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: