/PROG  RMACRO2	  Macro
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "om_pressure";
PROG_SIZE	= 1563;
CREATE		= DATE 23-07-06  TIME 15:39:06;
MODIFIED	= DATE 23-07-07  TIME 15:05:18;
FILE_NAME	= RMACRO2B;
VERSION		= 0;
LINE_COUNT	= 51;
MEMORY_SIZE	= 1991;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/APPL
/MN
   1:  
   2:  LBL[99] ;
   3:  UFRAME_NUM=1 ;
   4:  UTOOL_NUM=1 ;
   5:  PR[11]=LPOS-LPOS    ;
   6:  PR[12]=LPOS-LPOS    ;
   7:  PR[13]=LPOS-LPOS    ;
   8:  PR[11,3]=250    ;
   9:  PR[12,3]=50    ;
  10:  PR[13,2]=250    ;
  11:   ;
  12:  DO[106:out-finish signal]=OFF ;
  13:  DO[102:gripper]=OFF ;
  14:  DO[103:conveyor]=ON ;
  15:J P[6] 100% CNT25    ;
  16:   ;
  17:  WAIT DI[101:position sensor]=ON    ;
  18:  DO[103:conveyor]=OFF ;
  19:  WAIT   1.00(sec) ;
  20:  VISION RUN_FIND 'OM_PRESSURE_MODEL3D_V2'    ;
  21:   ;
  22:  VISION GET_OFFSET 'OM_PRESSURE_MODEL3D_V2' VR[1] JMP LBL[77] ;
  23:   ;
  24:J P[2] 50% CNT100 Offset,PR[11] VOFFSET,VR[1]    ;
  25:L P[2] 1000mm/sec CNT50 Offset,PR[12] VOFFSET,VR[1]    ;
  26:L P[2] 1000mm/sec FINE VOFFSET,VR[1]    ;
  27:  DO[102:gripper]=ON ;
  28:  WAIT    .20(sec) ;
  29:L P[2] 1000mm/sec CNT50 Offset,PR[11] VOFFSET,VR[1]    ;
  30:  DO[103:conveyor]=ON ;
  31:  JMP LBL[88] ;
  32:   ;
  33:  LBL[77] ;
  34:  DO[103:conveyor]=ON ;
  35:  WAIT   3.00(sec) ;
  36:  JMP LBL[99] ;
  37:   ;
  38:  LBL[88] ;
  39:  
  40:J P[3] 100% CNT100 Offset,PR[12]    ;
  41:L P[3] 1000mm/sec FINE    ;

  50:  DO[106:out-finish signal]=ON ;
  51:  END ;
/POS
P[1]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   916.668  mm,	Y =  -237.222  mm,	Z =   159.817  mm,
	W =    -2.426 deg,	P =      .203 deg,	R =   -44.568 deg
};
P[2]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   122.330  mm,	Y =    -4.917  mm,	Z =    46.455  mm,
	W =   179.787 deg,	P =      .444 deg,	R =   135.074 deg
};
P[3]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   860.382  mm,	Y =  -380.433  mm,	Z =   165.510  mm,
	W =    -3.006 deg,	P =     -.263 deg,	R =   -43.937 deg
};
P[4]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, -1, 0',
	X =   911.023  mm,	Y =  -704.281  mm,	Z =   117.121  mm,
	W =    -1.635 deg,	P =     -.571 deg,	R =   -43.520 deg
};
P[5]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   916.666  mm,	Y =  -705.843  mm,	Z =   109.834  mm,
	W =    -2.427 deg,	P =      .202 deg,	R =   -44.568 deg
};
P[6]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   559.059  mm,	Y =    10.800  mm,	Z =   168.569  mm,
	W =   179.787 deg,	P =      .444 deg,	R =   135.075 deg
};
P[7]{
   GP1:
	UF : 1, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =   922.140  mm,	Y =  -211.640  mm,	Z =   249.519  mm,
	W =   178.832 deg,	P =      .722 deg,	R =   134.078 deg
};
/END