Subsequent processing is a section at the end of the program that manages the manual operating mode.

! (*Test selected mode*)

IF Mode_auto AND Mode_auto_y AND Axis_ch0.Conf_ok AND Axis_ch1.Conf_ok

THEN JUMP %L200;

END_IF;

! (*Selecting the axis to be driven*)

%L100: IF NOT Selection_x_y

THEN JUMP %L200;

END_IF;

! (*Reference point taken manually on X axis*)

IF RE(Po_man)

THEN SET(Axis_ch0.Set_rp);

END_IF;

IF NOT Po_man

THEN RESET(Axis_ch0.Set_rp);

END_IF;

! (*Movement of the moving part in the + direction along the X axis*)

Jog_p := Front;

! (*Movement of the moving part in the - direction along the X axis*)

Jog_m := Back;

%L200: IF selection_x_y

THEN JUMP %L300;

END_IF;

! (*Reference point taken manually on Y axis*)

IF RE(Po_man)

THEN SET(Axis_ch1.Set_rp);

END_IF;

IF NOT Po_man

THEN RESET(Axis_ch1.Set_rp);

END_IF;

! (*Movement of the moving part in the + direction along the Y axis*)

Axis_ch1.Jog_p := Front;

! (*Movement of the moving part in the - direction along the Y axis*)

Axis_ch1.Jog_p := Back;

! (*Open claw*)

%L300: IF Auto_man AND Ouv_pince

THEN RESET(Claw);

END_IF;

! (*Closure of the claw*)

IF Auto_man AND Ferm_pince

THEN SET(Claw);

END_IF;

! (*Error acknowledgement*)

Axis_ch0.Ack_def := Axis_ch1.Ack_def := Acq_defauts;

%L999: