 saída ! Depósito mesa H01 saída
T_col_B52; ! T_col_B52; T_col_HJF; T_DP_H01_B52; T_DP_H01_HJF;
! !Retorno Origem Cola ! ! !
!Retorno Origem Cola IF DInput(EV9_1)=1 THEN AutoriseTraj; AutoriseTraj;
IF DInput(EV9_1)=1 THEN AutoriseTraj; ! Depósito mesa H01 saída ! Depósito mesa H01 saída
AutoriseTraj; GOTO lab13; T_DP_H01_B52; T_DP_H01_HJF;
GOTO lab11; ELSE ! !
ELSE ENDIF
ENDIF !
! !demande de presentation par operateur
!demande de presentation par operateur IF DInput(EV7_1)=1 THEN
IF DInput(EV7_1)=1 THEN AutoriseTraj;
AutoriseTraj; T_Presentation;
! decision operateur ! decision operateur
T_Presentation; AffAttaiguillage;
! WaitUntil DInput(EV13_1)<>DInput(EV12_1);
AffAttaiguillage; RazAttaiguillage;
WaitUntil DInput(EV13_1)<>DInput(EV12_1); IF DInput(EV13_1)=1 THEN
RazAttaiguillage; !attente piece bonne ou a evacuer
IF DInput(EV13_1)=1 THEN AffAttaiguillage;
!attente piece bonne ou a evacuer WaitUntil DInput(EV21_1)<>DInput(EV8_1);
AffAttaiguillage; RazAttaiguillage;
WaitUntil DInput(EV21_1)<>DInput(EV8_1); IF DInput(EV21_1)=1 THEN
RazAttaiguillage; AutoriseTraj;
IF DInput(EV21_1)=1 THEN ! Medição Carroceria
AutoriseTraj; T_Mesure_T14_HJF;
! Medição Carroceria ELSE
T_Mesure_T14_B52; AutoriseTraj;
ELSE ! Depósito mesa H01 saída
AutoriseTraj; T_DP_H01_HJF;
! Depósito mesa H01 saída ENDIF
T_DP_H01_B52; ELSE
ENDIF !attente mariage NOK et à evacuer
ELSE IF DInput(EV7_1)=1 THEN
!attente mariage NOK et à evacuer AutoriseTraj;
IF DInput(EV7_1)=1 THEN ! Medição Carroceria
! Medição Carroceria ELSE
T_Mesure_T14_B52; AutoriseTraj;
ELSE ! Depósito mesa H01 saída
AutoriseTraj; T_DP_H01_HJF;
! Depósito mesa H01 saída ENDIF
T_DP_H01_B52; ENDIF
ENDIF ELSE
ENDIF AutoriseTraj;
ELSE ! Medição Carroceria
! Medição Carroceria ENDIF
T_Mesure_T14_B52; !
ENDIF lab13:
! !
lab11:

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Aff_Prog prog,"B52";

CASES REFERÊNCIA (B52) CASES UTILIZADOS P/ HJF

NOVO TOOLDATE (HJF)

NOVOS ROBTARGET (HJF)

NOVOS WOBJDATA (HJF)

NOVO TOOLDATE (HJF)

NOVOS ROBTARGET (HJF)

NOVOS WOBJDATA (HJF)

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