WinPISA Version 2.1a Copyright © Festo AG & Co. Esslingen 1997
[PROG]
1,0,0,prenos, 
[VAR]
[CODE]
;Predem musi byt definovany pozice pos0,pos2....
; a provedena identifikace a kalibrace
N01	G04 100			  ; prodleva mezi instrukcemi /1s/

N04	#RQ2.0		;zvedne chapadlo
N05	#SQ2.1
N06	#SQ2.6		;zavre chapadlo
N07	#RQ2.7

N08	G04 100

N09	G02 X@pos0 FX1 Y@pos0 FY1	  ;pohyb do vychozi pozice

;N10	#TNI2.0 12	;test pritomnosti obrobku
;N11	#TI2.0 50

N12	#TI0.0 014	;chapadlo v horni poloze
N13	#TNI0.0 50
N14	#SQ2.7		;otevre chapadlo
N15	#RQ2.6

N20	G04 100

N21	#RQ2.1		;spusti dolu chapadlo
N22	#SQ2.0	

N23	G04 100

N25	#SQ2.6		;zavre chapadlo
N26	#RQ2.7

N27	G04 100

N30	#RQ2.0		;zvedne chapadlo
N31	#SQ2.1

N32	G04 200
N33	G02 X145 FX1 Y150 FY1	;presun na jinou pozici
;N34	#TI2.0 50

N35	#RQ2.1		;spusti dolu chapadlo
N36	#SQ2.0	

N37	G04 100

N40	#SQ2.7		;otevre chapadlo
N41	#RQ2.6

N42	G04 100
N43	#RQ2.0		;zvedne chapadlo
N44	#SQ2.1

N45	G04 100

N50	M30 			   ; navrat na zacatek a spusteni