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Apr 23rd, 2018
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  1.  
  2. begin
  3. call inputOutput()
  4. call greifer_auf()
  5. delay(0.5)
  6.  
  7.  
  8. movej(P0,flange,mNomSpeed)
  9. waitEndMove()
  10. call greifer_auf()
  11. waitEndMove()
  12. wait(input0 == true )
  13. movej(P1,flange,mNomSpeed)
  14. waitEndMove()
  15. movej(Pg1,flange,mNomSpeed)
  16. waitEndMove()
  17. call greifer_zu()
  18. waitEndMove()
  19. movej(P1,flange,mNomSpeed)
  20. waitEndMove()
  21. movej(P2,flange,mNomSpeed)
  22. waitEndMove()
  23. movej(Pg2,flange,mNomSpeed)
  24. waitEndMove()
  25. output0 = true
  26.  
  27. if(input1 == true)
  28.  
  29. movej(P2,flange,mNomSpeed)
  30. waitEndMove()
  31. movej(P3,flange,mNomSpeed)
  32. waitEndMove()
  33. movej(Pg3,flange,mNomSpeed)
  34. waitEndMove()
  35. call greifer_auf()
  36. waitEndMove()
  37. movej(P3,flange,mNomSpeed)
  38. waitEndMove()
  39. output1 = true
  40. movej(P0,flange,mNomSpeed)
  41. waitEndMove()
  42. endIf
  43.  
  44.  
  45. else if(input2 == true)
  46.  
  47. movej(P2,flange,mNomSpeed)
  48. waitEndMove()
  49. movej(P4,flange,mNomSpeed)
  50. waitEndMove()
  51. movej(Pg4,flange,mNomSpeed)
  52. waitEndMove()
  53. call greifer_auf()
  54. waitEndMove()
  55. movej(P4,flange,mNomSpeed)
  56. waitEndMove()
  57. output2 = true
  58. movej(P0,flange,mNomSpeed)
  59. waitEndMove()
  60. endIf
  61.  
  62.  
  63.  
  64.  
  65. end
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