#AUTO
EO 0
MT 2
CW2
Code=0;xxx=0;Tamper=Tamper;Time=0;Drive=0
aodea=0;rqjdd=0;hjgte=0;ysfeq=0;gppwr=0;aaaef=0;abcde=0;sofeh=0;eksei=0
akshj=0;tdqrk=0;catel=0;dldem=0;pfgrr=0;phdhw=0;kkape=0;beydb=0;vvehc=0
ccded=0;fhdee=0;yodef=0;bbcde=0;tofeh=0;fksei=0;bkshj=0;udqrk=0;datel=0
eldem=0;rfgrr=0;qhdhw=0;lkape=0;ceydb=0;xvehc=0;dcded=0;ghdee=0;xodef=0
#LOOP1
COMMAND=100
IN ,COMMAND
JP #BEGIN,COMMAND = 75
JP #END,COMMAND = 99
JP #LOOP1
EN
#BEGIN
MG"D"
Failod=0
#LOOP2
JP #LOOP2,Failod=0
JS #RESET
#LOOP3
COMMAND=100
IN ,COMMAND
JS #RESET,COMMAND = 0
JS #N30,COMMAND = 1
JS #N100,COMMAND = 2
JS #BEND,COMMAND = 3
JS #SHEER,COMMAND = 4
JS #IND,COMMAND = 5
JS #DIMPLE,COMMAND = 6
JS #COVERC,COMMAND = 7
JS #TEST,COMMAND = 8
JS #MOVER,COMMAND = 9
JS #MOVE,COMMAND = 10
JS #HOME,COMMAND = 11
JS #COVERO,COMMAND = 12
JP #BEGIN,COMMAND = 75
JP #END,COMMAND = 99
MG"D"
JP #LOOP3
EN
#END
MG"Command mode"
EN
#RESET
CB 1
CB 2
CB 3
CB 4
CB 5
CB 6
CB 7
CB 8
V = _TI
JP #ROK1,V = 255
JP #RESET
#ROK1
LASTENC = 0
DEA = 0
CE 2
JP #EAC,Drive=0
SP 250000
AC 2500000
DC 2500000
EN
#EAC
SP 350000
AC 4500000
DC 4500000
EN
#COVERC
SB 7
LASTENC = 0
EN
#COVERO
CB 7
EN
#TEST
JP #CHECK
#CODEOK
EN
#HOME
FE
CN ,1
BGA
AM
FE
SP 5000
BGA
AM
CN ,-1
LASTENC = 0
DEA = 0
JP #EAC,Drive=0
SP 250000 
EN
#BEND
SB 8
WT clamp
SB 3
WT flange
CB 3
WT flanup
CB 8
WT clamp
#NOBEND
EN
#N30
SB 1
WT down30
CB 1
WT up30
#NON30
EN
#N100
SB 2
WT down10
CB 2
WT up10
#NON100
EN
#SHEER
SB 4
WT shear
CB 4
EN
#DIMPLE
SB 6
WT ddimpl
CB 6
WT 100
EN
#IND
SB 5
WT dimpl
CB 5
WT 100
EN
#MOVE
IN "L",LEN
LENGTH = LEN
JS #MOTION
EN
#MOTION
' CALCULATE TARGET ENCODER READING
STARTP = LASTENC
JP #ENCOK,LASTENC <> 0
STARTP = _TPA
#ENCOK
TARGET = LENGTH * CPI
JP #TOK,LENGTH > 0
#TOK
TARGET = TARGET + STARTP
' CALCULATE NUMBER OF STEPS TO TAKE
STEPS = LENGTH * CPI
STEPS = STEPS * SPCNT
' MOVE THE MOTOR
#HUNT
PR STEPS
BGA
AM
WT 250
'EN
'PUT EN HERE TO DISABLE ENCODER
' GET AND ADJUST ENCODER READING
POSITION = _TPA
' CALCULATE ERROR
POSITION = TARGET - POSITION
JP #SHORT,POSITION > 0
JP #NOK,POSITION < -5
LASTENC = _TPA
EN
#SHORT
JP #NOK,POSITION > 5
LASTENC = _TPA
EN
#NOK
STEPS = POSITION * SPCNT
JP #SOK,LENGTH > 0
#SOK
JP #HUNT
EN
#MOVER
IN "L",LEN
LENGTH = LEN
STEPS = LENGTH * CPI
STEPS = STEPS * SPCNT
PR STEPS
BGA
AM
WT 500
LASTENC = 0
EN
#CHECK
JP #CODEOK,Code=1212
JP #CLOCKTP,Time < Tamper
Tamper=Time
BV
WT 2000
JP #CODEOK,(Time < aodea) & (aodea = 09122)
JP #CODEOK,(Time < rqjdd) & (rqjdd = 09239)
JP #CODEOK,(Time < hjgte) & (hjgte = 09365)
JP #CODEOK,(Time < ysfeq) & (ysfeq = 10121)
JP #CODEOK,(Time < gppwr) & (gppwr = 10241)
JP #CODEOK,(Time < aaaef) & (aaaef = 10364)
JP #CODEOK,(Time < abcde) & (abcde = 11120)
JP #CODEOK,(Time < sofeh) & (sofeh = 11242)
JP #CODEOK,(Time < eksei) & (eksei = 11363)
JP #CODEOK,(Time < akshj) & (akshj = 12123)
JP #CODEOK,(Time < tdqrk) & (tdqrk = 12244)
JP #CODEOK,(Time < catel) & (catel = 12361)
JP #CODEOK,(Time < dldem) & (dldem = 13127)
JP #CODEOK,(Time < pfgrr) & (pfgrr = 13242)
JP #CODEOK,(Time < phdhw) & (phdhw = 13362)
JP #CODEOK,(Time < kkape) & (kkape = 14122)
JP #CODEOK,(Time < beydb) & (beydb = 14239)
JP #CODEOK,(Time < vvehc) & (vvehc = 14365)
JP #CODEOK,(Time < ccded) & (ccded = 15121)
JP #CODEOK,(Time < fhdee) & (fhdee = 15241)
JP #CODEOK,(Time < yodef) & (yodef = 15364)
JP #CODEOK,(Time < bbcde) & (bbcde = 16120)
JP #CODEOK,(Time < tofeh) & (tofeh = 16242)
JP #CODEOK,(Time < fksei) & (fksei = 16363)
JP #CODEOK,(Time < bkshj) & (bkshj = 17123)
JP #CODEOK,(Time < udqrk) & (udqrk = 17244)
JP #CODEOK,(Time < datel) & (datel = 17361)
JP #CODEOK,(Time < eldem) & (eldem = 18127)
JP #CODEOK,(Time < rfgrr) & (rfgrr = 18242)
JP #CODEOK,(Time < qhdhw) & (qhdhw = 18362)
JP #CODEOK,(Time < lkape) & (lkape = 19122)
JP #CODEOK,(Time < ceydb) & (ceydb = 19239)
JP #CODEOK,(Time < xvehc) & (xvehc = 19365)
JP #CODEOK,(Time < dcded) & (dcded = 20121)
JP #CODEOK,(Time < ghdee) & (ghdee = 20241)
JP #CODEOK,(Time < xodef) & (xodef = 20364)
MG "U"
MO;HX;EN
#CLOCKTP
MG "W"
MO;HX;EN