set_tcp(p[0,0,0.051,0,0,0]) global spray = False def semGAB(): set_payload(0.125, [0,0,.045]) end def comGAB(): set_payload(0.6, [0,-0.002,.075]) end semGAB() thread sprayON(): while(spray == False): sleep(0.1) sync() end set_standard_digital_out(0, True) set_standard_digital_out(1, True) while(spray == True): sleep(0.1) sync() end set_standard_digital_out(0, False) set_standard_digital_out(1, False) end thread tfezDIR(): sleep(1) while (get_digital_in(0) == True): sleep(0.1) sync() end set_standard_digital_out(6, False) end thread tfezESQ(): sleep(1) while (get_digital_in(1) == True): sleep(0.1) sync() end set_standard_digital_out(7, False) end sleep(0.1) ## Programa DIR: 5696B-9-DIR thrdspray = run sprayON() movej(p[0.4043,0.08272,0.31831,1.5907,0,2.7381],3,3,0,0) ##while (get_digital_out(6) == True): ##sleep(0.1) ##sync() ##end ##while (get_digital_in(0) != True): ## sleep(1) ## sync() ##end set_standard_digital_out(4, True) movej(p[0.53430, 0.08350, 0.31826, 1.5907, 0, 2.7381],3,3,0.5,r=0) comGAB() movej(p[0.53050, 0.08350, 0.39576, 1.5907, 0, 2.7381],3,3,0.5,r=0) movej(p[0.30754, 0.10344, 0.43776, 0.3, 1.12, 3],3,3,0.4,0.05) movej(p[0.13976,-0.07545,0.55697,-0.12465,-1.12562,-2.7109],3,3,0.5,0) spray = True movep(p[0.14882,-0.06506,0.54645,-0.04153,-1.17711,-2.84203],0.5,0.14448,0.00867) movep(p[0.16248,-0.06201,0.54364,-0.01311,-1.19448,-2.88369],0.5,0.12,0.00714) movep(p[0.17802,-0.06224,0.54453,-0.01963,-1.19055,-2.87425],0.5,0.12969,0.00778) movep(p[0.19329,-0.06169,0.54531,-0.02137,-1.18951,-2.87173],0.5,0.1275,0.00765) movep(p[0.209,-0.06123,0.5467,-0.03186,-1.18313,-2.85634],0.5,0.13149,0.00789) movep(p[0.22511,-0.0607,0.54822,-0.04947,-1.17226,-2.83009],0.5,0.13491,0.00809) movep(p[0.24096,-0.05984,0.5493,-0.0619,-1.16445,-2.81122],0.5,0.1326,0.00796) movep(p[0.25694,-0.05888,0.54989,-0.07595,-1.15545,-2.78953],0.5,0.13346,0.00801) movep(p[0.27162,-0.05873,0.55084,-0.06713,-1.16112,-2.80318],0.5,0.12259,0.00736) movep(p[0.28248,-0.06185,0.55442,-0.00555,1.19898,2.89454],0.5,0.12,0.00593) movep(p[0.29223,-0.0666,0.5587,-0.08316,1.15079,2.77825],0.5,0.12,0.00583) movep(p[0.30171,-0.07218,0.56291,-0.14777,1.10708,2.67252],0.5,0.12,0.00589) movep(p[0.31069,-0.07856,0.56711,-0.20424,1.06558,2.57255],0.5,0.12,0.0059) movep(p[0.31921,-0.08558,0.57131,-0.25372,1.02657,2.47836],0.5,0.12,0.00591) movep(p[0.32657,-0.09361,0.57614,-0.30156,0.98614,2.38072],0.5,0.12,0.00596) movep(p[0.32407,-0.10808,0.58715,-0.38481,0.90813,2.19244],0.5,0.15295,0.00918) movep(p[0.28825,-0.13193,0.60795,-0.53559,0.73247,1.76883],0.5,0.18,0.0239) movep(p[0.20616,-0.1358,0.61235,-0.69672,0.44941,1.08349],0.5,0.18,0.04115) movep(p[0.15393,-0.10795,0.5885,-0.76488,0.22031,0.53141],0.5,0.18,0.03191) movep(p[0.1482,-0.08988,0.57435,-0.77882,0.12213,0.29488],0.5,0.18,0.01183) movep(p[0.15471,-0.08002,0.5678,-0.78321,0.07094,0.17127],0.5,0.12,0.00675) movep(p[0.16352,-0.0722,0.56249,-0.78512,0.02588,0.06248],0.5,0.12,0.00646) movep(p[0.17249,-0.06448,0.55638,-0.78503,-0.02778,-0.06708],0.5,0.12,0.00666) movep(p[0.1814,-0.05606,0.54856,-0.78113,-0.09906,-0.23915],0.5,0.12119,0.00727) movep(p[0.19251,-0.04987,0.5421,-0.77348,-0.16498,-0.39835],0.5,0.12,0.00713) movep(p[0.20692,-0.04909,0.54045,-0.77114,-0.18091,-0.43676],0.5,0.12111,0.00727) movep(p[0.22393,-0.05127,0.54142,-0.77631,-0.14447,-0.3488],0.5,0.14313,0.00859) movep(p[0.24208,-0.05265,0.54132,-0.78192,-0.0896,-0.21631],0.5,0.15168,0.0091) movep(p[0.26082,-0.05208,0.53905,-0.78518,-0.02205,-0.05323],0.5,0.15737,0.00944) movep(p[0.27887,-0.04944,0.53467,-0.7846,0.0437,0.10551],0.5,0.15637,0.00938) movep(p[0.29476,-0.04861,0.53211,-0.78356,0.06507,0.15708],0.5,0.13431,0.00806) movep(p[0.31001,-0.04902,0.53126,-0.78345,0.06706,0.16191],0.5,0.12728,0.00764) movep(p[0.32463,-0.05183,0.53342,-0.78428,0.0503,0.12144],0.5,0.12537,0.00752) movep(p[0.33705,-0.06042,0.5418,-0.78543,-0.0013,-0.00313],0.5,0.14399,0.00864) movep(p[0.342,-0.07868,0.56007,-0.78112,-0.10164,-0.24532],0.5,0.18,0.01315) movep(p[0.32361,-0.1087,0.59006,-0.75169,-0.27708,-0.66905],0.5,0.18,0.02312) movep(p[0.269,-0.13353,0.61491,-0.66791,-0.51225,-1.23659],0.5,0.18,0.03247) movep(p[0.19499,-0.12957,0.61099,-0.50533,-0.77299,-1.86558],0.5,0.18,0.03711) movep(p[0.14553,-0.09806,0.5795,-0.2807,-1.00499,-2.42429],0.5,0.18,0.03328) movep(p[0.14003,-0.0757,0.55706,-0.12716,-1.12112,-2.70725],0.5,0.18,0.01608) movep(p[0.14902,-0.06522,0.54646,-0.04411,-1.1722,-2.83928],0.5,0.14502,0) spray = False stopj(10) set_standard_digital_out(4, False) ##while (get_digital_in(0) == True): ## sleep(1) ## sync() ##end movej(p[0.30754, 0.06044, 0.43776, 0.3, 1.12, 3],3,3,0.4,0) movej(p[0.530,0.08264,0.39527,1.5907,0,2.7381],3,3,0.5,r=0.0) movej(p[0.5305,0.0835,0.318,1.5907,0,2.7381],3,3,0.5,r=0.0) semGAB() set_standard_digital_out(6, True) thrd2 = run tfezDIR() movej(p[0.404,0.08285,0.318,1.5907,0,2.7381],3,3,0,r=0) ## Programa ESQ: 5696B-9-ESQ thrdspray = run sprayON() movej(p[0.40441,-0.06531,0.31807,1.5824,0.0270,2.7110],3,3,0,0) ##while (get_digital_out(7) == True): ## sleep(1) ## sync() ##end ##while (get_digital_in(1) != True): ## sleep(1) ## sync() ##end set_standard_digital_out(4, True) movej(p[0.53441,-0.06531,0.318,1.5824,0.0270, 2.7110],3,3,0.5,r=0) comGAB() movej(p[0.530,-0.06531,0.395,1.5824,0.0270,2.7110],3,3,0.5,r=0) movej(p[0.30754,-0.11656,0.462,0.3,1.12,3],3,3,0.4,0) movej(p[0.13802,-0.0669,0.5485,-0.05475,-1.17382,-2.82054],3,3,0.5,0) spray = True movep(p[0.14874,-0.05577,0.53721,-0.03889,1.17882,2.84593],0.5,0.15949,0.00957) movep(p[0.16224,-0.04923,0.53108,-0.09775,1.14129,2.75512],0.5,0.13509,0.00811) movep(p[0.17746,-0.04886,0.53162,-0.09659,1.14198,2.75698],0.5,0.12693,0.00762) movep(p[0.19285,-0.04871,0.53305,-0.08691,1.14836,2.77234],0.5,0.12878,0.00773) movep(p[0.20981,-0.05092,0.53701,-0.01947,1.19063,2.87449],0.5,0.1463,0.00878) movep(p[0.22837,-0.05267,0.54048,-0.08266,-1.15114,-2.77904],0.5,0.15808,0.00948) movep(p[0.24697,-0.05215,0.54158,-0.16732,-1.09302,-2.63876],0.5,0.1553,0.00932) movep(p[0.26455,-0.05021,0.54099,-0.22405,-1.05035,-2.53563],0.5,0.14747,0.00885) movep(p[0.28033,-0.0491,0.54095,-0.23844,-1.03894,-2.50816],0.5,0.13182,0.00791) movep(p[0.2931,-0.0527,0.54516,-0.18424,-1.08076,-2.60882],0.5,0.12,0.00696) movep(p[0.30326,-0.05992,0.55225,-0.09439,-1.14347,-2.76049],0.5,0.12,0.00717) movep(p[0.31152,-0.0687,0.55994,-0.00487,1.19955,2.89544],0.5,0.12,0.00715) movep(p[0.32093,-0.07587,0.56504,-0.07072,1.15884,2.79765],0.5,0.12,0.00644) movep(p[0.32893,-0.08446,0.57072,-0.13478,1.11609,2.6945],0.5,0.12,0.00652) movep(p[0.33365,-0.09561,0.57824,-0.20686,1.06339,2.56772],0.5,0.12,0.00713) movep(p[0.30989,-0.12177,0.59971,-0.37875,0.91106,2.20556],0.5,0.18,0.02068) movep(p[0.23002,-0.13956,0.61501,-0.60356,0.63011,1.5225],0.5,0.18,0.04162) movep(p[0.16671,-0.1192,0.59664,-0.72022,0.38635,0.93187],0.5,0.18,0.0345) movep(p[0.15268,-0.09987,0.58066,-0.75419,0.2672,0.64507],0.5,0.18,0.01437) movep(p[0.15654,-0.08926,0.57341,-0.76621,0.20996,0.50688],0.5,0.12,0.00671) movep(p[0.1649,-0.08206,0.56924,-0.77281,0.17013,0.41072],0.5,0.12,0.00589) movep(p[0.17367,-0.07536,0.56506,-0.77836,0.12743,0.30763],0.5,0.12,0.0059) movep(p[0.18286,-0.06932,0.56083,-0.78254,0.08123,0.19611],0.5,0.12,0.00589) movep(p[0.19251,-0.06416,0.55661,-0.78497,0.03142,0.07584],0.5,0.12,0.00586) movep(p[0.20241,-0.05989,0.55234,-0.78513,-0.02444,-0.05901],0.5,0.12,0.0058) movep(p[0.21502,-0.05847,0.5501,-0.78409,-0.05509,-0.133],0.5,0.12,0.00645) movep(p[0.231,-0.05938,0.54969,-0.78451,-0.04532,-0.10941],0.5,0.1334,0.008) movep(p[0.24677,-0.06028,0.54882,-0.78478,-0.0378,-0.09126],0.5,0.13185,0.00791) movep(p[0.26278,-0.061,0.54751,-0.78508,-0.02719,-0.06564],0.5,0.13396,0.00804) movep(p[0.27879,-0.0614,0.54593,-0.78528,-0.01634,-0.03946],0.5,0.13411,0.00805) movep(p[0.29417,-0.062,0.54489,-0.78532,-0.01357,-0.03275],0.5,0.12856,0.00771) movep(p[0.3095,-0.0623,0.5442,-0.78534,-0.0118,-0.02848],0.5,0.12789,0.00767) movep(p[0.3244,-0.06311,0.54458,-0.7853,-0.01558,-0.03761],0.5,0.12445,0.00747) movep(p[0.33629,-0.06925,0.55063,-0.78428,-0.05241,-0.12651],0.5,0.12236,0.00734) movep(p[0.34132,-0.08364,0.56501,-0.77774,-0.13239,-0.31963],0.5,0.17462,0.01048) movep(p[0.31909,-0.11348,0.59462,-0.74145,-0.31047,-0.75123],0.5,0.18,0.02378) movep(p[0.2488,-0.136,0.61738,-0.63137,-0.58349,-1.40854],0.5,0.18,0.03862) movep(p[0.17976,-0.12363,0.60505,-0.45451,-0.83415,-2.01302],0.5,0.18,0.03561) movep(p[0.14357,-0.09342,0.57479,-0.24613,-1.03276,-2.49326],0.5,0.18,0.02801) movep(p[0.13879,-0.06814,0.54951,-0.06557,-1.16198,-2.80563],0.5,0.18,0.01804) movep(p[0.14921,-0.05673,0.53796,-0.02806,1.17821,2.86458],0.5,0.16075,0) spray = False stopj(10) set_standard_digital_out(4, False) ##while (get_digital_in(1) == True): ## sleep(1) ## sync() ##end movej(p[0.30754,-0.11656,0.462,0.3,1.12,3],3,3,0.4,0) movej(p[0.530,-0.06531,0.395,1.5824,0.0270,2.7110],3,3,0.5,r=0) movej(p[0.53441,-0.06531,0.318,1.5824,0.0270, 2.7110],3,3,0.5,r=0) semGAB() set_standard_digital_out(7, True) thrd3 = run tfezESQ() movej(p[0.40441,-0.06531,0.31807,1.5824,0.0270,2.7110],3,3,0,0)