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Positioning
Functional sequence:
Restart routine (FB 20)
Cyclic program (FB 30)
Machining
cycle
10-102
START
Save scratch flags/
system data
Configure IP 240:
- Channel 1 for positioning mode
Reload scratch flags/
system data
Compute reference point
"Start"?
yes
Approach pickup position,
close gripper
Approach first eject position,
open gripper
Approach pickup position,
close gripper
Approach second eject position,
open gripper
.
.
.
Approach last eject position,
open gripper
no
Approach home
position
EWA 4NEB 811 6120-02a
IP 240
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