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iMSeries;iROBO.51/#11.,50%.2.1B(2).0,50[ms].Tip1.;STBYB(0).0==12.;TAG~GOTO3.;B(2).0=14.50[ms];WAIT=5#1L000SPD=5000//50%.L001STBYB(0).0==1//.L002LOOP(B(0).0==1)//.L003MPTPP0//P0.L004MPTPP1//P1.L005MPTPP2//P2.L006MPTPP0//P0.L007MPTPP3//P3.L008MPTPP2//P2.L009B(2).0=1//.L010WAIT=5//50[ms].L011B(2).0=0//.L012ENDL//LOOP.L013MEND//.5-1iMSeries;iROBO#2,5..Tip5;FOR~ENDF;5,STBYB(0).0==1.#2L000INTI//I.L001SPD=5000//50%.L002TAGSTART//Tag.L003STBYB(0).0==1//.L004FORI=1TO5//5(I=1,2,3,4,5).L005MPTPP0//P0.L006MPTPP1//P1.L007MPTPP2//P2.L008MPTPP0//P0.L009MPTPP3//P3.L010MPTPP2//P2.L011B(0).0=1//.L012WAIT=5//50[ms].L013B(0).0=0//.L014ENDF//FOR.L015GOTOSTART//TagSTART.L016MEND//.5-2iMSeries;iROBO52,,1)P0~P570%.2)P6~P830%.3)P8~P020%.4)1.Tip1);MLIN2);MARC3);MCIR4);SPD5);PASS()L000SPD=7000//70%.L001PASS%90//10%.L002MPTPP0//P0.L003MLINP1//P1.L004MARCP2,P3//P2P3.L005MLINP4//P4.L006MLINP5//P5.L007SPD=3000//30%.L008MCIRP6,P7//P6P7.L009SPD=2000//20%.L010MLINP8//P8.L011MARCP9,P10//P9P10.L012MLINP11//P11.L013MLINP0//P0.L014MEND//.5-3iMSeries;iROBO53,,1),50%.2)B(0).0D.3)B(0).1,A.4)B(0).2,S.5)B(0).3,A.Tip1);MLIN2);MARC3);,P20()4)B(0).0~B(0).3;IF.5)D(A,S);TAG~GOTO.L000SPD=5000//50%.L001MPTPP20//.L002LOOP1//ENDL.L003IFB(0).0==1//.L004CALLDRWD//,DRWD.L005ENDI//IF.L006IFB(1).0==1//.L007CALLDRWA1//,DRWA1.L008ENDI//IF.L009IFB(2).0==1//.L010CALLDRWS//,DRWS.L011ENDI//IF.L012IFB(3).0==1//.L013CALLDRWA2//,DRWA1.L014ENDI//IF.5-4iMSeries;iROBOL015ENDL//LOOP.L016MEND//.L017SPGMDRWD//DRWD.L018MPTPP0//P0.L019MLINP1//P1.L020MARCP2,P0//P2P3.L021MPTPP20//.L022SEND//DRWD.L023SPGMDRWA1//DRWA1.L024MPTPP3//P3.L025MLINP4//P4.L026MLINP5//P5.L027ARCH=10//Z10mm.L028MPTPP6//Z10mmP6.L029MLINP7//P7.L030ARCH=OFF//ARCH.L031MPTPP20//.L032SEND//DRWA1.L033SPGMDRWS//DRWS.L034MPTPP8//P8.L035MARCP9,P10//P9P10.L036MARCP11,P12//P11P12.L037MPTPP20//.L038SEND//DRWS.L039SPGMDRWA2//DRWA2.L040MPTPP13//P13.L041MLINP14//P14.L042MLINP15//P15.L043ARCH=10//Z10mm.L044MPTPP16//Z10mmP16.L045MLINP17//P17.L046ARCH=OFF//ARCH.L047MPTPP20//.L048SEND//DRWA2.5-5iMSeries;iROBO54Palletizing1)1PalletIDA,2IDB.2)IDAIDB.3).4)Pallet,.5)B(0).0,B(0).1,B(0).2.6)B(2).0,PalletIDAB(2).1,PalletIDBB(2).2.7)/SolenoidB(2).5.Tip1)PalletA,B;22MPLT2);3);AB4);ARCH3.1)PalletIDA:PWRK0,PCNT0PWRK(0)=(5,4,1)PCNT(0)=(1,1,1)2)PalletIDB:PWRK1,PCNT1PWRK(1)=(4,5,1)PCNT(1)=(1,1,1)5-6iMSeries;iROBO4.L000ARCH=5//Z5mm.L001SPD=10000//100%.L002PCNT(0)=(1,1,1)//Pallet0Number.L003PCNT(1)=(1,1,1)//Pallet1Number.L004PWRK(0)=(5,4,1)//0.L005PWRK(1)=(4,5,1)//1..L006TAGSTART//TagSTART.L007CALLPICK//PICK.L008MPLT0,P0,0//0P0.L009B(2).1=1//PalletA.L010STBYB(0).2==1//.L011B(2).5=0//Solenoid,.L012B(2).1=0//A.L013CALLPICK//PICK.L014MPLT1,P5,0//1P5.L015B(2).2=1//PalletB.L016B(0).2=1//.L017B(2).5=0//Solenoid,.L018B(2).2=0//PalletB.L019GOTOSTART//STARTTag.L020MEND//.L021SPGMPICK//PICK.L022MPTPP10//P10.L023B(2).0=1//.L024STBYB(0).0==1//.L025STBYB(0).1==1//.L026B(2).5=1//Solenoid,.L027B(2).0=0//.L028SEND//PICK.5-7iMSeries;iROBO55Palletizing#11.1),,.2)B(0).0,B(0).3.3),().4),B(0).5,()B(0).6,()B(0).7.5),.6),PLCB(0).1,B(0).2.7),,Vision.8)B(3).0,B(3).1,B(3).2.9)Vision,B(3).3,B(0).4.10)/,SolenoidB(3).5/B(3).6.11),B(4).050[ms].12),B(4).150[ms].13),B(4).250[ms].2.Tip1);3MPLT2);BIN,BOUT3);INT4);ARCH5)Vision;5-8iMSeries;iROBO3.5-4Palletizing.4.L000INTI,J,K//I,J,K.L001I=1//I1.L002J=1//J1.L003K=1//K1.L004ARCH=5//Z5mm.L005SPD=10000//100%.L006PWRK(0)=(7,4,1)//PALLET0.L007PWRK(1)=(5,4,1)//PALLET1.L008PWRK(2)=(5,4,1)//PALLET2.L009TAGDASA//DASATag.L010PCNT(0)=(1,1,1)//WorkID0()Number.L011PCNT(1)=(1,1,1)//WorkID1()Number.L012PCNT(2)=(1,1,1)//WorkID2()Numbe.L013TAGSTART//STARTTag.L014CALLPICK//PICK.L015CALLINSP//INSP.L016IFI==28//I28.L017GOTOBLAN//I28,TagBLAN.L018IFJ==20//J20.L019GOTOGOOD//J20,TagGOOD.L020IFK==20//K20.L021GOTOBAD//J20,TagBAD.L022ENDI//IFK==20.L023ENDI//IFJ==20.L024ENDI//IFI==28.L025GOTOSTART//STARTTag.L026TAGBLAN//BLANTag.L027I=1//I1.L028B(3).0=1//.L029WAIT=50//50[ms].L030B(3).0=0//.L031GOTOSTART//STARTTag.L032TAGGOOD//GOODTag.L033J=1//J1.5-9iMSeries;iROBOL034B(3).1=1//.L035WAIT=5//50[ms].L036B(3).1=0//.L037GOTOSTART//STARTTag.L038TAGBAD//BADTag.L039K=1//K1.L040B(3).2=1//.L041WAIT=5//50[ms].L042B(3).2=0//.L043GOTOSTART//STARTTag.L044GOTODASA//DASATag.L045MEND//.L046SPGMPICK//PICK.L047STBYB(0).5==1//.L048MPLT0,P10,0//P10.L049B(2).0=1//.L050B(2).5=1//,Solenoid.L051STBYB(0).1==1//.L052B(2).0=0//.L053B(2).5=0//,Solenoid.L054I=I+1//1I1.L055IF(PCNT(0).1==7)&&(PCNT(0).2==4)//.L056B(4).0=1//.L057WAIT=5//50[ms].L058B(4).0=0//.L059ENDIL060SEND//PICK.L061SPGMINSP//INSP.L062MPTPP50//.L063B(2).3=1//.L064STBYB(0).4==1//.L065IF(B(0).0==1)&&(B(0).4==0)//L066CALLGOOD//GOOD.L067IF(B(0).3==1)&&(B(0).4==0)//L068CALLBAD//BAD.L069ENDI//IF(IN11==1).L070ENDI//IF(IN12==1).L071SEND//INSPECT.5-10iMSeries;iROBOL072SPGMGOOD//GOOD.L073MPLT1,D(0),0//.L074B(2).1=1//.L075B(2).6=1//,Solenoid.L076STBYB(0).2==1//.L077B(2).1=0//.L078B(2).6=0//,Solenoid.L079J=J+1//1,J1.L080IF(PCNT(1).1==5)&&(PCNT(1).2==4)//.L081B(4).1=1//.L082WAIT=5//50[ms].L083B(4).1=0//.L084ENDIL085SEND//GOOD.L086