157 lines
3.6 KiB
Text
157 lines
3.6 KiB
Text
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/PROG ALL
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/ATTR
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OWNER = MNEDITOR;
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COMMENT = "";
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PROG_SIZE = 3689;
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CREATE = DATE 14-05-13 TIME 17:03:06;
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MODIFIED = DATE 14-05-13 TIME 17:21:44;
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FILE_NAME = ;
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VERSION = 0;
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LINE_COUNT = 118;
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MEMORY_SIZE = 4365;
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PROTECT = READ_WRITE;
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TCD: STACK_SIZE = 0,
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TASK_PRIORITY = 50,
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TIME_SLICE = 0,
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BUSY_LAMP_OFF = 0,
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ABORT_REQUEST = 0,
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PAUSE_REQUEST = 0;
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DEFAULT_GROUP = 1,*,*,*,*;
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CONTROL_CODE = 00000000 00000000;
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/MN
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! motion ;
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J P[1:test point] 100% FINE ;
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J P[1] 100.0sec CNT100 ;
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J P[1] 100msec CNT R[1] ;
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L P[1] 100/sec FINE ;
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L P[1] 100cm/min CNT100 ;
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L P[1] 100.0inch/min CNT100 ;
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L P[1] 100deg/sec CNT100 ;
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! indirect speed ;
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L P[1] R[1]sec CNT100 ;
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! indirect indirect ;
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L PR[1] R[R[1]]msec CNT100 ;
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! indirect destination ;
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L PR[R[1]] max_speed CNT100 ;
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;
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! assignment ;
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R[1]=R[2] ;
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! indirect assignment ;
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R[R[1]]=R[2] ;
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! system variables ;
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$foo=$bar[100].$baz ;
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R[1]=$FOO.$BAR ;
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;
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! various keyword assignments ;
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PR[1]=LPOS ;
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PR[1]=JPOS ;
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PR[1]=UFRAME[1] ;
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PR[1]=UTOOL[1] ;
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PR[1]=P[1] ;
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PR[1,1:component]=5 ;
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SR[1:string reg]=SR[2]+AR[1] ;
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R[1]=SO[1:Cycle start] DIV SI[2:Remote] ;
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R[1]=UO[1:Cmd enabled] MOD UI[1:*IMSTP] ;
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! mixed logic ;
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DO[1]=(DI[1] AND AR[1] AND F[1] OR TIMER[1]>TIMER_OVERFLOW[1]) ;
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F[1]=(ON) ;
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JOINT_MAX_SPEED[1]=5 ;
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LINEAR_MAX_SPEED=5 ;
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SKIP CONDITION DI[1]=OFF- ;
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PAYLOAD[R[1]] ;
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OFFSET CONDITION PR[1] ;
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UFRAME_NUM=1 ;
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UTOOL_NUM=1 ;
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UFRAME[1]=PR[1] ;
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UTOOL[1]=PR[1] ;
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RSR[1]=ENABLE ;
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RSR[AR[1]]=DISABLE ;
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UALM[1] ;
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TIMER[1]=START ;
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TIMER[1]=STOP ;
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TIMER[1]=RESET ;
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OVERRIDE=50% ;
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TOOL_OFFSET CONDITION PR[1] ;
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LOCK PREG ;
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UNLOCK PREG ;
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COL DETECT ON ;
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COL DETECT OFF ;
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COL GUARD ADJUST R[1] ;
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COL GUARD ADJUST 50 ;
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MONITOR TEST ;
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MONITOR END TEST ;
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R[1]=STRLEN SR[1] ;
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SR[1]=SUBSTR SR[2],R[3],R[4] ;
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R[1]=FINDSTR SR[1],SR[2] ;
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DIAG_REC[1,5,2] ;
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;
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! program calls ;
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CALL TEST ;
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CALL TEST(1,'string',SR[1],AR[1]) ;
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RUN TEST ;
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RUN TEST(1,'string',SR[1],AR[1]) ;
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;
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! conditionals ;
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IF R[1]=1,JMP LBL[5] ;
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IF R[1]=AR[1],CALL TEST ;
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IF (DI[1]),R[1]=(5) ;
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SELECT R[1]=1,JMP LBL[5] ;
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=2,CALL TEST ;
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ELSE,JMP LBL[100] ;
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FOR R[1]=1 TO R[2] ;
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ENDFOR ;
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;
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! wait statement ;
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WAIT 1.00(sec) ;
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WAIT R[5] ;
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WAIT DI[1]=ON ;
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WAIT DI[1]=ON+ ;
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WAIT ERR_NUM=1 ;
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WAIT (DI[1]=ON) ;
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;
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! jumps and labels ;
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JMP LBL[1] ;
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JMP LBL[R[1]] ;
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LBL[100] ;
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LBL[100:TEST] ;
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;
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! statements ;
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PAUSE ;
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ABORT ;
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ERROR_PROG=ALL ;
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RESUME_PROG[1]=TEST ;
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END ;
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MESSAGE[ASDF] ;
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;
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! comments ;
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--eg:ASDFASDFASDF ;
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// L P[9] 100mm/sec CNT100 ACC100 ;
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;
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! motion modifiers ;
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L P[1] 100mm/sec CNT100 ACC100 ;
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L P[1] 100mm/sec CNT100 ACC R[1] ;
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L P[1] 100mm/sec CNT100 Skip,LBL[1] ;
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L P[1] 100mm/sec CNT100 BREAK ;
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L P[1] 100mm/sec CNT100 Offset ;
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L P[1] 100mm/sec CNT100 PSPD50 ;
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L P[1] 100mm/sec CNT100 Offset,PR[1] ;
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L P[1] 100mm/sec CNT100 INC ;
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L P[1] 100mm/sec CNT100 RT_LDR[1] ;
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L P[1] 100mm/sec CNT100 AP_LD50 ;
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L P[1] 100mm/sec CNT100 Tool_Offset ;
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L P[1] 100mm/sec CNT100 Tool_Offset,PR[1] ;
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L P[1] 100mm/sec CNT100 Skip,LBL[1],PR[1]=LPOS ;
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L P[1] 100mm/sec CNT100 TB R[5]sec,CALL ALL ;
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L P[1] 100mm/sec CNT100 TA 0.00sec,AO[1]=R[5] ;
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L P[1] 100mm/sec CNT100 DB 0.0mm,CALL ALL ;
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L P[1] 100mm/sec CNT100 PTH ;
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L P[1] 100mm/sec CNT100 VOFFSET,VR[1] ;
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/POS
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P[1:"test"]{
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GP1:
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UF : 0, UT : 1, CONFIG : '',
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X = 550.000 mm, Y = 0.000 mm, Z = -685.000 mm,
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W = 180.000 deg, P = 0.000 deg, R = 0.000 deg
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};
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/END
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