5.6 Job Example5-125.6 Job ExampleNOP*G' RESETDOUT OG#(1) 0DOUT OG#(2) 0DOUT OG#(4) 0DOUT OG#(8) 0' RETURN TO HOME 1PSTART JOB:R1 HOME 1 SUB1 (R1+S1)PSTART JOB:R2 HOME 2 SUB2 (R2)PSTART JOB:R3 HOME 3 SUB3 (R3)PWAIT SUB1PWAIT SUB2PWAIT SUB3' WAITING FOR THE FIRST STARTWAIT IN#(1)=ONPSTART JOB:R1 WAIT SUB1 (R1)PSTART JOB:R2 WAIT SUB2 (R2)PSTART JOB:R3 WAIT SUB3 (R3)PWAIT SUB1PWAIT SUB2PWAIT SUB3JUMP *G*A' RETURN TO HOME 1JUMP *B IF IG#(3)<>99PSTART JOB:R1 HOME 1 SUB1PSTART JOB:R2 HOME 2 SUB2PSTART JOB:R3 HOME 3 SUB3PWAIT SUB1PWAIT SUB2PWAIT SUB3JUMP *G*B' WORK JOBJUMP *C IF IG#(3)=0' WORK 1JUMP *E IF IG#(3)<>1PSTART JOB:TES11-R1 SUB1 SYNC SUB3 (R1+S1)PSTART JOB:TSE11-R2 SUB2 SYNC SUB3 (R2+S1)PSTART JOB:TSE11-R3 SUB3 (R3+S1)PWAIT SUB1PWAIT SUB2PWAIT SUB3*E' WORK 2JUMP *F IF IG#(3)<>2PSTART JOB:TES12-R1 SUB1 SYNC SUB3 (R1+S1)PSTART JOB:TES12-R2 SUB2 SYNC SUB3 (R2+S1)PSTART JOB:TES12-R3 SUB3 (R3+S1)PWAIT SUB1PWAIT SUB2PWAIT SUB3*CDOUT OG#(4) 15JUMP *CENDNOPTSYNC 1 SNUM=3MOVJ+MOVJSMOVL+MOVJTSYNC 2 SNUM=3ARCONARCOFSMOVL+MOVJTSYNC 3 SNUM=3DOUT OT#(1)=OFFMOVJ+MOVJENDNOPTSYNC 1 SNUM=3MOVJ+MOVJSMOVL+MOVJTSYNC 2 SNUM=3ARCONARCOFSMOVL+MOVJTSYNC 3 SNUM=3DOUT OT#(2)=OFFMOVJ+MOVJENDTES11-R2(R2+S1)TES11-R1(R1+S1)NOPTSYNC 1 SNUM=3MOVJ+MOVJSMOVL+MOVJTSYNC 2 SNUM=3ARCONARCOFSMOVL+MOVJTSYNC 3 SNUM=3DOUT OT#(3)=OFFMOVJ+MOVJENDTES11-R3(R3+S1)Master task(Concurrent job or robot job without control groups)R1 WAIT (R1)R1 HOME 1 (R1+S1)R2 HOME 2 (R2)R2 WAIT (R2)Home position return jobWaiting JOBWork JOB (coordinated job)Jobs in subtasks 1, 2 and 3R3 HOME 3 (R3)R3 WAIT (R3)121/210
