MODULE Module1
TASK PERS tooldata appg0926tool:=[TRUE,[[65.0003,-116.355,391.221],[0.921916,0.344394,0.166162,0.0620722]],[1,[0,0,100],[1,0,0,0],0,0,0]];
TASK PERS wobjdata appg0926wo2:=[FALSE,TRUE,"",[[6204.5,-502.114,449.151],[0.999987,-0.00469514,0.00110155,0.0015649]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata appg0926wo2_2:=[FALSE,TRUE,"",[[6204.5,300,449.151],[0.999987137,-0.004696641,0.001100936,0.001567254]],[[0,0,0],[1,0,0,0]]];
CONST speeddata fast := v100;
CONST speeddata slow := v50;
CONST zonedata accurate := fine;
CONST zonedata approximate := z30;
CONST zonedata flyaway := z100;
CONST robtarget start:=[[187.855193466,374.074652043,1183.429587225],[0.3165455,0.229112718,0.882024517,-0.26332311],[0,-1,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pickSafe:=[[250,250,150],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pick_1:=[[250,250,60],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget placeSafe_1:=[[250,230,150],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget place_1:=[[250,230,18],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pick_2:=[[250,250,48],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget placeSafe_2:=[[250,270,150],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget place_2:=[[250,270,18],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pick_3:=[[250,250,35],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget placeSafe_3:=[[250,310,150],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget place_3:=[[250,310,18],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pick_4:=[[250,250,21],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget placeSafe_4:=[[250,350,150],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget place_4:=[[250,350,18],[0,0,1,0],[0,0,0,0],[4322.718934,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
pickPlace_1;
pickPlace_2;
pickPlace_3;
pickPlace_4;
ENDPROC
PROC pickPlace_1()
SetDO DO_TOOL_GRIPPER_CLOSE,0;
Set DO_TOOL_GRIPPER_OPEN;
WaitTime\InPos,2;
MoveJ start,fast,flyaway,appg0926tool\WObj:=appg0926wo2;
MoveJ pickSafe,fast,approximate,appg0926tool\WObj:=appg0926wo2;
MoveL pick_1,slow,accurate,appg0926tool\WObj:=appg0926wo2;
WaitTime\InPos,2;
Set DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL pickSafe,slow,accurate,appg0926tool\WObj:=appg0926wo2;
MoveJ placeSafe_1,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
MoveL place_1,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
WaitTime\InPos,2;
Reset DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL placeSafe_1,fast,accurate,appg0926tool\WObj:=appg0926wo2_2;
Reset DO_TOOL_GRIPPER_OPEN;
ENDPROC
PROC pickPlace_2()
Set DO_TOOL_GRIPPER_OPEN;
WaitTime\InPos,2;
MoveJ pickSafe,fast,approximate,appg0926tool\WObj:=appg0926wo2;
MoveL pick_2,slow,accurate,appg0926tool\WObj:=appg0926wo2;
WaitTime\InPos,2;
Set DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL pickSafe,slow,accurate,appg0926tool\WObj:=appg0926wo2;
MoveJ placeSafe_2,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
MoveL place_2,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
WaitTime\InPos,2;
Reset DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL placeSafe_2,fast,accurate,appg0926tool\WObj:=appg0926wo2_2;
Reset DO_TOOL_GRIPPER_OPEN;
ENDPROC
PROC pickPlace_3()
Set DO_TOOL_GRIPPER_OPEN;
WaitTime\InPos,2;
MoveJ pickSafe,fast,approximate,appg0926tool\WObj:=appg0926wo2;
MoveL pick_3,slow,accurate,appg0926tool\WObj:=appg0926wo2;
WaitTime\InPos,2;
Set DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL pickSafe,slow,accurate,appg0926tool\WObj:=appg0926wo2;
MoveJ placeSafe_3,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
MoveL place_3,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
WaitTime\InPos,2;
Reset DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL placeSafe_3,fast,accurate,appg0926tool\WObj:=appg0926wo2_2;
Reset DO_TOOL_GRIPPER_OPEN;
ENDPROC
PROC pickPlace_4()
Set DO_TOOL_GRIPPER_OPEN;
WaitTime\InPos,2;
MoveJ pickSafe,fast,approximate,appg0926tool\WObj:=appg0926wo2;
MoveL pick_4,slow,accurate,appg0926tool\WObj:=appg0926wo2;
WaitTime\InPos,2;
Set DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL pickSafe,slow,accurate,appg0926tool\WObj:=appg0926wo2;
MoveJ placeSafe_4,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
MoveL place_4,slow,accurate,appg0926tool\WObj:=appg0926wo2_2;
WaitTime\InPos,2;
Reset DO_COMPRESSED_AIR;
WaitTime\InPos,2;
MoveL placeSafe_4,fast,accurate,appg0926tool\WObj:=appg0926wo2_2;
MoveJ start,fast,flyaway,appg0926tool\WObj:=appg0926wo2;
Reset DO_TOOL_GRIPPER_OPEN;
ENDPROC
ENDMODULE
