Post-processing is performed at the end of a task. Post-processing is located at the end of the project and will allow you to program management of manual mode.

! (*Test of selected mode*)

IF Axe_x.Mode_auto AND Axe_y.Mode_auto AND Axe_x.Config AND Axe_y.Config

THEN JUMP %L200;

END_IF;

! (*Selection of axis to be controlled*)

%L100: IF NOT Selection_x_y

THEN JUMP %L200;

END_IF;

! (*X axis manual reference point*)

IF RE Po_man

THEN Axe_x.Posrp := 0; SET Axe_x.Setrp; Fmanu_x := 1000; WRITE_PARAM (Axe_x);

END_IF;

IF NOT Axe_x.Po_man

THEN RESET Axe_x.Setrp;

END_IF;

! (*Moving the moving part in X axis + direction*)

Axe_x.Jog_p := Forward;

! (*Moving the moving part in - X axis direction*)

Axe_x.Jog_m := Reverse;

%L200: IF selection_x_y

THEN JUMP %L300;

END_IF;

! (*Moving the moving part in Y axis + direction*)

Axe_y.Jog_p := Forward;

! (*Moving the moving part in Y axis - direction*)

Axe_Y.Jog_m := Reverse;

! (*Open grabber*)

%L300: IF Auto_man AND Ouv_pince

THEN RESET Grabber;

END_IF;

! (Closing the grabber *)

IF Auto_man AND Ferm_pince

THEN SET Grabber;

END_IF;

! (*Fault acknowledgement*)

Axe_x.Ack_def := Axe_y.Ack_def := Acq_defauts;

%L999: