N10 DEFINE RETRACT AS G0 G153 X=GD_TC_POS[0] Y=GD_TC_POS[1]Z=GD_TC_POS[2] SPOS=GD_TC_POS[7] D0 M9 M01
N20 DEFINE FFEED AS FB=5000
N30 DEFINE CFEED AS FB=500
N40 SUPA G0 G17 Z=GD_TC_POS[2] D0
N50 SUPA X=GD_TC_POS[0] Y=GD_TC_POS[1]
N60 IF $A_DBW[910]==1 GOTOF PAW; PALLET STATUS EMPTY
N70 IF $A_DBW[910]==5 GOTOF PAW; PALLET STATUS FINISHED
N80 IF $A_DBW[910]==6 GOTOF PAW; PALLET STATUS REJECTED
N90 IF $A_DBW[910]==7 GOTOF PAW; PALLET STATUS DISABLED
N100 M01
N110 B=DC(0)
;************** DETERMINE START POSITION ***********
;Call up re-entry parameter
N120 IF (TRUNC(R468)<>R468)OR(R468<0)OR((R468>17)AND(R468<>99))
N130 LOOP
N140 MSG ("Unknown parameter assignment, re-entry impossible!")
N150 M0
N160 ENDLOOP
N170 ENDIF
N180 IF R468==99
N190 GOTOF PAW
N200 ENDIF
N210 IF R468==0 ; after pallet change automat. R468=0
N220 R468=1
N230 ENDIF
N240 IF R468==1; IF NEW START RESET PARAMETER IF PART PRESENT
N250 R101=0 R102=0 R103=0
N260 ENDIF
N270 GOTOF "OP"<<R468<<"_AUTO"
N290 ***_PD
;