Principe des procédures |

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The following is the sequence of actions in a procedure:

identify unique movements
see if the movement already has a procedure index
we do not know the current position for the robot,
but we suppose the line is full, let s not set mCurrentPos to zero! mCurrentPos = 0
using same Y-coordinates coordinates
change residence time (and activation) for FIFOS
start making the procedure
if destination is occupied then exit
Stop loading conveyor motor
push ages in FIFO if the movement is to put down in FIFO
ensure that upstroke is enabled if external liftout on put position
find lids
move to take position if possible or nearest position
wait for chain to stop
waiting for minimum time
if external liftout on From position do not wait for minimum time
activate Skim Ramp
open lid on Take position
move to Take position and check flags etc
wait for chain to stop before taking basket
identify coordinates
activate tastatore
stop agitation
wait for agitation to be in stop position
deactivate accessories on take position
move down completely, take basket
open lid on Put position
send Take message and move upwards
start rotation
start agitations if necessary
lift basket out from Take position
stop rotation after lifting out basket
if destination is oven or chain check the basket detector switch
move to Put position and check flags etc
close lid on take position
start loading conveyor
clear flag for transfer take position
wait for time window for chain transfer put
flag to hinder chain motor to start
test for External Liftout on put position
wait for end of cycle before putting basket down
stop agitation
move down to slow position
wait for chain to stop
Stop unloading conveyor
wait for agitation to be in stop position
move down completely, release basket
start agitation
lift arm out from Put position
stop rotation
disable tastatore
flag to hinder chain motor to start 2
move Code between cells
activate external liftout after leaving the basket
close lid on Put position
set flag for Basket in Conveyor Loading
set flag for transfer put position
add any remaining lids wait times (should not happen)
move away from interference area
set flag for Basket in Conveyor Loading
set flag for transfer put position
start Unloading conveyor
set reference for FIFO youngest
remove reference for FIFO oldest
wait for any closing lids
pending ultrasounds after opening lid
activate US if the put position had lid
check Feedbacks
start unloading conveyor
set final flags (used for multiple takes)
procedure heading