.PROGRAM main()
	REACTI (1001), sub.gate	; Check the safety gate input continuously
	FLASH=0	; Initialize "flash" variable
	OPENI	; Default position for the gripper
	RESET
	DEPART 100	; Prepare to move to #home
	MOVE #home	; Start program at this precision location
	FOR a = 0 TO 1
		FOR b = 0 TO 3
			SET sdrop = SHIFT(drop BY b*49, -a*59, 0)	; Shifted locations
			CALL sub.load()	; Load the pallet with parts
		END
	END
	MOVE #home
	WAIT SIG(1034)	; Wait for button before proceeding
	TYPE /C20, /X10, "Push green button to unload parts", /C20
	FOR c = 0 TO 1
		FOR d = 0 TO 3
			SET sdrop = SHIFT(drop BY d*49, -c*59, 0)	; Shifted locations
			CALL sub.unload()	; Unload parts from the pallet
		END
	END
	MOVE #home	; End program at this pecision location
	TYPE /C20, /X10, "Program finished - Eight parts moved into hopper", /C20
.END
.PROGRAM sub.gate()
	DETACH ()	; No power to the robot
	TYPE /C20, /X20, "The safety gate has become open!", /C20
 10	CALL sub.flasher
	IF SIG(1001) GOTO 10	; Loop if gate still open
	TYPE /C20, /X25, "Safety gate closed"	; Continue program if closed
	TYPE /X20, "Workcell was open for ", FLASH, " seconds."
	TYPE /X24, "Waiting for green button...", /C20
	WAIT SIG(1034)	; Wait for button confirmation before proceeding
	ATTACH ()	; Reactivate power to the robot
	REACTI (1001), sub.gate	; Reactivate the safety gate
	SPEED SPEED(3)
	MOVE DEST	; Go back to the main program
	RETURN
.END
.PROGRAM sub.flasher()
	FLASH=FLASH+1	; Increment variable each time this loops
	SIG 34	; Flash this output on then off
	WAIT.EVENT , 0.5
	SIG -34
	WAIT.EVENT , 0.5
	RETURN
.END
.PROGRAM sub.load()
; Moves 8 parts from the loader into the pallet.
	APPRO pick, 40
	SIG 38	; Extend the loader piston
	WAIT.EVENT, 1.5
	IF SIG(-1040) THEN	; If prox switch is empty, goto sub.NOPARTS
		CALL sub.nopats()
	END	; If part in position, extend piston and continue  v v v
	SPEED 20
	MOVES pick
	BREAK
	CLOSEI	; Grab the part
	SIG -38	; Retract the piston
	DEPART 100 ; Remove part from the loader
	APPRO sdrop, 40
	SPEED 20
	MOVES sdrop
	BREAK
	OPENI	; Let the part go
	DEPART 60
	RETURN	; One part moved from loader to pallet.
.END
.PROGRAM sub.noparts()
; Use this program to feed additional parts through the loader.
	SIG -38	; The piston is still extended - retract it now
 70	TYPE /C20, /X15, "Load more parts into the piston..."
	TYPE /X20, "Push 1038 to actuate piston.", /C20
	WHILE SIG(1038) DO
		SIG 38	; Piston extended as long as switch pressed
	END
	SIG -38	; Retract piston when switch released
	IF SIG(-1040) GOTO 70	; if loader still empty, loop and do again
	TYPE /C20, /X10, "Part loaded - program proceeding...", /C20
	RETURN
.END
.PROGRAM sub.unload()
; Moves 8 parts from the pallet to the hopper.
	APPRO sdrop, 60
	SPEED 20
	MOVES sdrop
	BREAK
	CLOSEI	; Grab the part
	DEPART 100	; Remove the part from pallet
	MOVE hopper
	BREAK
	OPENI	; Let the part go
	RETURN
.END
.LOCATIONS
drop 0.986443102 -0.164103657 0 -0.164103657 -0.986443102 0 0 0 -1 391.981323242 -500.673736572 863.316711426
#home -27.958593369 119.3828125 5.398309708 115.184768677
hopper 0.964565277 -0.263844252 0 -0.263844252 -0.964565277 0 0 0 -1 556.110168457 -489.142974854 863.316711426
pick -0.528752863 0.848775864 0 -0.848775864 -0.528752863 0 0 0 -1 229.09526062 424.637481689 756.860290527
.END
.REALS
a	2
b	4
c	2
d	1
FLASH	0
.END
.DOUBLES
.END
.STRINGS
.END