CNC TENDER ROBOT
PROGRAM: FLIP
J	PR[5:CNC_back] 100% FINE	/ move to drive position
	RO[1:Gripper]=OFF			/ verify gripper closed
	!robot 7th axis drives into CNC enclosure
	DO[17:door_up]=ON 			/ open cnc window
	WAIT DI[25]=ON   			/ wait for high limit switch
	DO[17:door_up]=OFF
	DO[7:blink_light]=ON		/ blink light
	DO[22:drive_in]=ON			/ robot's 7th axis drive engage
	!
	LBL[5]
	DO[5:buzz_high]=ON
	DO[8:two_lights]=ON 
	WAIT    .50(sec) 
	DO[5:buzz_high]=OFF 
	DO[8:two_lights]=OFF 
	DO[6:buzz_low]=ON 
	WAIT    .50(sec) 
	DO[6:buzz_low]=OFF 
	IF DI[26]=OFF,JMP LBL[5]	/ loop if still moving
	DO[22:drive_in]=OFF 		/ end of travel
	DO[7:blink_light]=OFF
	DO[8:two_lights]=OFF 
	DO[6:buzz_low]=OFF 
	DO[5:buzz_high]=OFF 
	!	
	!robot flip part
L	P[1:pick_approach] 300mm/sec CNT30	/ approach pick
L	P[16:pick] 100mm/sec FINE			/ pick location
	RO[1:Gripper]=ON					
	WAIT    .25(sec) 
	DO[20:vice_clamp]=OFF 
	WAIT    .50(sec)
L	P[3:pick_depart] 200mm/sec CNT20    / remove part from vice
L	P[4] 200mm/sec CNT20   
J	P[5] 50% CNT20    
J	P[6] 100% CNT3    
J	P[7] 100% CNT10    
L	P[11:drop_appro] 300mm/sec CNT15   
L	PR[8:drop] 100mm/sec FINE			/ drop workpiece in vice
	RO[1:Gripper]=OFF 
	WAIT    .50(sec) 
L	P[10:depart] 200mm/sec CNT15    	/ move gripper out from vice
L	P[8] 300mm/sec CNT30    			/ reposition for spring
L	P[9] 500mm/sec CNT15   
L	P[15:spring] 150mm/sec FINE    		/ push spring against workpiece
	WAIT    .50(sec) 
	DO[20:vice_clamp]=ON 				/ clamp vice
	WAIT    .25(sec) 
L	P[14:spring_depart] 200mm/sec CNT20 / gripper depart
L	P[9] 500mm/sec CNT25    
J	PR[5:CNC_back] 50% FINE				/ move to drive position
	!
	!robot 7th axis drives out of CNC enclosure
	DO[7:blink_light]=ON			/ blink lights
	DO[19:drive_out]=ON 			/ robot's 7th axis drive engage
	!
	LBL[5] 
	DO[5:buzz_high]=ON 
	DO[8:two_lights]=ON 
	WAIT    .50(sec) 
	DO[5:buzz_high]=OFF 
	DO[8:two_lights]=OFF 
	DO[6:buzz_low]=ON 
	WAIT    .50(sec) 
	DO[6:buzz_low]=OFF 
	IF DI[27]=OFF,JMP LBL[5]		/ loop if still moving
	DO[19:drive_out]=OFF 			/ cease drive signal
	DO[7:blink_light]=OFF 
	DO[8:two_lights]=OFF 
	DO[6:buzz_low]=OFF 
	DO[5:buzz_high]=OFF 
	DO[18:door_down]=ON				/ lower CNC window
	WAIT DI[21:window_down]=ON   	/ wait for window to be closed
	DO[18:door_down]=OFF 			/ cease window signal
	! return to conveyor line scan routine
[END]