/ This program communicates with a PLC. The PLC controls a
/ motorized conveyor and an automatic loading hopper to refill
/ the robot loader chute.

Main program:
J	P[1:safe] 100% FINE		/ home location out of workcell
	RO[1]=ON			/ default position for gripper
J	PR[1] 100% FINE		/ teach original drop location
L	PR[2] 100mm/sec CNT50	/ teach original above-drop location
J	P[1:safe] 100% FINE		/ retreat to safe location
	DO[3]=ON		/ set "working" output when ready for pallet
		LBL[40]		/ begin palletizing routine
	WAIT DI[5]=ON		/ wait for pallet to land in position
	PR[3]=PR[1]
	PR[4]=PR[2]
	R[6]=0
		LBL[30]
	R[5]=0
	PR[3,1]=PR[1,1]
	PR[4,1]=PR[2,1]
		LBL[20]
	PR[3,2]=PR[1,2]
	PR[4,2]=PR[2,2]
	R[3]=0
	R[4]=0
		LBL[10]
	Call SUB-MOTION		/ load one part into pallet
	PR[3,2]=PR[1,2]+49		/ positional values for drop
	PR[4,2]=PR[2,2]+49
	R[3]=R[3]+1
	R[4]=R[4]+1
	If R[3]<5, Jmp LBL[10]
	PR[3,1]=PR[1,1]-59		/ positional values for drop
	PR[4,1]=PR[2,1]-59
	R[5]=R[5]+1
	If R[5]<4, Jmp LBL[20]
	PR[3,3]=PR[1,3]+38		/ positional values for drop
	PR[4,3]=PR[2,3]+38
	R[6]=R[6]+1
	If R[6]<3, Jmp LBL[30]
J	P[1:safe] 100% CNT50		/ retreat to safe location when done
	DO[3]=OFF		/ clear working output, PLC removes the full pallet
	JMP LBL[40]		/ loop and do it again
[END]

Subroutine: SUB-MOTION
	If DI[2]=OFF call SUB-NOPARTS		/ call sub if loader empty
J	P[1:appro-pick] 100% CNT15		/ approach pick location
L	P[2:pick] 85mm/sec FINE		/ move to pick
	RO[1]=OFF		/ grab part
L	P[1:appro-pick] 100mm/sec FINE		/ depart from pick
J	P[3:middlea] 100% CNT50		/ middle position
J	P[4:middleb] 100% CNT50		/ middle position
J	PR[3] 100% CNT15		/ approach phantom drop location
L	PR[4] 85mm/sec FINE		/ move to phantom drop
	RO[1]=ON		/ release part
L	PR[3] 100mm/sec FINE		/ depart from phantom drop
J	P[4:middleb] 100% CNT50		/ middle position
J	P[3:middlea] 100% CNT50		/ middle position
	END
[END]

Subroutine: SUB-NOPARTS
J	P[1:safe] 100% FINE		/ move to safe position for loading
	DO[4]=ON		/ parts autoloader signal to PLC
	WAIT DI[2]=ON		/ wait for additional parts to load
	WAIT DI[3]=ON		/ wait for loader full signal
	DO[4]=OFF
	WAIT 2sec		/ wait for autoloader to stop
	END
[END]