RG Robot

N0001   LBL,1 S85,9,20 S85,8,10 JMP,1 
        BE

• LBL,1 label 1
• S85,9,20 If input 9 is ON (left door prox) goto label 20
• S85,8,10 If input 8 is ON (bottom right switch) goto label 10 (near end of program - cancels program).
• Jump to label 1
• BE block end

N0002   LBL,20 SON,1 SON,5 SON,3 SON,11 
        BE  

• LBL,20 label 20
• SON,1 turn output 1 ON (unlatch start input)¹⁾
• SON,5 turn output 5 ON (door prox relay)
• SON,3 turn output 3 ON (sliding door prox left)
• SON,11 turn output 11 ON (amber light left)
• BE block end

N0004 P F50%                            
        AS,3 BE  

N0005 L F0005M                          
        AS,1 BE  

N0006 L F0012M                          
        AE BE  

N0036   SOF,5 SOF,3 SOF,11 S10,0 S10,2  
        S10,3 BE  

• SOF,5 turn OFF output 5
• SOF,3 turn OFF output 3
• SOF,11 turn OFF output 11
• The above 3 are reseting the fence circuit so the door can be moved and turning OFF the amber light - amber light OFF means we can move the door.
• S10,0 add 1 (increment) to data register 0
• S10,2 increment data register 2
• S10,3 increment data register 3
• The above counters will be different between left and right - see counter registers below.

N0039   LBL,10 SON,1 PE  

SON,1 turn on output 1 (momentary or pulse)

PE end this program. Control will be returned to the program that called it on the line below the call.

N0002   SON,1 SON,2 SOF,3 SOF,4 SOF,5  
        SOF,6 SOF,11 SOF,12  

This line is at the top of the program and is only executed at startup. This turns OFF all outputs. Note outputs one and two are pulsed or momentary and they unlatch the start inputs (relay). See output assignments above

N0003   LBL,1 BE

Label One

N0004 P F100% CNT,8                     
        BE  

Movement (start position)

N0005   S85,1,20 S85,2,30 S85,7,40 JMP,1
        BE  

• S85,1,20 if input 1 is ON (start left) goto label 20
• S85,2,30 if input 2 is ON (start right) goto label 30
• S85,5,7 if input 7 is ON goto label 40
• JMP,1 jump to label 1. Label 1 is above and this makes a loop.

N0006   LBL,20 S86,4,22 S87,3,22 S98,58 
        JMP,1 BE  

• LBL,20 label 20
• This label and label 30 is the decision logic to decide which part to do - 4 leg or 3 leg
• Note: setting data 30 is wait time for S86 and S87 instruction
• S86,4,22 wait for input 4 (3leg left) to come ON, if it does goto next statement, if doesn't jump to label 22
• S87,3,22 wait for input 3 (4leg left)to be OFF , if it is OFF goto to next statement, if it is ON goto label 22
• S98,58 call program 58 (3 leg left)
• JMP,1 goto label 1 (start over). This line is where we continue when program 58 is done.

INputs 3 and 4 are switches on the legs on the left side. If the 3 leg switch is ON and the 4 leg switch is OFF, it is safe to start the 3 leg left program. Any other condition sends us to label 22 where we can test for other conditions.

N0007   LBL,22 S86,3,1 S87,4,1 S98,59  
        JMP,1 BE  

• LBL,22 label 22
• S86,3,1 wait for input 3 (4leg left) to come ON, if it doesn't goto label 1 (start over).
• S87,4,1 wait for input 4 (3leg left) to goOFF, if it doesn't goto label 1 (start over).
• S98,59 call program 59 (4leg left).
• JMP,1 goto label 1 (start over). This line is where we continue when program 59 is done.

INputs 3 and 4 are switches on the legs on the left side. If the 4 leg switch is ON and the 3 leg switch is OFF, it is safe to start the 4 leg left program. Any other condition sends us back to the start to try again.

N0008   LBL,25 JMP,1 BE

I think this is a remmanent of code cleanup. It does nothing but go back to the top at label one. I will remove it first chance I notice it and remember it. this a note to same.

N0009   LBL,30 S86,6,32 S87,5,32 S98,88 
        JMP,1 BE  

• LBL,30 label 30
• S86,6,32 wait for input 6 (3 leg right)to comeON, if it doesn't goto label 32
• S87,5,32 wait for input 5 (4 leg right)to go OFF, it it doesn't goto label 32
• S98,88 call program 88 (3 leg right)
• JMP,1 jump to label 1 (start over) - this instruction will be the next one after program 88 has finished.

INputs 6 and 5 are switches on the legs on the right side. If the 3 leg switch is ON and the 4 leg switch is OFF, it is safe to start the 3 leg right program. Any other condition sends us to label 32 where we can test for other conditions.

N0010   LBL,32 S86,5,1 S87,6,1 S98,89  
        JMP,1 BE  

• LBL,32 label 32
• S86,5,1 wait for input 5 (4 leg right) to come ON, if it doesn't goto label 1 (start over).
• S87,6,1 wait for input 6 (3 leg right) to go OFF, if it doesn't goto label 1 (start over).
• S98,89 call program 89 (4 leg right)
• JMP,1 goto label 1 (start over) - this is the next instruction after program 89 finishes.

INputs 5 and 6 are switches on the legs on the right side. If the 4 leg switch is ON and the 3 leg switch is OFF, it is safe to start the 4 leg right program. Any other condition sends us back to the start to try again.

N0011   LBL,40 S98,22 JMP,1 BE  

• LBL,40 label 40
• S98,22 call program 22 (tip clean).
• JMP,1 goto label 1 (start over).