DEFINIRE VARIABILE

10 DEF POS AUX20 DEF POS AUX230 DEF POS AUX340 DEF POS AUX450 DEF INTE M160 DEF POS POSPLT170 DEF POS VECZ5080 DEF POS VECZ2090 DEF PLT 1,P11,P12,P13,P14,2,2,2100 VECZ50=(0,0,50,0,0)110 VECZ20=(0,0,20,0,0)

DEFINIRE I/O

120 DEF IO START=BIT,3130 DEF IO RES=BIT,5140 DEF IO START_L=BIT,0150 DEF IO RESET_L=BIT,1160 DEF IO SENZOR=BIT,1

PROGRAM

170 START_L=0 ‘led start stins180 RESET_L=1 ‘led reset aprins190 *ET1 ‘eticheta 1200 IF RES=0 THEN *ET1 ‘conditie buton reset 210 HOPEN 1 ‘gripper deschis220 RESET_L=0 ‘led reset stins

230 MOV P99

240 M1=1

250 *LOOP ‘eticheta loop260 START_L=1 ‘led start aprins270 *ET2280 IF START=0 THEN *ET2 ‘conditie buton start290 START_L=0 ‘led start aprins

300 MOV P99

310 AUX=P1+VECZ50320 MVS AUX330 MVS P1340 DLY 0.5350 HCLOSE 1360 MVS AUX

370 MOV P99

380 AUX2=P2+VECZ50390 MVS AUX2400 MVS P2410 HOPEN 1420 MVS AUX2

430 MOV P99

440 AUX4=P4+VECZ50450 MVS AUX4460 MVS P4470 DLY 2480 IF SENZOR=0 THEN *REBUT

490 MVS AUX4

500 MOV P99

510 AUX2=P2+VECZ50520 MVS AUX2530 MVS P2540 HCLOSE 1550 MVS AUX2

560 MOV P99

570 START_L=1580 DLY 0.2590 START_L=0600 P20=(PLT 1,M1)610 POSPLT1=P20+VECZ20620 MVS POSPLT1630 MVS P20640 HOPEN 1650 MVS POSPLT1660 M1=M1+1670 IF M1<=4 THEN *LOOP680 RESET_L=1

690 MOV P99700 RESET_L=0710 IF 1 THEN *ET1 ‘conditie adevarata

720 *REBUT

730 START_L=1740 DLY 0.2750 START_L=0760 DLY 0.2770 START_L=1780 DLY 0.2790 START_L=0800 DLY 0.2

810 MVS AUX4

820 MOV P99

830 AUX2=P2+VECZ50840 MVS AUX2850 MVS P2860 HCLOSE 1870 MVS AUX2

880 MOV P99

890 AUX3=P3+VECZ20900 MVS AUX3910 MVS P3920 HOPEN 1930 MVS AUX3

940 IF 1 THEN *LOOP