%%%
 VERSION:1
 LANGUAGE:ENGLISH
%%%
MODULE ABB3
	PROC weldmain()
		MoveJ[*safe],v1000,z50,tool20			/ retracted safe position
		FOR a FROM 1 to 5					/ do the following 5 times
			lbl10							/ fixturing loop begins here
			WaitUntil di_15, on				/ verify the safety gate closed
			WaitUntil di_16, on				/ wait for start button
			IF di_19=off THEN
				GOTO lbl10					/ loop if part not in fixture
				ELSEIF di_19=on THEN
				GOTO next
				ENDIF
			! start weld cycle
			Set do_4, on					/ turn on "welding" indicator
			MoveJ[*c1-appro],v1000,z50,tool20		/ approach top corner and orient welding gun
			MoveJ[*c1a],v1000,z50,tool20		/ move to top corner
			Set do_20, on					/ weld output ON
			MoveL[*c2a],v10,fine,tool20		/ weld upper-left edge
			Set do_20, off
			MoveJ[*c2-depart],v100,z5,tool20		/ depart from corner and re-orient weld gun
			MoveJ[*c2b],v100,fine,tool20		/ move to left corner
			Set do_20, on
			MoveL[*c3],v10,fine,tool20		/ weld lower-left edge
			Set do_20, off
			MoveJ[*c3-depart],v500,z20,tool20		/ depart up from box
			MoveJ[*c1-appro],v1000,z20,tool20		/ approach top corner again and re-orient
			MoveJ[*c1b],v100,fine,tool20		/ move to top corner
			Set do_20, on
			MoveL[*c3a],v10,fine,tool20		/ weld upper-right edge
			Set do_20, off
			MoveJ[*c3-depart],v1000,z5,tool20		/ depart from corner and re-orient weld gun
			MoveJ[*c3b],v100,fine,tool20		/ move to right corner
			Set do_20, on
			MoveL[*c4],v10,fine,tool20		/ weld lower-right edge
			Set do_20, off
			MoveJ[*c4-depart],v500,z20,tool20		/ depart up from box
			MoveJ[*safe],v1000,z50,tool20		/ retracted position
			! end weld cycle
			Set do_4, off					/ turn off welding indicator
			ENDFOR							/ loop and do it 5 times
		Set do_5, on						/ turn on cycle finished indicator
	ENDPROC
ENDMODULE