‘Code for Sorting Robot, Robot 11
‘Program will pick up blocks coming from conveyor
‘and sort them to designated area depending on their visible letter
‘Program by Tyler Funk, Richard Schoellhammer, Ethan Bressler

MCount = 0
HOpen 1
Mov P1
GoSub *ConnectCognex ‘subroutine used to connect cognex
While MCount = 0
EBRead #1, ,M, U, ANGLE1, ANGLE2 ‘read and name the desired output string
If M = 0 And U = 0 And M_In(14) = 0 Then
GoTo *ReRead
EndIf
If M = 1 And M_In(14) = 1 Then ‘conditional for detecting M on block and block in position
P3.C = -Rad(-ANGLE1 - 12) ‘calibrated from output string to reorient block while placing
Mov P2, +60 ‘move 60mm above position where blocks are expected
Mov P2
Dly 0.1
HClose 1
Dly 0.1
Mov P2, +120
Mov P3, +120 ‘move 120 mm above position where Ms are placed
Mov P3
Dly 0.1
HOpen 1
Mov P3, +60
EndIf
If U = 1 And M_In(14) = 1 Then ‘conditional for detecting U on block and block in position
Dly 0.1
P4.C = -Rad(-ANGLE2 - 98) ‘calibrated from output string to reorient block while placing
Dly 0.5
Mov P2, +60
Mov P2
Dly 0.1
HClose 1
Dly 0.1
Mov P2, +120
Mov P4, +120 ‘move 120mm above position where Us are placed
Mov P4
Dly 0.1
HOpen 1
Mov P4, +60
EndIf
If M = 0 And M_In(14) = 1 Then
EndIf
If U = 0 And M_In(14) = 1 Then
EndIf
WEnd
*ReRead
Dly 0.5
End
*ConnectCognex ‘connects to cognex program
If M_NvOpen(1) <> 1 Then
Dly 0.1
NVOpen "COM2:" As #1
EndIf
Wait M_NvOpen(1) = 1
NVRun #1, "SortCam1" ‘finds the program to open
Return