;********************************************** HEADER **********************************************
;Title:		Pick and Place example program
;Author:		940 Product Management
;Description:	This is a sample program that shows a simple application that
;            		 picks up a part moves to a set position and drops the part

;********************************************  I/O List  *********************************************
;	Input A1	-	not used 
;	Input A2	-	not used
;	Input A3	-	Enabled
;	Input A4	-	not used
;	Input B1	-	not used
;	Input B2	-	not used
;	Input B3	-	not used
;	Input B4	-	not used
;	Input C1	-	not used
;	Input C2	-	not used
;	Input C3	-	not used
;	Input C4	-	not used
;	
;	Output 1	-	Pick Arm	
;	Output 2	-	Gripper	
;	Output 3	-	not used	
;	Output 4	-	not used	


;******************************** Initialize and Set Variables ****************************************
UNITS = 1
ACCEL = 75
DECEL =75
MAXV = 10
APOS = 0 

;********************************************** Events ************************************************
;Set Events handling here

;******************************************* Main Program *********************************************
RESET_DRIVE:
WAIT UNTIL IN_A3		;Check the Enable / Inhibit switch is made before continuing
ENABLE				;Enable the Drive
PROGRAM_START:
MOVEP  0	 			;Move to Pick position
OUT1 = 1				;Turn on output 1 on to extend Pick arm
WAIT TIME 1000		;Delay 1 sec to extend arm
OUT2 = 1				;Turn on output 2 to Engage gripper
WAIT TIME 1000		;Delay 1 sec to Pick part
OUT1 = 0				;Turn off output 1 to Retract Pick arm
MOVEP 100			;Move to Place position
OUT1 = 1				;Turn on output 1 on to extend Pick arm
WAIT TIME 1000		;Delay 1 sec to extend arm
OUT2 = 0				;Turn off output 1 to Disengage gripper
WAIT TIME 1000		;Delay 1 sec to Place part
OUT1 = 0				;Retract Pick arm
GOTO PROGRAM_START
END

;******************************************** Sub-Routines ********************************************
;	Enter Sub-Routine code here

;*************************************** Fault Handler Routine ****************************************
;	Enter Fault Handler code here
ON FAULT

ENDFAULT

