ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 ** SEQUENCE SUMMARY ** SEQ TYPE CLSPTH NO. POINTS --- ---- ------ ---------- 00 ABS 00.007 12 01 ABS 00.007 13 11 ABS 00.007 9 12 ABS 00.007 20 21 ABS 00.007 32 22 ABS 00.007 37 ** VELOCITY TABLE ** V(1) = 10.00 MM/S V(2) = 50.02 MM/S V(3) = 74.93 MM/S V(4) = 140.05 MM/S V(5) = 230.09 MM/S V(6) = 500.00 MM/S V(7) = 699.88 MM/S V(8) = 979.99 MM/S ** TOOL DIMENSIONS ** TD(1) = 101.60 MM TD(2) = 849.96 MM TD(3) = 349.89 MM TD(4) = -500.16 MM -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 00 *********** 00:001 HOME V(1) TD(1) 00:002 NOP V(6) TD(1) 00:003 NOP V(4) TD(4) 00:004 WAIT ,-S12 NO MOVE 00:005 NOP V(4) TD(4) 00:006 NOP (CONT) V(5) TD(4) 00:007 CYCLE START V(6) TD(2) 00:008 OUTPUT +05,+16 NO MOVE 00:009 OUTPUT +07 NO MOVE 00:010 PERFORM 01 AND ,+S09,-S17,-S18,-S19 NO MOVE 00:011 PERFORM 11 AND ,-S09,-S17,+S18,-S19 NO MOVE 00:012 PERFORM 12 AND ,-S09,-S17,-S18,+S19 NO MOVE -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 01 *********** 01:001 NOP V(3) TD(2) 01:002 OUTPUT -05,-06 NO MOVE 01:003 OUTPUT -07 NO MOVE 01:004 WAIT ,+S12 NO MOVE 01:005 NOP (CONT) V(8) TD(2) 01:006 NOP V(8) TD(2) 01:007 WAIT OR ,-S09,+S10 NO MOVE 01:008 PERFORM 21 AND ,+S05,-S06,-S07,-S08,+S10 NO MOVE 01:009 PERFORM 21 AND ,-S05,+S06,-S07,-S08,+S10 NO MOVE 01:010 PERFORM 22 AND ,-S05,-S06,+S07,-S08,+S10 NO MOVE 01:011 PERFORM 22 AND ,-S05,-S06,-S07,+S08,+S10 NO MOVE 01:012 NOP (CONT) V(8) TD(2) 01:013 NOP V(5) TD(2) -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 11 *********** 11:001 NOP V(5) TD(2) 11:002 OUTPUT -05 NO MOVE 11:003 NOP (CONT) V(6) TD(2) 11:004 NOP (CONT) V(5) TD(2) 11:005 NOP (CONT) V(5) TD(2) 11:006 NOP (CONT) V(5) TD(2) 11:007 NOP (CONT) V(4) TD(2) 11:008 NOP (CONT) V(4) TD(2) 11:009 NOP V(7) TD(2) -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 12 *********** 12:001 NOP V(3) TD(2) 12:002 OUTPUT -05 NO MOVE 12:003 NOP V(6) TD(2) 12:004 NOP V(6) TD(2) 12:005 NOP V(6) TD(2) 12:006 NOP V(6) TD(2) 12:007 NOP V(6) TD(2) 12:008 NOP V(6) TD(2) 12:009 NOP V(6) TD(2) 12:010 NOP V(6) TD(2) 12:011 NOP V(6) TD(2) 12:012 WAIT ,-S19 NO MOVE 12:013 NOP V(6) TD(2) 12:014 NOP V(6) TD(2) 12:015 NOP V(7) TD(2) 12:016 NOP V(7) TD(2) 12:017 NOP V(6) TD(2) 12:018 NOP V(6) TD(2) 12:019 NOP V(7) TD(2) 12:020 NOP V(6) TD(2) -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 21 *********** 21:001 NOP V(3) TD(2) 21:002 OUTPUT -16 NO MOVE 21:003 WAIT AND ,-S09,-S10 NO MOVE 21:004 NOP V(8) TD(2) 21:005 NOP V(5) TD(2) 21:006 NOP (CONT) V(3) TD(2) 21:007 OUTPUT +09,-10,-11,-12 NO MOVE 21:008 TOOL 1A M V(5) TD(2) 21:009 TOOL 1A M V(5) TD(2) 21:010 TOOL 1A M V(5) TD(2) 21:011 TOOL 1A M V(5) TD(2) 21:012 TOOL 1A M V(4) TD(2) 21:013 OUTPUT -09,-10,-11,-12 NO MOVE 21:014 TOOL 1A M V(4) TD(2) 21:015 TOOL 1A M V(4) TD(2) 21:016 TOOL 1A M V(4) TD(2) 21:017 TOOL 1A M V(4) TD(2) 21:018 OUTPUT +07 NO MOVE 21:019 TOOL 1A M V(4) TD(2) 21:020 TOOL 1A M V(4) TD(2) 21:021 TOOL 1A M V(4) TD(2) 21:022 TOOL 1A M V(4) TD(2) 21:023 TOOL 1A M V(4) TD(2) 21:024 TOOL 1A M V(4) TD(2) 21:025 TOOL 1A M V(4) TD(2) 21:026 TOOL 1A M V(4) TD(2) 21:027 TOOL 1A M V(4) TD(2) 21:028 TOOL 1A M V(3) TD(2) 21:029 NOP (CONT) V(6) TD(2) 21:030 OUTPUT +05,+06 NO MOVE 21:031 NOP (CONT) V(7) TD(2) 21:032 NOP (CONT) V(8) TD(2) -------------------------------------------------------------------------- ROBOT NR: 132 UTSKRIVET: 12-08-1989 Klockan 21:11:45 *********** PERFORM 22 *********** 22:001 NOP V(3) TD(2) 22:002 OUTPUT -16 NO MOVE 22:003 WAIT AND ,-S09,-S10 NO MOVE 22:004 NOP V(7) TD(2) 22:005 OUTPUT -09,-10,-11,-12 NO MOVE 22:006 NOP V(6) TD(2) 22:007 TOOL 1A M V(4) TD(2) 22:008 TOOL 1A M V(4) TD(2) 22:009 TOOL 1A M V(4) TD(2) 22:010 TOOL 1A M V(4) TD(2) 22:011 TOOL 1A M V(4) TD(2) 22:012 TOOL 1A M V(4) TD(2) 22:013 TOOL 1A M V(4) TD(2) 22:014 TOOL 1A M V(4) TD(2) 22:015 TOOL 1A M V(5) TD(2) 22:016 TOOL 1A M V(4) TD(2) 22:017 OUTPUT +07 NO MOVE 22:018 TOOL 1A M V(5) TD(2) 22:019 TOOL 1A M V(4) TD(2) 22:020 TOOL 1A M V(4) TD(2) 22:021 TOOL 1A M V(5) TD(2) 22:022 TOOL 1A M V(4) TD(2) 22:023 TOOL 1A M V(4) TD(2) 22:024 TOOL 1A M V(3) TD(2) 22:025 TOOL 1A M V(4) TD(2) 22:026 TOOL 1A M V(4) TD(2) 22:027 WAIT ,+S12 V(4) TD(2) 22:028 TOOL 1A M V(5) TD(2) 22:029 TOOL 1A M V(5) TD(2) 22:030 TOOL 1A M V(3) TD(2) 22:031 TOOL 1A M V(4) TD(2) 22:032 TOOL 1A M V(3) TD(2) 22:033 NOP (CONT) V(6) TD(2) 22:034 OUTPUT +05,+06 NO MOVE 22:035 NOP (CONT) V(7) TD(2) 22:036 NOP (CONT) V(8) TD(2) 22:037 OUTPUT +07 NO MOVE