ניטור אירועים ב-FANUC TP: CONDITION, MONITOR ולוגיקת רקע

! --- POLLING APPROACH (problematic) ---
  1: WAIT DI[5:PART_PRESENT]=ON   ;  ! Blocks — cannot watch anything else
  2: WAIT DI[6:CONVEYOR_JAM]=OFF  ;  ! Runs AFTER part check — not simultaneous
  3: L P[2:PICK] 200mm/sec FINE   ;  ! If jam happens during move, no reaction

! --- CONDITION block syntax (one action per WHEN) ---
CONDITION[1]:
  WHEN DI[10:CONVEYOR_JAM]=ON DO CALL JAM_HANDLER ;
ENDCONDITION

! --- Multiple WHEN clauses in one block ---
CONDITION[2]:
  WHEN DI[20:E_STOP_EXT]=ON DO CALL EMERGENCY_STOP ;
  WHEN R[10:CYCLE_COUNT]>1000 DO DO[6:MAINT_LIGHT]=ON ;
ENDCONDITION

! --- MONITOR activation pattern ---
  1: MONITOR[1]                    ;  ! Start watching CONDITION[1]
  2: MONITOR[2]                    ;  ! Can monitor multiple simultaneously
  3: J P[1:APPROACH] 80% CNT50    ;  ! Condition[1] + [2] active during this move
  4: L P[2:PICK] 200mm/sec FINE   ;  ! Still active — jam triggers during move
  5: DO[1:GRIPPER]=ON              ;  ! Still active
  6: WAIT .5(sec)                  ;  ! Still active
  7: MONITOR END[1]                ;  ! Stop condition 1
  8: MONITOR END[2]                ;  ! Stop condition 2
  9: J P[3:HOME] 100% FINE        ;  ! No monitoring — normal program flow

! --- Clean program start pattern ---
  1: MONITOR END[1]                ;  ! Reset any leftover from last run
  2: MONITOR END[2]                ;
  3: MONITOR END[3]                ;
! Redefine conditions fresh (CONDITION block is not a numbered line)
CONDITION[1]:
  WHEN DI[10:JAM]=ON DO CALL JAM_HANDLER ;
ENDCONDITION
  4: MONITOR[1]                    ;  ! Activate clean

! --- Navigate to BG Logic setup ---
! MENU > 6 SETUP > F1 [NEXT] > 6 BG Logic
!
! Each line: CONDITION = ACTION
! Example entries in BG Logic editor:
!
!  DI[30:DOOR_OPEN]=ON  ->  DO[8:SPEED_LIMIT]=ON
!  DI[30:DOOR_OPEN]=OFF ->  DO[8:SPEED_LIMIT]=OFF
!  DI[31:E_STOP]=ON     ->  CALL ALARM_LOG
!
! BG Logic runs every scan cycle (~8ms) — always on
! Cannot be stopped by MONITOR END — only by editing the BG Logic table

! --- SKIP CONDITION syntax ---
SKIP CONDITION DI[15:CONTACT_SENSOR]=ON ;
L P[10:SEARCH_POS] 50mm/sec FINE Skip,LBL[20] ;
! If sensor fires during move: skip to LBL[20]
! If move completes without trigger: continue normally

LBL[20:CONTACT_FOUND] :
  PR[5]=LPOS              ;  ! Record exact position where contact occurred
  R[20]=PR[5,3]           ;  ! Store Z height of contact point
  L P[11:RETRACT] 100mm/sec FINE ;

! === PATTERN 1: CONVEYOR JAM DETECTION ===
CONDITION[1]:
  WHEN DI[20:CONV_JAM]=ON DO CALL CONV_JAM_ROUTINE ;
ENDCONDITION
  1: MONITOR[1]          ;
  2: J P[1:APPROACH] 80% CNT50 ;
  3: L P[2:PICK] 200mm/sec FINE ;
  4: DO[1:GRIPPER]=ON    ;
  5: WAIT .3(sec)        ;
  6: L P[1:APPROACH] 200mm/sec CNT50 ;
  7: MONITOR END[1]      ;
  8: DO[5:ALARM]=OFF     ;  ! Clear alarm if cycle completed normally

! === PATTERN 2: VISION TIMEOUT HANDLING ===
CONDITION[2]:
  WHEN TIMER[1]>=3000 DO JMP LBL[99] ;
ENDCONDITION
  1: TIMER[1]=0           ;  ! Reset timer
  2: DO[10:CAM_TRIG]=ON  ;
  3: WAIT .02(sec)        ;
  4: DO[10:CAM_TRIG]=OFF ;
  5: MONITOR[2]          ;  ! Start timeout watchdog
  6: WAIT DI[11:VIS_RDY]=ON ;
  7: MONITOR END[2]      ;  ! Camera responded — cancel timeout
  8: CALL VIS_READ       ;

LBL[99:VISION_TIMEOUT] :
  9: MONITOR END[2]      ;
 10: DO[14:VIS_ALARM]=ON ;
 11: PAUSE               ;

! === PATTERN 3: FORCE-CONTROLLED INSERTION ===
  1: PR[10]=P[5:SEARCH_START] ;
SKIP CONDITION DI[25:FORCE_THRESH]=ON ;
  2: L PR[10] 10mm/sec FINE Skip,LBL[50] ;
  3: JMP LBL[90]          ;  ! No contact found

LBL[50:CONTACT] :
  4: PR[11]=LPOS          ;  ! Save contact position
  5: R[30]=PR[11,3]       ;  ! Extract Z value
  6: IF R[30]<R[31:Z_MIN],JMP LBL[90] ;
  7: L PR[11] 5mm/sec FINE ;
  8: CALL INSERT_SEQUENCE ;
  9: JMP LBL[99]         ;

LBL[90:DEPTH_ERROR] :
 10: DO[14:ALARM]=ON      ;
 11: PAUSE               ;

LBL[99:END] :