4.6 Job Example4-114.6 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 1 SUB2 (R2)PWAIT SUB1PWAIT SUB2'WAITING FOR THE FIRST STARTWAIT IN#(1)=ONPSTART JOB:R1 WAIT SUB1 (R1)PSTART JOB:R2 WAIT SUB2 (R2)PWAIT SUB1PWAIT SUB2'TIP REPLACEMENTJUMP *A IF IN#(2)=OFFPSTART JOB:R1 TIP SUB1 IF IN#(2)=ON (R1)PSTART JOB:R2 TIP SUB2 IF IN#(2)=ON (R2)PWAIT SUB1PWAIT SUB2JUMP *G*A'WAITING FOR THE SECOND STARTWAIT IN#(10)=ON'RETURN TO HOME 1JUMP *B IF IG#(3)<>99PSTART JOB:R1 HOME 1 SUB1 (R1+S1)PSTART JOB:R2 HOME 1 SUB2 (R2)PWAIT SUB1PWAIT SUB2JUMP *G*B'WORK JOBJUMP *C IF IG#(3)=0'WORK 1JUMP *E IF IG#(3)<>1PSTART JOB:TES11-R1 SUB1 SYNC SUB2 (R1+S1)PSTART JOB:TES11-R2 SUB2 (R2+S1)PWAIT SUB1PWAIT SUB2*E'WORK 2JUMP *F IF IG#(3)<>2PSTART JOB:TES12-R1 SUB1 SYNC SUB2 (R1+S1)PSTART JOB:TES12-R2 SUB2 (R2+S1)PWAIT SUB1PWAIT SUB2*FJUMP *H IF IN#(2)=OFFPSTART JOB:R1 CHIP SUB1 (R1)PSTART JOB:R2 CHIP SUB2 (R2)PWAIT SUB1PWAIT SUB2*CDOUT OG#(4) 15JUMP *CENDMaster task(Concurrent job or robot job witout control groups)R1 WAIT (R1)R1 HOME1 (R1+S1)R2 HOME2 (R2)R2 WAIT (R2)R1 TIP (R1) R2 TIP (R2)Home position returnjobWaiting JOBTip replacement JOBWork JOB (coordinated job)NOPTSYNC 1MOVJ+MOVJSMOVL+MOVJTSYNC 2ARCONARCOFSMOVL+MOVJTSYNC 3DOUT OT#(1)=OFFMOVJ+MOVJENDNOPTSYNC 1MOVJ+MOVJSMOVL+MOVJTSYNC 2ARCONARCOFSMOVL+MOVJTSYNC 3DOUT OT#(2)=OFFMOVJ+MOVJENDTES11-R2(R2+S1)TES11-R1(R1+S1)(omitted)Jobs in subtasks 1 and 275/210
