----program1---
10 PG 1
20 ACCEL 40000
30 ACCEL Z_A 20000
40 SHOM X_A|Z_A|Y_A IN0_ON|IN1_ON|CW
50 IF HPT(XIN0)==0 : RMVS X_A 20000 : END_IF
60 IF HPT(YIN0)==0 : RMVS Y_A 20000 : END_IF
70 IF HPT(ZIN0)==0 : RMVS Z_A -20000 : END_IF
80 WAIT RR(ALL_A)==0
85 TMOUT 10000
90 HOME -100000 -100000 0 100000
---XY Robot example---
*HOME1
ACCEL X_A|Y_A 10000 100 100
IF HPT(XIN0)!=0 THEN
RMVS X_A 10000
END_IF
IF HPT(YIN0)!=0 THEN
RMVS Y_A 10000
END_IF
WAIT RR(ALL_A)==0
TIME 100
SHOM X_A|Y_A IN0_ON
HOME -100000 -100000 0 0
WAIT RR(ALL_A)==0
TIME 100
RMVL 2000 2000 0 0
WAIT RR(ALL_A)==0
STPS 0 0 VOID VOID
PRINT "XY HOME"
TIME 100
RETURN
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