Here is the next article on picking parts with robtarget arrays, taught by one position then calculating the rest of the array. In this one, since it is a flat tray, I had to set the "Z" value the same. The improved part is writing the orient and axis configuration also. I hope you find it informative and useful. I think I got the code formatted better this time. I will have to revisit the first article to see if I can fix it.
Code
MODULE MD11
!Pick Locations
!Distance Between one row To the next
!Distance from one column to the next
!Current Column and Row
LOCAL CONST num xToPart:=65;
LOCAL CONST num yToPart:=45;
LOCAL VAR num nXpos:=0;
LOCAL PERS num nXOffs:=0;
LOCAL CONST num nBlockXOffset:=0;
LOCAL CONST num nBlockYOffset:=0;
LOCAL VAR num nYpos:=0;
LOCAL VAR num nYOffs:=0;
PERS robtarget pPickTray_1_11{6,6}:=[[[[1.04,0.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.04,45.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.04,90.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.04,135.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.04,180.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.04,225.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-63.96,22.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.96,67.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.96,112.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.96,157.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.96,202.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.96,247.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-128.96,0.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.96,45.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.96,90.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.96,135.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.96,180.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.96,225.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-193.96,22.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.96,67.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.96,112.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.96,157.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.96,202.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.96,247.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-258.96,0.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.96,45.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.96,90.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.96,135.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.96,180.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.96,225.3,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-323.96,22.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.96,67.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.96,112.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.96,157.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.96,202.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.96,247.8,2.39],[0.00357907,-0.602141,-0.798381,-0.000831899],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]];
PERS robtarget pPickTray_2_11{6,6}:=[[[[1.63,0.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.63,45.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.63,90.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.63,135.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.63,180.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[1.63,225.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-63.37,22.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.37,67.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.37,112.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.37,157.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.37,202.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-63.37,247.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-128.37,0.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.37,45.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.37,90.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.37,135.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.37,180.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-128.37,225.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-193.37,22.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.37,67.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.37,112.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.37,157.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.37,202.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-193.37,247.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-258.37,0.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.37,45.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.37,90.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.37,135.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.37,180.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-258.37,225.08,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
,[[[-323.37,22.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.37,67.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.37,112.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.37,157.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.37,202.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-323.37,247.58,2.62],[0.00228484,-0.601805,-0.798639,-0.000969585],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]];
PERS robtarget pMBC_Bolt_11{14}:=[[[-143.95,-1.56,11.13],[0.000422986,-0.678748,-0.734372,-0.000684052],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[0.42,-1.11,9.36],[0.00011312,0.696077,0.717969,-0.000511345],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[0.02,154.03,9.18],[0.000423889,-0.678709,-0.734409,-0.000699308],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-146.57,154,9.58],[0.000452797,-0.678693,-0.734424,-0.000754183],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-146.81,307,10.95],[0.000454415,-0.678662,-0.734452,-0.000735513],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-1.12,307,9.54],[0.000362283,-0.678006,-0.735056,-0.00164912],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-0.24,462.16,9.87],[0.00050814,-0.678627,-0.734484,-0.000822217],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-146.9,462.59,10.78],[0.00165613,0.67762,0.735387,0.00615585],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-145.43,615.39,9.42],[0.00170342,0.677583,0.735421,0.00612978],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[0.04,615.03,10.47],[0.00168147,0.677589,0.735415,0.0061453],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-0.27,769.56,9.79],[0.00165907,0.677605,0.7354,0.00620951],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-146.13,770.02,9.65],[0.00168382,0.677557,0.735444,0.00613617],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-143.96,923.03,10.21],[0.0016778,0.677522,0.735476,0.00618139],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-0.14,923.10,10.80],[0.00163365,0.677494,0.735502,0.00617596],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]];
CONST robtarget pOilJetMD11{6}:=[[[-416.25,1230.6,238],[0.000201512,0.998154,-0.060692,0.00203478],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-261.75,1230.62,237.99],[0.000201512,0.998154,-0.060692,0.00203478],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[-108,1231.2,238],[0.000201512,0.998154,-0.060692,0.00203478],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[46.25,1230.7,238.23],[0.000211835,0.998155,-0.0606785,0.00203977],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[200.75,1229.5,238],[0.000201512,0.998154,-0.060692,0.00203478],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],[[354.5,1230.5,238.25],[0.000201512,0.998154,-0.060692,0.00203478],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]];
LOCAL PERS num nStepPick{12}:=[1,-2,3,-2,5,-2,7,-2,9,-2,11,-2];
LOCAL PERS num nStepPlace{12}:=[-2,2,-2,4,-2,6,-2,8,-2,10,-2,12];
LOCAL PERS num nStepCheck{12}:=[1,2,3,4,5,6,7,8,9,10,11,12];
LOCAL PERS num nStepLoosen{14}:=[1,2,3,4,5,6,7,8,9,10,11,12,13,14];
PROC rMD11_Tray1()
VAR num NumTries;
VAR bool bTimeOut;
CONST errnum erNotClosed1:=99;
CONST errnum erNoPartPres:=97;
CONST errnum erNoPartPresent:=96;
IF bLastPick_11_1 THEN
TPErase;
TPWrite "Waiting for MD11 Tray 1 OK.";
WaitUntil fiMD11Tray_1_OK=ON;
!IF fiNewTray_11_1=ON ResetTray_1MD11;
ENDIF
WaitUntil fiMD11Tray_1_OK=1\Maxtime:=FAULT_TIME\TimeFlag:=bTimeout;
IF bTimeOut RAISE ERR_NO_TRAY;
lblNextTry:
TPErase;
TPWrite "*************************************";
TPWrite "Picking from MD11 Tray 1,";
TPWrite "From Row:="\Num:=nRow_1_11;
TPWrite "And Column:="\Num:=nColumn_1_11;
TPWrite "*************************************";
IF diJetPresent = 0 AND diJetClamped = 0 THEN
rChkGripperOpen;
Reset foClearMD11_T1;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,40), v500, z1\Inpos:=Inpos90, tCool_Jet\WObj:=wobjMD11Tray_1;
Set foRunSearch;
MoveL pPickTray_1_11{nRow_1_11,nColumn_1_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
Reset foRunSearch;
IF fiDryCycle = 1 THEN
rCloseGripper;
ELSE
rCloseGripper\swWithPart;
ENDIF
rContinue;
SetDO foInPosition, OFF;
WaitDO foInPosition, OFF;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,80), v300, z5\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_1;
IF fiDryCycle = 0 rCheckPartPres\swOn;
Incr nTray11_1_Noflt{nRow_1_11,nColumn_1_11};
rIndexMD11_1;
Set foPlaceDone;
Set foClearMD11_T1;
ELSE
IF diJetPresent=1 RETURN;
ENDIF
RETURN;
ERROR
! erNoPartPres is raised from the
! CloseGripper routine
! erNoPartPresent is raised from the
! checkpartpresent routine
TEST ERRNO
CASE erNoPartPresent:
rAlarmScreen(ERR_NOPART);
IF fiDiscardPart = OFF THEN
Incr nTray11_1_flt{nRow_1_11,nColumn_1_11};
RETRY;
ELSE
Reset foRunSearch;
Incr nTray11_1_flt{nRow_1_11,nColumn_1_11};
pTemp := CRobT(\Tool:=tCool_Jet\WObj:=wobjMD11Tray_1);
MoveL pDropReject, v400, fine, tCool_Jet;
rOpenGripper;
rIndexMD11_1;
!Set foPartRejected;
IF bLastPick_11_1 = TRUE ExitCycle;
MoveL pTemp, v400, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,40), v400, z1\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_1;
Set foRunSearch;
MoveL pPickTray_1_11{nRow_1_11,nColumn_1_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
Reset foRunSearch;
rCloseGripper;
SetDO foInPosition, OFF;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,80), v200, z1, tCool_Jet\WObj:=wobjMD11Tray_1;
RETRY;
ENDIF
CASE erNoPartPres:
IF NumTries=3 THEN
rOpenGripper;
TPWrite "Part unable to be located";
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,80), v400, z1, tCool_Jet\WObj:=wobjMD11Tray_1;
MoveL Offs(pPickTray_1_11{nRow_1_11,1},0,0,200), v500, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
Set foClearMD11_T1;
IF fiIgnoreCountErr = OFF THEN
rAlarmScreen ERR_PART_RETRY_EXC;
!IF fiNewTray_11_1=ON ResetTray_1MD11;
NumTries := 0;
ResetRetryCount;
Set foClearMD11_T1;
Set foClearOfBlock;
RAISE;
ELSE
NumTries := 0;
ResetRetryCount;
RETRY;
ENDIF
ELSE
rOpenGripper;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,40), v400, z1, tCool_Jet\WObj:=wobjMD11Tray_1;
Incr NumTries;
rIndexMD11_1;
IF bLastPick_11_1 = TRUE ExitCycle;
MoveL Offs(pPickTray_1_11{nRow_1_11,nColumn_1_11},0,0,40), v400, z1\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_1;
Set foRunSearch;
MoveL pPickTray_1_11{nRow_1_11,nColumn_1_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
Reset foRunSearch;
RETRY;
ENDIF
CASE ERR_NO_TRAY:
RAISE;
DEFAULT:
! An unanticipated error has occurred.
rAlarmScreen(ERR_NOT_DEFINED);
STOP;
ENDTEST
ENDPROC
PROC rMD11_Tray2()
VAR num NumTries;
VAR bool bTimeOut;
CONST errnum erNotClosed1:=99;
CONST errnum erNoPartPres:=97;
CONST errnum erNoPartPresent:=96;
IF bLastPick_11_2 THEN
TPErase;
TPWrite "Waiting for MD11 Tray 2 OK.";
WaitUntil fiMD13Tray_2_OK=ON;
!IF fiNewTray_11_2=ON ResetTray_2MD11;
ENDIF
WaitUntil fiMD11Tray_2_OK=1\Maxtime:=FAULT_TIME\TimeFlag:=bTimeout;
IF bTimeOut RAISE ERR_NO_TRAY;
lblNextTry:
TPErase;
TPWrite "*************************************";
TPWrite "Picking from MD11 Tray 2";
TPWrite "From Row:="\Num:=nRow_2_11;
TPWrite "And Column:="\Num:=nColumn_2_11;
TPWrite "*************************************";
IF diJetPresent = 0 AND diJetClamped = 0 THEN
Reset foClearMD11_T2;
rChkGripperOpen;
! MoveL Offs(pPickTray_2_11{nRow_2_11,1},0,0,200), v500, z20, tCool_Jet\WObj:=wobjMD11Tray_2;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,40), v400, z1\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_2;
Set foRunSearch;
MoveL pPickTray_2_11{nRow_2_11,nColumn_2_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
Reset foRunSearch;
IF fiDryCycle = 1 THEN
rCloseGripper;
ELSE
rCloseGripper\swWithPart;
ENDIF
rContinue;
SetDO foInPosition, OFF;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,80), v200, z1, tCool_Jet\WObj:=wobjMD11Tray_2;
IF fiDryCycle = 0 rCheckPartPres\swOn;
Incr nTray11_2_Noflt{nRow_2_11,nColumn_2_11};
rIndexMD11_2;
Set foPlaceDone;
! MoveL Offs(pPickTray_2_11{nRow_2_11,1},0,0,150), v150, z5\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_2;
Set foClearMD11_T2;
ELSE
IF diJetPresent=1 RETURN;
ENDIF
RETURN;
ERROR
! erNoPartPres is raised from the
! CloseGripper routine
! erNoPartPresent is raised from the
! checkpartpresent routine
TEST ERRNO
CASE erNoPartPresent:
rAlarmScreen(ERR_NOPART);
IF fiDiscardPart = OFF THEN
Incr nTray11_2_flt{nRow_2_11,nColumn_2_11};
RETRY;
ELSE
tTemp:=CTool();
WObjTemp:=CWObj();
pTemp:=CRobT(\Tool:=tTemp\WObj:=wobjTemp);
Reset foRunSearch;
Incr nTray11_2_flt{nRow_2_11,nColumn_2_11};
MoveL pDropReject, v400, fine, tCool_Jet;
rOpenGripper;
rIndexMD11_2;
!Set foPartRejected;
MoveL pTemp, v400, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
IF bLastPick_11_2 = TRUE ExitCycle;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,40), v400, z1\Inpos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_2;
Set foRunSearch;
MoveL pPickTray_2_11{nRow_2_11,nColumn_2_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
Reset foRunSearch;
rCloseGripper;
Reset foPartRejected;
SetDO foInPosition, OFF;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,80), v200, z1, tCool_Jet\WObj:=wobjMD11Tray_2;
RETRY;
ENDIF
CASE erNoPartPres:
IF NumTries=3 THEN
Reset foRunSearch;
rOpenGripper;
TPWrite "Part unable to be located";
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,40), v400, z1, tCool_Jet\WObj:=wobjMD11Tray_2;
MoveL Offs(pPickTray_2_11{nRow_2_11,1},0,0,200), v500, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
Set foClearMD11_T2;
IF fiIgnoreCountErr = OFF THEN
rAlarmScreen ERR_PART_RETRY_EXC;
!IF fiNewTray_11_2=ON ResetTray_2MD11;
NumTries := 0;
ResetRetryCount;
Set foClearMD11_T2;
Set foClearOfBlock;
RAISE;
ELSE
NumTries := 0;
ResetRetryCount;
RETRY;
ENDIF
ELSE
rOpenGripper;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,40), v400, z1, tCool_Jet\WObj:=wobjMD11Tray_2;
Incr NumTries;
rIndexMD11_2;
IF bLastPick_11_2 ExitCycle;
MoveL Offs(pPickTray_2_11{nRow_2_11,nColumn_2_11},0,0,40), v400, z1\InPos:=Inpos95, tCool_Jet\WObj:=wobjMD11Tray_2;
Set foRunSearch;
MoveL pPickTray_2_11{nRow_2_11,nColumn_2_11}, v40, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
Reset foRunSearch;
RETRY;
ENDIF
CASE ERR_NO_TRAY:
RAISE;
DEFAULT:
! An unanticipated error has occurred.
rAlarmScreen(ERR_NOT_DEFINED);
STOP;
ENDTEST
ENDPROC
PROC rIndexMD11_1()
!Gets Current Part Location and Indexes Position to next part
!Find out if last row is being picked
IF nRow_1_11>=6 AND nColumn_1_11=6 bLastPick_11_1:=TRUE;
IF bLastPick_11_1 Set foMD11Tray1Empty;
IF nRow_1_11<=6 AND nColumn_1_11<6 THEN
Incr nColumn_1_11;
ELSEIF nRow_1_11<=5 AND nColumn_1_11=6 THEN
Incr nRow_1_11;
nColumn_1_11:=1;
ENDIF
ENDPROC
PROC rIndexMD11_2()
!Gets Current Part Location and Indexes Position to next part
!Find out if last row is being picked
IF nRow_2_11 >= 6 AND nColumn_2_11 = 6 bLastPick_11_2:=TRUE;
IF bLastPick_11_2 Set foMD11Tray2Empty;
IF nRow_2_11<=6 AND nColumn_2_11<6 THEN
Incr nColumn_2_11;
ELSEIF nRow_2_11<=5 AND nColumn_2_11=6 THEN
Incr nRow_2_11;
nColumn_2_11:=1;
ENDIF
ENDPROC
PROC rTeachTray_1MD11()
VAR num nDummy := 0;
!Procedure for teaching the Right pick position
MoveJ pPickTray_1_11{1,1}, v100, fine, tCool_Jet\WObj:=wobjMD11Tray_1;
TPReadFK nDummy, "Apply this position modification to all subsequent positions?", "YES", stEmpty, stEmpty, stEmpty, "NO";
TEST nDummy
CASE 1:
FOR i FROM 1 TO 6 DO
FOR j FROM 1 TO 6 DO
pPickTray_1_11{i,j}.trans.y:=pPickTray_1_11{1,1}.trans.y+((j-1)*yToPart);
IF (i=2) OR (i=4) OR (i=6) pPickTray_1_11{i,j}.trans.y:=pPickTray_1_11{i,j}.trans.y + 22.5;
ENDFOR
ENDFOR
FOR i FROM 1 TO 6 DO
FOR j FROM 1 TO 6 DO
pPickTray_1_11{i,j}.trans.x:=pPickTray_1_11{1,1}.trans.x-((i-1)*xToPart);
pPickTray_1_11{i,j}.trans.z:=pPickTray_1_11{1,1}.trans.z;
pPickTray_1_11{i,j}.rot:=pPickTray_1_11{1,1}.rot;
pPickTray_1_11{i,j}.robconf:=pPickTray_1_11{1,1}.robconf;
ENDFOR
ENDFOR
DEFAULT:
! Do nothing. All other positions in the array go unchanged.
ENDTEST
ENDPROC
PROC rTeachTray_2MD11()
VAR num nDummy := 0;
!Procedure for teaching the Left pick position
MoveL pPickTray_2_11{1,1}, v100, fine, tCool_Jet\WObj:=wobjMD11Tray_2;
TPReadFK nDummy, "Apply this position modification to all subsequent positions?", "YES", stEmpty, stEmpty, stEmpty, "NO";
TEST nDummy
CASE 1:
FOR i FROM 1 TO 6 DO
FOR j FROM 1 TO 6 DO
pPickTray_2_11{i,j}.trans.y:=pPickTray_2_11{1,1}.trans.y+((j-1)*yToPart);
! here alternating rows were offset, it looks like this:
! x x x x x x
! x x x x x x
! x x x x x x
! x x x x x x
IF (i=2) OR (i=4) OR (i=6) pPickTray_2_11{i,j}.trans.y:=pPickTray_2_11{i,j}.trans.y + 22.5;
ENDFOR
ENDFOR
FOR i FROM 1 TO 6 DO
FOR j FROM 1 TO 6 DO
pPickTray_2_11{i,j}.trans.x:=pPickTray_2_11{1,1}.trans.x-((i-1)*xToPart);
pPickTray_2_11{i,j}.trans.z:=pPickTray_2_11{1,1}.trans.z;
pPickTray_2_11{i,j}.rot:=pPickTray_2_11{1,1}.rot;
pPickTray_2_11{i,j}.robconf:=pPickTray_2_11{1,1}.robconf;
ENDFOR
ENDFOR
DEFAULT:
! Do nothing. All other positions in the array go unchanged.
ENDTEST
ENDPROC
PROC rMD11_1_Man_Set()
VAR num nDummy := 0;
TPReadFK nDummy, "Would you like to choose the start position MD11 tray 1?", "YES", stEmpty, stEmpty, stEmpty, "NO";
TEST nDummy
CASE 1:
lblRetryRow:
TPReadNum nDummy, "Please enter row 1-6 on keypad.";
TEST nDummy
CASE 1,2,3,4,5,6:
nRow_1_11 := nDummy;
DEFAULT:
TPWrite "I'm sorry, that response is not valid.";
GOTO lblRetryRow;
ENDTEST
lblRetryColumn:
TPReadNum nDummy, "Please enter column 1-6 on keypad.";
TEST nDummy
CASE 1,2,3,4,5,6:
nColumn_1_11 := nDummy;
DEFAULT:
TPWrite "I'm sorry, that response is not valid.";
GOTO lblRetryColumn;
ENDTEST
DEFAULT:
MoveL Offs(pPickTray_1_11{nRow_1_11,1},0,0,250), v200, z1, tCool_Jet\WObj:=wobjMD11Tray_1;
MoveJ pMD11Pounce, v3000, z200, tCool_Jet;
ExitCycle;
ENDTEST
ENDPROC
PROC rMD11_2_Man_Set()
VAR num nDummy := 0;
TPReadFK nDummy, "Would you like to choose the start position MD11 tray 2?", "YES", stEmpty, stEmpty, stEmpty, "NO";
TEST nDummy
CASE 1:
lblRetryRow:
TPReadNum nDummy, "Please enter row 1-6 on keypad.";
TEST nDummy
CASE 1,2,3,4,5,6:
nRow_2_11 := nDummy;
DEFAULT:
TPWrite "I'm sorry, that response is not valid.";
GOTO lblRetryRow;
ENDTEST
lblRetryColumn:
TPReadNum nDummy, "Please enter column 1-6 on keypad.";
TEST nDummy
CASE 1,2,3,4,5,6:
nColumn_2_11 := nDummy;
DEFAULT:
TPWrite "I'm sorry, that response is not valid.";
GOTO lblRetryColumn;
ENDTEST
DEFAULT:
MoveL Offs(pPickTray_2_11{nRow_1_11,1},0,0,250), v200, z1, tCool_Jet\WObj:=wobjMD11Tray_2;
MoveJ pMD11Pounce, v3000, z200, tCool_Jet;
ExitCycle;
ENDTEST
RETURN;
ENDPROC
