/PROG ALL
/ATTR
OWNER = MNEDITOR;
COMMENT = "";
PROG_SIZE = 3689;
CREATE = DATE 14-05-13 TIME 17:03:06;
MODIFIED = DATE 14-05-13 TIME 17:21:44;
FILE_NAME = ;
VERSION = 0;
LINE_COUNT = 118;
MEMORY_SIZE = 4365;
PROTECT = READ_WRITE;
TCD: STACK_SIZE = 0,
TASK_PRIORITY = 50,
TIME_SLICE = 0,
BUSY_LAMP_OFF = 0,
ABORT_REQUEST = 0,
PAUSE_REQUEST = 0;
DEFAULT_GROUP = 1,*,*,*,*;
CONTROL_CODE = 00000000 00000000;
/MN
J P[1:test point] 100% FINE ;
J P[1] 100.0sec CNT100 ;
J P[1] 100msec CNT R[1] ;
L P[1] 100/sec FINE ;
L P[1] 100cm/min CNT100 ;
L P[1] 100.0inch/min CNT100 ;
L P[1] 100deg/sec CNT100 ;
L P[1] R[1]sec CNT100 ;
L PR[1] R[R[1]]msec CNT100 ;
L PR[R[1]] max_speed CNT100 ;
;
R[1]=R[2] ;
R[R[1]]=R[2] ;
$foo=$bar[100].$baz ;
R[1]=$FOO.$BAR ;
;
PR[1]=LPOS ;
PR[1]=JPOS ;
PR[1]=UFRAME[1] ;
PR[1]=UTOOL[1] ;
PR[1]=P[1] ;
PR[1,1:component]=5 ;
SR[1:string reg]=SR[2]+AR[1] ;
R[1]=SO[1:Cycle start] DIV SI[2:Remote] ;
R[1]=UO[1:Cmd enabled] MOD UI[1:*IMSTP] ;
DO[1]=(DI[1] AND AR[1] AND F[1] OR TIMER[1]>TIMER_OVERFLOW[1]) ;
F[1]=(ON) ;
JOINT_MAX_SPEED[1]=5 ;
LINEAR_MAX_SPEED=5 ;
SKIP CONDITION DI[1]=OFF- ;
PAYLOAD[R[1]] ;
OFFSET CONDITION PR[1] ;
UFRAME_NUM=1 ;
UTOOL_NUM=1 ;
UFRAME[1]=PR[1] ;
UTOOL[1]=PR[1] ;
RSR[1]=ENABLE ;
RSR[AR[1]]=DISABLE ;
UALM[1] ;
TIMER[1]=START ;
TIMER[1]=STOP ;
TIMER[1]=RESET ;
OVERRIDE=50% ;
TOOL_OFFSET CONDITION PR[1] ;
LOCK PREG ;
UNLOCK PREG ;
COL DETECT ON ;
COL DETECT OFF ;
COL GUARD ADJUST R[1] ;
COL GUARD ADJUST 50 ;
MONITOR TEST ;
MONITOR END TEST ;
R[1]=STRLEN SR[1] ;
SR[1]=SUBSTR SR[2],R[3],R[4] ;
R[1]=FINDSTR SR[1],SR[2] ;
DIAG_REC[1,5,2] ;
;
CALL TEST ;
CALL TEST(1,'string',SR[1],AR[1]) ;
RUN TEST ;
RUN TEST(1,'string',SR[1],AR[1]) ;
;
IF R[1]=1,JMP LBL[5] ;
IF R[1]=AR[1],CALL TEST ;
IF (DI[1]),R[1]=(5) ;
SELECT R[1]=1,JMP LBL[5] ;
=2,CALL TEST ;
ELSE,JMP LBL[100] ;
FOR R[1]=1 TO R[2] ;
ENDFOR ;
;
WAIT 1.00(sec) ;
WAIT R[5] ;
WAIT DI[1]=ON ;
WAIT DI[1]=ON+ ;
WAIT ERR_NUM=1 ;
WAIT (DI[1]=ON) ;
;
JMP LBL[1] ;
JMP LBL[R[1]] ;
LBL[100] ;
LBL[100:TEST] ;
;
PAUSE ;
ABORT ;
ERROR_PROG=ALL ;
RESUME_PROG[1]=TEST ;
END ;
MESSAGE[ASDF] ;
;
;
L P[1] 100mm/sec CNT100 ACC100 ;
L P[1] 100mm/sec CNT100 ACC R[1] ;
L P[1] 100mm/sec CNT100 Skip,LBL[1] ;
L P[1] 100mm/sec CNT100 BREAK ;
L P[1] 100mm/sec CNT100 Offset ;
L P[1] 100mm/sec CNT100 PSPD50 ;
L P[1] 100mm/sec CNT100 Offset,PR[1] ;
L P[1] 100mm/sec CNT100 INC ;
L P[1] 100mm/sec CNT100 RT_LDR[1] ;
L P[1] 100mm/sec CNT100 AP_LD50 ;
L P[1] 100mm/sec CNT100 Tool_Offset ;
L P[1] 100mm/sec CNT100 Tool_Offset,PR[1] ;
L P[1] 100mm/sec CNT100 Skip,LBL[1],PR[1]=LPOS ;
L P[1] 100mm/sec CNT100 TB R[5]sec,CALL ALL ;
L P[1] 100mm/sec CNT100 TA 0.00sec,AO[1]=R[5] ;
L P[1] 100mm/sec CNT100 DB 0.0mm,CALL ALL ;
L P[1] 100mm/sec CNT100 PTH ;
L P[1] 100mm/sec CNT100 VOFFSET,VR[1] ;
/POS
P[1:"test"]{
GP1:
UF : 0, UT : 1, CONFIG : '',
X = 550.000 mm, Y = 0.000 mm, Z = -685.000 mm,
W = 180.000 deg, P = 0.000 deg, R = 0.000 deg
};
/END