Program for X-SEL-PX/QX[C:\Program Files\IAI Corporation\X-SEL\Robot_Bloroc_ERROR_TASK_V3.s2pg2]

30.06.2011 11:06:50

No E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

1/1

1 ER R OR MULTIT ASK (PRG 2)*ERROR MULTITASK (PRG 2) 2 TAG 1 start i/p check--------------3 IN 6 6 Stop input4 CPEQ 99 1 901 IN result = 1?5 901 EXSR 10 start subr. 1067 IN 6 6 Stop input8 CPEQ 99 0 902 IN result = 0?9 902 EXSR 11 start subr. 11

1011 IN 4 4 Home input12 CPEQ 99 1 903 IN result = 1?13 903 EXSR 12 start subr. 121415 IN 3 3 Option input16 CPEQ 99 1 904 IN result = 1?17 904 EXSR 13 start subr. 1318 GOTO 1 loop up when done1920 BGSR 10 start subr.--------------21 BTOF 90122 Pa u se Main P rogr amm*Pause Main Programm 23 SSPG 1 Pause Main Prg24 EDSR end subr.2526 BGSR 11 start subr.--------------27 BTOF 902 clear compare bit28 Re s ume Main Prog ramm*Resume Main Programm 29 RSPG 1 Resume Main Prg30 EDSR end subr.3132 BGSR 12 start subr.--------------33 Ho m ing*Homing 34 BTOF 903 clear compare bit35 EDSR end subr.3637 BGSR 13 start subr.--------------38 BTOF 904 clear compare bit39 MOVP 37 move to start pos40 BTON 302 turn on glue41 TIMW 1.1 wait 1.1 sec42 PATH 37 48 start disp. path43 BTOF 302 turn off glue44 12 MOVP 99 if 12 on, purge45 12 BTON 303 o/p 303 purge line46 MOVP 100 move to safe loc.47 EDSR end subr.