PROC main()

              Label1:

              Inital;

              WHILETRUEDO

                     Pick;

                     Pallet;

                     IFpndi13_diection_selet = 1 THEN

                            Pallet;

                     ELSE

                            Pallet_vert;

                     ENDIF

                     IF nCount =Totality THEN

                            MoveL pHome, v800,fine, tool0;

                            PulseDO\PLength:=1, pndo10_palletOK_part;

                            IFpndi12_palletOK_all = 1 THEN

                                   PulseDO\PLength:=1,pndo11_palletOK_all;

                                   Stop;

                            ENDIF

                            GOTOLabel1;

                     ENDIF

              ENDWHILE

       ENDPROC

       PROC Inital()

              MoveJ pHome, v600, fine, tool0;

              Totality := n_Totality;

              Row := n_Row;

              Height := 1;

              Y := 1;

              H1 := 1;

              H2 := 1;

              nCount := 0;

              PulseDO\PLength:=0.5, do00_tuici;

              Reset do00_tuici;

              Reset do01_shangci;

              Reset pndo09_pick_ok;

              Reset pndo10_palletOK_part;

              Reset pndo11_palletOK_all;

       ENDPROC

       PROC Pallet()

              MoveL pPlace_safe10, v600, z100,tool0;

              MoveJ pPlace_safe30, v600, z100,tool0;

              pPlace := pPlace_base;

              IF Height MOD 2= 1 THEN

                     pPlace :=Offs(pPlace,X_offser,Y_offser - (Y - 1) * 61,Z_offser + (H1 - 1) * 28);

              ELSE

                     pPlace := Offs(pPlace,X_offser,Y_offser+ 15 - (Y - 1) * 61,Z_offser + (H2 - 1) * 26);

              ENDIF

              MoveL Offs(pPlace,0,0,50), v300,fine, tool0\WObj:=wobj_place;

              MoveL pPlace, v20, fine,tool0\WObj:=wobj_place;

              PulseDO\PLength:=1, do00_tuici;

              WaitTime 1;

              WaitDI di01_tuici_OK, 1;

              MoveL Offs(pPlace,0,0,300), v300,z30, tool0\WObj:=wobj_place;

              MoveL pPlace_safe30, v600, z50,tool0;

              Incr nCount;

              IF Y = Row THEN

                     Y := 0;

                     Incr Height;

                     IF Height MOD 2= 1 THEN

                            Incr H1;

                     ELSE

                            Incr H2;

                     ENDIF

              ENDIF

              Incr Y;

       ENDPROC

       PROC Pallet_vert()

              MoveL pPlace_safe100, v600, z100,tool0;

              MoveJ pPlace_safe110, v600, z100,tool0;

              MoveJ pPlace_base2, v50, fine,tool0\WObj:=wobj_place;

              pPlace := place_base2;

              IF Height MOD 2= 1 THEN

                     pPlace := Offs(pPlace,X_offser,Y_offser- (Y - 1) * 61,Z_offser + (H1 - 1) * 28);

              ELSE

                     pPlace :=Offs(pPlace,X_offser,Y_offser + 15 - (Y - 1) * 61,Z_offser + (H2 - 1) * 26);

              ENDIF

              MoveL Offs(pPlace,0,0,50), v300,fine, tool0\WObj:=wobj_place;

              MoveL pPlace, v20, fine, tool0\WObj:=wobj_place;

              PulseDO\PLength:=1, do00_tuici;

              WaitTime 1;

              WaitDI di01_tuici_OK, 1;

              MoveL Offs(pPlace,0,0,300), v300,z30, tool0\WObj:=wobj_place;

              MoveL pPlace_safe30, v600, z50,tool0;

              Incr nCount;

              IF Y = Row THEN

                     Y := 0;

                     Incr Height;

                     IF Height MOD 2= 1 THEN

                            Incr H1;

                     ELSE

                            Incr H2;

                     ENDIF

              ENDIF

              Incr Y;

       ENDPROC

       PROC Pick()

              MoveJ p10, v600, fine, tool0;

              WaitDI pndi09_can_pick, 1;

              MoveL pPick_base, v20, fine,tool0\WObj:=wobj0;

              pPick := pPick_base;

              pPick := Offs(pPick,0,-L_offser /2,0);

              MoveL Offs(pPick,0,0,70), v200,fine, tool0\WObj:=wobj0;

              IF Height MOD 2= 1 THEN

                     MoveL pPick, v20, fine,tool0\WObj:=wobj0;

              ELSE

                     MoveL Offs(pPick,0,0,15),v20, fine, tool0\WObj:=wobj0;

              ENDIF

              PulseDO\PLength:=1, do01_shangci;

              WaitDI di02_shangci_OK, 1;

              MoveL Offs(pPick,0,0,100), v150,z50, tool0\WObj:=wobj0;

              MoveL Offs(pPick,0,0,400), v400,z50, tool0\WObj:=wobj0;

              PulseDO\PLength:=1,pndo09_pick_ok;

       ENDPROC

       PROC wobj_place0()

              MoveL p_x1, v20, fine, tool0;

              MoveL p_x2, v20, fine, tool0;

              MoveL p_y, v20, fine, tool0;

       ENDPROC

       PROC set_home()

              WZSphDef\Inside, shape1, home_C1,100;

              WZDOSet\Temp, home_wz\Before,shape1, pndo07_home, 1;

       ENDPROC

       PROC ppp()

              Idelet intno1;

              CONNECT intno1 WITHkkk;

              ISignalDI\Single, di01_tuici_OK,1, intno1;

              IWatch intno1;

              MoveL p30, v100, fine, tool0;

              MoveL p40, v20, fine, tool0;

       ENDPROC

       TRAP kkk

              StopMove;

              WaitTime 3;

              !WaitDI di01_tuici_OK, 0;

              StartMove;

              MoveJ p50, v100, fine, tool0;

              Idelet intno1;

       ENDTRAP

ENDMODULE

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