Beginner needing some guidance on program changes please

    Hello,

    Looking for some help on whether these changes would work as intended to a fanuc program;

    I've never made changes and only really used the pendant to move and abort/start programs.

    We have a part of the program which waits for the head at the end of the robot to change position when it changes pallet, it waits until done so, I want it to now turn a DO on when waiting and off when it finishes;

    The original code is below.

    LBL{10:Pallet 2] ;

    IF R[2:No PLC Heartbrat] = 1, Jump LBL[101]

    IF DI[17:Vacuum Pump OL] = ON, Jump LBL[100]

    RO{1:EOAT PALLET 1] = Off ;

    RO[2:EOAT Pallet 2] = ON ;

    Wait RI[1:EOAT S1 @ PAL2] = ON AND RI[4:EOAT S1 @ PAL2] = ON ;

    AND RI[3:EOAT S1 @ PAL2] = OFF AND RI[2:EOAT S1 @ PAL2] = OFF ;

    Now I wanted to add the DO to come on at the same time as the wait and then go off if the below logic is true.

    LBL{10:Pallet 2] ;

    IF R[2:No PLC Heartbrat] = 1, Jump LBL[101]

    IF DI[17:Vacuum Pump OL] = ON, Jump LBL[100]

    RO{1:EOAT PALLET 1] = Off ;

    RO[2:EOAT Pallet 2] = ON ;

    DO[20:PAL2 WAIT] = ON ;

    Wait RI[1:EOAT S1 @ PAL2] = ON AND RI[4:EOAT S1 @ PAL2] = ON ;

    AND RI[3:EOAT S1 @ PAL2] = OFF AND RI[2:EOAT S1 @ PAL2] = OFF ;

    DO[20:PAL2 WAIT] = OFF ;

    I have an idea how to edit by following some guides so just would like some guidance on whether this would work or if not why, thanks in advance!

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