In Grafcet it is possible to program actions for each step. Three types of action are possible:

When for a given step the type of action is not described, this means that it has not been programmed.

! (*Reference point taken along the X and Y axes*)

SMOVE (Axis_ch0, 1, 90, 14, 0, Vitesse_p_o, 16#0000);

SMOVE (Axis_ch1, 1, 90, 14, 0, Vitesse_p_o, 16#0000);

! (*Movement to stand-by position (Xatt, Yatt*)

SMOVE (Axis_ch0, 2, 90, 9, X_attente, Vitesse_x_attente, 16#0000);

SMOVE (Axis_ch1, 2, 90, 9, Y_attente, Vitesse_y_attente, 16#0000);

! (*Movement towards belt A*)

SMOVE (Axis_ch0, 3, 90, 10, 19500, Vitesse_pos_a_x, 16#0000);

SMOVE (Axis_ch1, 3, 90, 10, 19500, Vitesse_pos_a_y, 16#0000);

! (*Close claw*)

SET(Claw);

! (*Movement to conveyor belt B*)

SMOVE (Axis_ch0, 4, 90, 9, X_b, Vitesse_pos_b_x, 16#0000);

SMOVE (Axis_ch1, 4, 90, 9, Y_b, Vitesse_pos_b_y, 16#0000);

! (*Movement to conveyor belt C*)

SMOVE (Axis_ch0, 5, 90, 9, X_c, Vitesse_pos_c_x, 16#0000);

SMOVE (Axis_ch1, 5, 90, 9, Y_c, Vitesse_pos_c_y, 16#0000);

! (*Open claw*)

RESET (Claw);