Program
   Init Variables
   BeforeStart
     Program Information
       'Program Info:   This is a demonstration program for the "Kelvin Tool Changer"'
       'Last update:  - 4/2 2020 - 01:30'
       'Program scope: Demo program running a UR robot with a Kelvin Tool Changer. This program can handle all issues with the tool changer'
       'Programmed by Henning Forbech, 4TECH Robotics Aps, www.toolchanger.eu'
       'Program information: This program is a demonstration program for running a UR-robot with the Kelvin Tool Changer'
       'Sub-Programs should be programmed to start near "Ready" and end again in the same place'
       'Sub-Programs can be programmed and tested outside the "Kelvin" program. The program is called as a subprogram in ''Kelvin''. The external program can be set to updated with changes made to the embedded code in the "Kelvin" program'
       'This program starts with the robot arm in the "Ready" position. First step in the program (1) will move the robot to get all joints in the right position'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '2do: Put small notes on thing to do here:'
       'Safety limits must be set up for the robot. Propper values for force, speed and range have be defined to make the operation of the robot safe. See "Safety" section above'
     Safety
       'Safety settings for UR robots with Kelvin Tool Changer'
       'Tool connected: If the tool is disconnected during operation the robot must stop to prevent a dangerous situation'
       '''ToolFree'' must be set to ''1'' to allow disconnection of tool. '
       '''Hook open'' if AI(1)<4.6V '
       ToolFree≔1
       'Tool ID: The program will only work with the right tool connected. Tool-ID must be checked at pick-up and when appropriated during programs'
       'Space: Setup the space for the robots operation. Prevent the robot arm from hitting anything'
       'Force restrictions: Setup the security levels for forces'
     Environments
       'Tool Voltage Supply must be set to 24V for the Tool Changer to be able to identify Tool-ID and to verify Hook positions'
       'Info:  How to set Tool Voltage: Under the "I/O" tab (right to the "Move" tab) the voltage for the tool can be set (lower right corner). Those 24V'
       'Info:  AO(0) must be set to voltage. If it is set to currant (4-20mA) a 0V setting will change to 4mA. When the setting is set back to voltage this setting will become 4V!!!'
     General setup for the Tool Changer
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Language setting:'
       'Set language: It is possible to set the language for some of the popups that the user will see. The variable "Lang" control witch language that are shown'
       'Kelvin Program #46 (Language) can be used by the operator to change language'
       'Language options: 1:Danish 2:English 3:German 4:French 5:Spanish'
       'Language info: If a popup do not have a comment in the language indicated by "Lang" the comment in English will be shown'
       'Translation to German, France and Spanish was done with Google Translate. Sorry for mistakes'
       'Default value for Lang: 2 (English)'
       Lang≔2
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'TCP info:'
       'For starting up the program TCP is set to TCP_1'
       'TCP_1 is the center of the Tool Plate in the Docking Station. X:0 mm, Y:0mm, Z:34 mm, Weight set to 144g, CGy: 11mm'
       'TCP_2 is for Tool-A: Values: X:0 mm, Y:0mm, Z:?? mm, Weight set to ??g, CGy: ?? mm'
       'TCP_3 is for Tool-B: Values: X:0 mm, Y:0mm, Z:?? mm, Weight set to ??g, CGy: ?? mm'
       'TCP_4 is for Tool-C: Values: X:0 mm, Y:0mm, Z:?? mm, Weight set to ??g, CGy: ?? mm'
       'TCP_5 is for Tool-D: Values: X:0 mm, Y:0mm, Z:?? mm, Weight set to ??g, CGy: ?? mm'
       Set
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Kelvin Action Info: This value will tell the program what to do next '
       'Kelvin Action Info: 1 is checking if the robot is ready. Normally this step will "Do Nothing". When the robot pass the start check  it will let the user chose what task to run next'
       Kelvin_Action≔1
       'At startup the robot will run the program the set in "Kelvin_Action". Default is "1"'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''ToolService'' variable is used to control the ToolService program'
       '''ToolService'' must be set to 20 to show menu at start'
       ToolService≔20
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''BackUp'' variable is used to control the backup routine (program #43)'
       '''BackUp'' must be set to 10 to show menu at start'
       BackUp≔10
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''ReLoad'' variable is used to control the reload from backup routine (program #44)'
       '''ReLoad'' must be set to 10 to show menu at start'
       ReLoad≔10
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''DockSetUp'' variable is used to control the Dock SetUp routine (program #42)'
       '''DockSetUp'' must be set to 10 to show menu at start'
       DockSetUp≔10
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''Dock4SetUp'' variable is used to control the reload from backup routine (program #44)'
       '''Dock4SetUp'' must be set to 10 to show menu at start'
       Dock4SetUp≔10
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''Dock4Adjust'' variable is used to control the dock setup routine (program #42)'
       '''Dock4Adjust'' must be set to 99 at program start'
       '''Dock4Adjust''=99 an 88 are used to block some functions in proram #42'
       Dock4Adjust≔99
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '''UserXAdjustment'' variable is used to control th fine adjustment routine (program #42-3)'
       '''UserXAdjustment'' must be set to 13 to show menu at start'
       UserXAdjustment≔13
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Loop info:To run more than once, loop must be reset after exit. See ''LoopReStarter'' at #0'
     Tool ID setup
       'List of Tool-ID used on this robot installation:'
       '(your company): Dock-A:ID-? (?-tool)/ Dock-B: ID-? (?-too)/ Dock-C:Free / Dock-D:ID-?(?-tool) / Dock-M:UsersChoice!'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Tool-ID Adjust compensate for the difference between theoretical values (listed below) and real values measured by the robot. '
       'Tool-ID Adjustment: Sample: UR5 robot: 12V: 0.5 - 24V: 1.00 - (Default: 24V: 1.0)'
       'Values for Tool ID(@24V): ID0: 4.9V(no Tool ID present), ID1: 5.7V, ID2: 6.7V, ID3: 7.4V, ID4: 8.4V, ID5: 9.5V, ID6: 10.8V, ID7: 11.7V, ID8: 12.4V, ID9: 13.2V, ID10: 14.1V'
       Tool_ID_Adjust≔1.00
       'Hook Open: AI3<0.5 (0.25V@12V)'
       'Hook Locked: AI3>4.6V (2.3V@12V)'
       'PowerSupply: AI3:0=No power! AI3:2.1V=24V (AI3:1.0V=12V)'
     Docking setup
       'This is data used for docking operations. Data for setting up docking stations can be found under ''Dock-X setup'''
       'Only the Center Point information is saved for each docking station. The waypoints for the docking operations are generated from these data by the program'
       'The varable "Dock_A_Home" is saved as an instalation variable. This makes it possible for the user to make changes and save these new values even when the robot is shut down'
       'When the program start the data for each dock center is copied from the installation value'
       'The actual values for this robot can be found under "Installation" and "Variables"'
       'It is recommended to save a set of working values for each docking station. Use program #43'
       'Information: Dock-X is only used for updating or fine tuning a docking station. All changes and test runs are done on Dock-X. Data from Dock-X will be transferred to the real dock at the end of the update procedure'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'FrontDoor: Default: 90 mm (Front2Center variable)'
       Front2Center≔90
       'FrontDoor-Center line at 22 deg with Robot X-axis'
       '22 deg: Cos22: 0.9272 Sin22: 0.3746'
       DeltaFront≔p[Front2Center/1000*0.9272,Front2Center/1000*0.3746,0,0,0,0]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Start point. Default: 1 mm (Start2Center variable). ToolChanger overshoot the center point by this value'
       Start2Center≔1
       DeltaStart≔p[Start2Center/1000*0.9272,Start2Center/1000*0.3746,0,0,0,0]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Opening overshoot Open by 4 deg. (48 deg = 0,0,1.694)'
       DeltaOpening≔p[0,0,0,0,0,1.1694]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Open position is 65 deg from Center-Front line (43 deg from X-axis)(0,0,1.1)'
       DeltaOpen≔p[0,0,0,0,0,1.1]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'BackDoor default: 45 mm (Back2Center variable) To get Master free of Dock'
       Back2Center≔45
       'BackDoor is ''Open'' and z movement'
       DeltaBack≔p[0,0,-Back2Center/1000,0,0,1.1]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'In the locking process the tool changer overturn to make sure the Hook is locked'
       'The rubber mounts in the docking station will flex during this operation'
       'Values for overturning: 1deg: (0,0,6.2644) 2deg:(6.2470) 3deg:(6.2295) 4deg:(6.2121) 5deg:(6.1946) 6deg:(6.1772) 7deg:(6.1598)'
       'Default value for overturning is 4 deg.'
       'DeltaLocking must be set individualy for each dock'
       'If the connection is set up for high torque load it takes some extra overturning to secure the hook. Use 5 or 6 values'
       DeltaLocking3≔p[0,0,0,0,0,6.2295]
       DeltaLocking4≔p[0,0,0,0,0,6.2121]
       DeltaLocking5≔p[0,0,0,0,0,6.1946]
       DeltaLocking6≔p[0,0,0,0,0,6.1772]
       DeltaLocking7≔p[0,0,0,0,0,6.1598]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'DockSetUp'
       '(see under Dock-X: ''DockXDeltaTrans'')'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Data in this section is used for small adjustments to the pose for the docking station. Used for adjusting a docking station'
       'Default for Dock Adjust is to use 0.333 deg. (1/3 deg.)'
       1/3deg
         'Pose to give 0.3 deg rotation (0.005 rad)'
         Xcw≔p[0,0,0,6.278,0,0]
         Xccw≔p[0,0,0,0.005,0,0]
         Ycw≔p[0,0,0,0,6.278,0]
         Yccw≔p[0,0,0,0,0.005,0]
         Zcw≔p[0,0,0,0,0,6.278]
         Zccw≔p[0,0,0,0,0,0.005]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       '1/2deg'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
     Dock A setup
       'Warning: Do not change these values!!   It will corrupt the program :-)'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_A_Center≔Dock_A_Home
       'If ''Dock_A_Home'' is lost, unsuppress next step and restart the program'
       'Dock_A_Center≔p[0.169,-0.335,0.065,0.3277,-1.5561,-0.272]'
       'BackUp 15/1 2020: : 0.169,-0.335,0.065,0.3277,-1.5561,-0.272'
       'SmartLAB at Aalborg University'
       Dock_A_BackUp≔p[0.169,-0.335,0.065,0.3270,-1.55610,-0.27200]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_A_Front≔pose_trans(Dock_A_Center, DeltaFront)
       Dock_A_Back≔pose_trans(Dock_A_Center,DeltaBack)
       Dock_A_Start≔pose_trans(Dock_A_Center, DeltaStart)
       Dock_A_Open≔pose_trans(Dock_A_Center, DeltaOpen)
       'Locking can be set to be more agressive by changing to ''5'' or ''6'' version for ''DeltaLocking''. Default is 4'
       '''Delta Locking'''
       'Dock_A_Locking≔pose_trans(Dock_A_Center, DeltaLocking3)'
       Dock_A_Locking≔pose_trans(Dock_A_Center, DeltaLocking4)
       'Dock_A_Locking≔pose_trans(Dock_A_Center, DeltaLocking5)'
       'Dock_A_Locking≔pose_trans(Dock_A_Center, DeltaLocking6)'
       'Dock_A_Locking≔pose_trans(Dock_A_Center, DeltaLocking7)'
       Dock_A_Opening≔pose_trans(Dock_A_Center, DeltaOpening)
     Dock B setup
       'Warning: Do not change these values!!   It will currupt the program :-)'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_B_Center≔Dock_B_Home
       'If ''Dock_B_Home'' is lost, unsuppress next step to restart'
       'Dock_B_Center≔p[0.108,-0.558,0.065,1.4854,2.9667,2.4629]'
       'BackUp 15/1 2020: : 0.108, -0.558, 0.065, 1.4854, 2.9667, 2.4629'
       'SmartLAB at Aalborg University'
       Dock_B_BackUp≔p[0.108,-0.558,0.065,1.4854,2.9667,2.4629]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_B_Front≔pose_trans(Dock_B_Center, DeltaFront)
       Dock_B_Back≔pose_trans(Dock_B_Center,DeltaBack)
       Dock_B_Start≔pose_trans(Dock_B_Center, DeltaStart)
       Dock_B_Open≔pose_trans(Dock_B_Center, DeltaOpen)
       'Locking can be set to be more agressive by changing to ''5'' or ''6'' version for ''DeltaLocking''. Default is 4'
       '''Delta Locking'''
       'Dock_B_Locking≔pose_trans(Dock_B_Center, DeltaLocking3)'
       Dock_B_Locking≔pose_trans(Dock_B_Center, DeltaLocking4)
       'Dock_B_Locking≔pose_trans(Dock_B_Center, DeltaLocking5)'
       'Dock_B_Locking≔pose_trans(Dock_B_Center, DeltaLocking6)'
       'Dock_B_Locking≔pose_trans(Dock_B_Center, DeltaLocking7)'
       Dock_B_Opening≔pose_trans(Dock_B_Center, DeltaOpening)
     Dock C setup
       'Warning: Do not change these values!!   It will corrupt the program :-)'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_C_Center≔Dock_C_Home
       'If ''Dock_C_Home'' is lost, unsuppress next step to restart'
       'Dock_C_Center≔p[-0.062,-0.5654,0.064,1.8451,2.2266,2.537]'
       'BackUp 15/1 2020: : -0.062, -0.5654, 0.064, 1.8451, 2.226, 2.537'
       'SmartLAB at Aalborg University'
       Dock_C_BackUp≔p[-0.062,-0.5654,0.064,1.8451,2.226,2.537]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_C_Front≔pose_trans(Dock_C_Center, DeltaFront)
       Dock_C_Back≔pose_trans(Dock_C_Center,DeltaBack)
       Dock_C_Start≔pose_trans(Dock_C_Center, DeltaStart)
       Dock_C_Open≔pose_trans(Dock_C_Center, DeltaOpen)
       'Locking can be set to be more agressive by changing to ''5'' or ''6'' version for ''DeltaLocking''. Default is 4'
       '''Delta Locking'''
       'Dock_C_Locking≔pose_trans(Dock_C_Center, DeltaLocking3)'
       Dock_C_Locking≔pose_trans(Dock_C_Center, DeltaLocking4)
       'Dock_C_Locking≔pose_trans(Dock_C_Center, DeltaLocking5)'
       'Dock_C_Locking≔pose_trans(Dock_C_Center, DeltaLocking6)'
       'Dock_C_Locking≔pose_trans(Dock_C_Center, DeltaLocking7)'
       Dock_C_Opening≔pose_trans(Dock_C_Center, DeltaOpening)
     Dock D setup
       'Warning: Do not change these values!!   It will corrupt the program :-)'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_D_Center≔Dock_D_Home
       'If ''Dock_D_Home'' is lost, unsuppress next step to restart'
       'Dock_D_Center≔p[0.11029,0.34475,0.73566,-0.02545,0.00984,1.97563]'
       'BackUp 15/1 2020: : (not valid)'
       'SmartLAB at Aalborg University'
       Dock_D_BackUp≔p[0.11103,0.34408,0.73569,-0.02553,0.00977,1.95934]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - '
       Dock_D_Front≔pose_trans(Dock_D_Center, DeltaFront)
       Dock_D_Back≔pose_trans(Dock_D_Center,DeltaBack)
       Dock_D_Start≔pose_trans(Dock_D_Center, DeltaStart)
       Dock_D_Open≔pose_trans(Dock_D_Center, DeltaOpen)
       'Locking can be set to be more agressive by changing to ''5'' or ''6'' version for ''DeltaLocking''. Default is 4'
       '''Delta Locking'''
       'Dock_D_Locking≔pose_trans(Dock_D_Center, DeltaLocking3)'
       Dock_D_Locking≔pose_trans(Dock_D_Center, DeltaLocking4)
       'Dock_D_Locking≔pose_trans(Dock_D_Center, DeltaLocking5)'
       'Dock_D_Locking≔pose_trans(Dock_D_Center, DeltaLocking6)'
       'Dock_D_Locking≔pose_trans(Dock_D_Center, DeltaLocking7)'
       Dock_D_Opening≔pose_trans(Dock_D_Center, DeltaOpening)
     Dock X setup
       'Dock-X is a temporary dock, used for setting up docking stations'
       'Some data and settings used for setting up docking stations. General data for docking stations can be found under ''Docking setup'''
       '''DockXDeltaTrans'' is the micro steps used for fine tuning docking stations (in mm). Default: 0.5'
       DockXDeltaTrans≔0.50
       '''UserAdjustments'' must have a value for the loop to start'
       UserXAdjustment≔13
       Dock_X_Center≔p[0.3,0,0.5,0.8,3,0]
       'Default: 0.3 , 0 , 0.5 , 0.8 , 3 , 0'
       'This is a set of waypoints used for setting up Docking Stations (Dock-X)'
       Dock_X_Front≔pose_trans(Dock_X_Center, DeltaFront)
       Dock_X_Back≔pose_trans(Dock_X_Center,DeltaBack)
       Dock_X_Start≔pose_trans(Dock_X_Center, DeltaStart)
       Dock_X_Open≔pose_trans(Dock_X_Center, DeltaOpen)
       'Locking can be set to be more aggressive by changing to ''5'' or ''6'' version for ''DeltaLocking''. Default is 3'
       '''Delta Locking'''
       'Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking3)'
       Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking4)
       'Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking5)'
       'Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking6)'
       'Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking7)'
       Dock_X_Opening≔pose_trans(Dock_X_Center, DeltaOpening)
     Dock M setup
       'Dock M is for manual tool changing. The robot arm will stop at this position to let the operator replace and/or mount a tool. '
       'When a tool is manual mounted the program will check that the hook is locked and read out the ID for the tool'
       'Manually operation of the tool changer will only be allowed when "ToolFree" is set to 1'
       'Warning: Values and waypoints are linked to this position. They may need update if you change these values!!   '
       Dock_M_Center≔p[0.14,-0.2,0.55,0.25,0.76,6.16]
     "Ready" setup
       '"Ready" is the pose where the program switch control from the Kelvin program over to subprograms and back again'
       'Subprograms start and end near this point (pose)'
       'Programs for changing tools start with one tool at this point and end here again after the robot switch to another tool'
       Ready≔p[-0.1,-0.3,0.4,1.2,2.9,0]
       'Ready BackUp: (-0.1,-0.3,0.4,1.2,2.9,0)'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'A series of waypoints are used to bring the robot arm and tools safety between the Ready pose and the docking stations (Front Door)'
       'These waypoints are hard coded with a name and pose (simple waypoints can be lost in back-up)'
       'Naming of these waypoints follow a scheme of "Ready_(number)_(dock)". Lowest number is closest to Ready'
       'Right before drop-off (typical #3) the tool will be put in the configuration for parking (e.g. closing gripper)'
       'Right after pick-up (typical #3) the tool will be initialized and tested (e.g. open and closing gripper)'
       'Waypoints for ''Ready to FrontDoor''. Low numbers are close to ''Ready'''
       Ready_1_A≔p[0.03,-0.325,0.365,1.278,3.08,-0.145]
       Ready_2_A≔p[0.104,-0.338,0.276,1.424,3.936,-1.305]
       Ready_3_A≔p[0.13,-0.338,0.2,0.0025,-1.7417,0.0661]
       Ready_1_B≔p[0.035,-0.358,0.4,1.2,2.9,0]
       Ready_2_B≔p[0.085,-0.515,0.253,1.557,2.905,1.078]
       Ready_3_B≔p[0.09,-0.55,0.217,1.33,3.13,1.89]
       Ready_1_C≔p[-0.085,-0.358,0.4,1.2,2.9,0]
       Ready_2_C≔p[-0.072,-0.515,0.253,2.258,2.368,1.088]
       Ready_3_C≔p[-0.065,-0.55,0.217,1.985,2.317,1.967]
       Ready_1_D≔p[0,0,0,0,0,0]
       Ready_2_D≔p[0,0,0,0,0,0]
       Ready_3_D≔p[0,0,0,0,0,0]
       Ready_1_M≔p[-0.1,-0.28,0.4,1.35,2.48,-0.137]
       Ready_2_M≔p[0.060,-0.32,0.37,0.71,2.075,-0.158]
       Ready_3_M≔p[0.06,-0.33,0.51,0.25,0.84,-0.207]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Waypoints between BackDoors. Low number is closest to first dock'
       BackA_1_B≔p[0.218,-0.394,0.2,1.428,3.99,-1.632]
       BackA_2_B≔p[0.184,-0.588,0.2,3.6,2.88,0.75]
       BackA_1_C≔p[0.218,-0.394,0.200,1.428,3.99,-1.632]
       BackA_2_C≔p[-0.026,-0.613,0.200,3.822,1.457,1.885]
       BackA_1_D≔p[0,0,0,0,0,0]
       BackA_2_D≔p[0,0,0,0,0,0]
       BackA_1_M≔p[0.195,-0.33,0.186,1.428,3.99,-1.632]
       BackA_2_M≔p[0.03,-0.31,0.41,0.419,-0.79,0.203]
       BackA_1_R≔p[0.2,-0.335,0.160,1.27,4.168,-1.332]
       BackA_2_R≔p[0.02,-0.435,0.350,3.253,2.565,-0.43]
       BackB_1_C≔p[0.063,-0.613,0.169,3.769,2.435,1.166]
       BackB_2_C≔p[-0.026,-0.613,0.169,3.822,1.457,1.885]
       BackB_1_D≔p[0,0,0,0,0,0]
       BackB_2_D≔p[0,0,0,0,0,0]
       BackB_1_M≔p[0.109,-0.576,0.187,3.74,2.55,1.06]
       BackB_2_M≔p[0.059,-0.4778,0.256,1.305,1.66,1.214]
       BackB_1_R≔p[0.112,-0.59,0.195,3.56,2.56,1.41]
       BackB_2_R≔p[0.02,-0.44,0.33,3.58,1.75,0.64]
       BackC_1_D≔p[0,0,0,0,0,0]
       BackC_2_D≔p[0,0,0,0,0,0]
       BackC_1_M≔p[-0.075,-0.58,0.187,3.805,1.307,1.944]
       BackC_2_M≔p[0.059,-0.478,0.256,1.3305,1.66,1.214]
       BackC_1_R≔p[-0.07,-0.59,0.17,3.68,1.38,2.01]
       BackC_2_R≔p[-0.025,-0.45,0.33,3.55,1.21,1.0]
       BackD_1_M≔p[0,0,0,0,0,0]
       BackD_2_M≔p[0,0,0,0,0,0]
       BackD_1_R≔p[0,0,0,0,0,0]
       BackD_2_R≔p[0,0,0,0,0,0]
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'More poses for the robot arm may be set up here'
     Pneumatics
       'Info on the pneumatic control system'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Setting the pneumatic valves'
       'Pneumatic valves can be on 5-3 valve with closed center position or two 3-2 valves. Two 3-2 valves will make it possible to control each line individual'
       'AO[0] is the pneumatic supply for line A. Set to "0" to stop flow (under "I/O" analog_out[0] most be set to voltage)'
       Set AO[0]=4.0
       'AO[1] is the pneumatic supply for line B. Set to "0" to stop flow (under "I/O" analog_out[0] most be set to voltage)'
       Set AO[1]=4.0
       'Warning:    If AO(1) is 4.0 all ''0 volt'' settings in the program have changed to 4.0V!!!'
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'To make it easy to program the operation of the valves pneumatics can be set with the "Pneu" variable'
       'Pneu_A=0 means that line A is closed and Pneu_A=1 that it is open'
       'With 5-3 valve A and B can't be open at the same time. With two 3-2 valves they can!'
       Pneu_A≔0
       Pneu_B≔0
       '- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -'
       'Pressure control:'
       'If the pneumatics is set up with an electric pressure controler this program will set the pressure'
       'Thread_3 is transforming the P_Pneu value into a voltage (P_Volt) for the regulator'
       'P_pneu is the air pressure (value in bar) wanted by the programmer. Set to '0' for startup'
       'P_Pneu≔0'
       'P_Glue, P_Sealing, P_Vacu: Use for setting pressure level in SubPrograms. More predefined values can be added here'
       'P_Vacu≔0'
       'P_Glue≔0'
       'P_Sealing≔0'
       'P_Volt is the voltage setting for the regulator'
       'Volt2Bar is setting a voltage for the pneumatic regulator from the pressure wanted (depending on the pressure regulator)'
       Volt2Bar≔0.115
   Robot Program
     '''Kelvin'' shell program is running in an closed Loop. ''Kelvin Action'' parameter is used to start the different subprograms'
     'Run Kelvin program #40 for more information'
     Loop
       1: Start-Up procedure
         'Routine for start-up of the Kelvin Tool Changer demo program'
         'The robot will initialize and move to the starting position, but first we turn off pneumatics'
         'After initalization and moving to start point (Ready) we show a list of jobs'
         If Kelvin_Action≟1
           Pneu_A≔0
           Pneu_B≔0
           Wait: 0.2
           Welcome Popup
             If Lang≟1
               Popup
             ElseIf Lang≟2
               Popup
             ElseIf Lang≟3
               Popup
             ElseIf Lang≟4
               Popup
             ElseIf Lang≟5
               Popup
             Else
               Popup
           MoveJ
             StartIniWaypnt
             'StartIniWaypoint is same position as ''Ready'''
             'This waypoint is in the same position as "Ready" but force the robot to have all joints in the right positions'
             'This waypoint is typical lost if the program is moved or installed from a backup. Move the robot arm to the "Work Place" and set a new waypoint here'
             Ready
       2: Free
         If Kelvin_Action≟2
           Wait: 0.2
           Popup
       3: Free
         If Kelvin_Action≟3
           Wait: 0.2
           Popup
       4: Free
         If Kelvin_Action≟4
           Wait: 0.2
           Popup
       5: Free
         If Kelvin_Action≟5
           Wait: 0.2
           Popup
       6: Free
         If Kelvin_Action≟6
           Wait: 0.2
           Popup
       7: Free
         If Kelvin_Action≟7
           Wait: 0.2
           Popup
       8: Free
         If Kelvin_Action≟8
           Wait: 0.2
           Popup
       9: Free
         If Kelvin_Action≟9
           Wait: 0.2
           Popup
       10: Work with Tool-A
         If Kelvin_Action≟10
           ToolFree≔1
           Wait: 0.2
           Popup
           Call HookCheckOpen
           Call Transit_Ready_to_A_Back
           Call HookCheckOpen
           Call Dock_A_PickUp
           Call Check_Tool_A_ID
           ToolFree≔0
           Call Transit_A_Front_to_Ready
           Popup
           'Insert program steps and link to sub-program here'
           Call Transit_Ready_to_A_Front
           Call Check_Tool_A_ID
           ToolFree≔1
           Call Dock_A_DropOff
           Call Transit_A_Back_to_Ready
       11: Work with Tool-B
         If Kelvin_Action≟11
           Wait: 0.2
           Popup
           Call HookCheckOpen
           Call Transit_Ready_to_B_Back
           Call HookCheckOpen
           Call Dock_B_PickUp
           Call Check_Tool_B_ID
           ToolFree≔0
           Call Transit_B_Front_to_Ready
           Popup
           'Insert program steps and link to sub-program here'
           Call Transit_Ready_to_B_Front
           Call Check_Tool_B_ID
           ToolFree≔1
           Call Dock_B_DropOff
           Call Transit_B_Back_to_Ready
       12: Work with Tool-C
         If Kelvin_Action≟12
           Wait: 0.2
           Popup
           Call HookCheckOpen
           Call Transit_Ready_to_C_Back
           Call HookCheckOpen
           Call Dock_C_PickUp
           Call Check_Tool_C_ID
           ToolFree≔0
           Call Transit_C_Front_to_Ready
           Popup
           'Insert program steps and link to sub-program here'
           Call Transit_Ready_to_C_Front
           Call Check_Tool_C_ID
           ToolFree≔1
           Call Dock_C_DropOff
           Call Transit_C_Back_to_Ready
       13: Work with Tool-ABC
         If Kelvin_Action≟13
           Wait: 0.2
           Popup
           ToolFree≔1
           Call Transit_Ready_to_A_Back
           Call HookCheckOpen
           Call Dock_A_PickUp
           Call Check_Tool_A_ID
           ToolFree≔0
           Call Transit_A_Front_to_Ready
           Wait: 2.0
           Loop 1 times
             Switch A2B
               Call Transit_Ready_to_A_Front
               Call Check_Tool_A_ID
               ToolFree≔1
               Call Dock_A_DropOff
               Call Transit_A_Back_to_B_Back
               Call HookCheckOpen
               Call Dock_B_PickUp
               Call HookCheckClosed
               Call Check_Tool_B_ID
               ToolFree≔0
               Call Transit_B_Front_to_Ready
             Wait: 2.0
             Switch B2C
               Call Transit_Ready_to_B_Front
               Call Check_Tool_B_ID
               ToolFree≔1
               Call Dock_B_DropOff
               Call Transit_B_Back_to_C_Back
               Call HookCheckOpen
               Call Dock_C_PickUp
               Call HookCheckClosed
               Call Check_Tool_C_ID
               ToolFree≔0
               Call Transit_C_Front_to_Ready
             Wait: 2.0
             Switch C2A
               Call Transit_Ready_to_C_Front
               Call Check_Tool_C_ID
               ToolFree≔1
               Call Dock_C_DropOff
               Call Transit_C_Back_to_A_Back
               Call HookCheckOpen
               Call Dock_A_PickUp
               Call HookCheckClosed
               Call Check_Tool_A_ID
               ToolFree≔0
               Call Transit_A_Front_to_Ready
             Wait: 2.0
           Call Transit_Ready_to_A_Front
           Call Check_Tool_A_ID
           ToolFree≔1
           Call Dock_A_DropOff
           Call Transit_A_Back_to_Ready
       14: Manual Tool Change
         If Kelvin_Action≟14
           ToolFree≔1
           Popup
           Call Transit_Ready_to_Dock_M
           Call Dock_M_DropOff
           Popup
           Call HookCheckClosed
           Call DetectToolID
           Call HookCheckClosed
           Call Dock_M_PickUp
           Call Transit_Dock_M_to_Ready
           ToolFree≔1
           Popup
       15: Free
         If Kelvin_Action≟15
           Wait: 0.2
           Popup
       16: Free
         If Kelvin_Action≟16
           Wait: 0.2
           Popup
       17: Free
         If Kelvin_Action≟17
           Wait: 0.2
           Popup
       18: Free
         If Kelvin_Action≟18
           Wait: 0.2
           Popup
       19: Free
         If Kelvin_Action≟19
           Wait: 0.2
           Popup
       20: Free
         If Kelvin_Action≟20
           Wait: 0.2
           Popup
       40: Info
         If Kelvin_Action≟40
           Popup
           Popup
           Popup
           Popup
           Popup
           Popup
           Popup
           'Popup'
           Popup
       41: Tool Service
         If Kelvin_Action≟41
           Wait: 0.2
           Loop ToolService≠0
             20: Start Tool Service
               If ToolService≟20
                 Popup
                 Popup
                 Popup
                 Popup
                 Wait: 0.2
             1: Dock-A to Dock-M
               If ToolService≟1
                 Popup
                 If analog_in[3]>0.5*Tool_ID_Adjust
                   Popup
                   ToolService≔9
                 Else
                   Call HookCheckOpen
                   Call Transit_Ready_to_A_Back
                   Call Dock_A_PickUp
                   Call HookCheckClosed
                   Call Check_Tool_A_ID
                   ToolFree≔0
                   Call HookCheckClosed
                   Call Check_Tool_A_ID
                   Call Transit_A_Front_to_Ready
                   Call Transit_Ready_to_Dock_M
                   Call Dock_M_DropOff
                   Popup
                   Call HookCheckOpen
                   Call Transit_Dock_M_to_Ready
             2: Dock-B to Dock-M
               If ToolService≟2
                 Popup
                 If analog_in[3]>0.5*Tool_ID_Adjust
                   Popup
                   ToolService≔9
                 Else
                   Call HookCheckOpen
                   Call Transit_Ready_to_B_Back
                   Call Dock_B_PickUp
                   Call HookCheckClosed
                   Call Check_Tool_B_ID
                   ToolFree≔0
                   Call HookCheckClosed
                   Call Check_Tool_B_ID
                   Call Transit_B_Front_to_Ready
                   Call Transit_Ready_to_Dock_M
                   Call Dock_M_DropOff
                   Popup
                   Call HookCheckOpen
                   Call Transit_Dock_M_to_Ready
             3: Dock-C to Dock-M
               If ToolService≟3
                 Popup
                 If analog_in[3]>0.5*Tool_ID_Adjust
                   Popup
                   ToolService≔9
                 Else
                   Call HookCheckOpen
                   Call Transit_Ready_to_C_Back
                   Call Dock_C_PickUp
                   Call HookCheckClosed
                   Call Check_Tool_C_ID
                   ToolFree≔0
                   Call HookCheckClosed
                   Call Check_Tool_C_ID
                   Call Transit_C_Front_to_Ready
                   Call Transit_Ready_to_Dock_M
                   Call Dock_M_DropOff
                   Popup
                   Call HookCheckOpen
                   Call Transit_Dock_M_to_Ready
             4: Dock-D to Dock-M
               If ToolService≟4
                 Popup
                 If analog_in[3]>0.5*Tool_ID_Adjust
                   Popup
                   ToolService≔9
                 Else
                   Call HookCheckOpen
                   Call Transit_Ready_to_D_Back
                   Call Dock_D_PickUp
                   Call HookCheckClosed
                   Call Check_Tool_D_ID
                   ToolFree≔0
                   Call HookCheckClosed
                   Call Check_Tool_D_ID
                   Call Transit_D_Front_to_Ready
                   Call Transit_Ready_to_Dock_M
                   Call Dock_M_DropOff
                   Popup
                   Call HookCheckOpen
                   Call Transit_Dock_M_to_Ready
             5: Dock-M to Dock-A
               If ToolService≟5
                 Popup
                 Call Transit_Ready_to_Dock_M
                 ToolFree≔1
                 Popup
                 Call HookCheckClosed
                 Call Check_Tool_A_ID
                 ToolFree≔0
                 Call HookCheckClosed
                 Call Check_Tool_A_ID
                 Call Transit_Dock_M_to_Ready
                 Call Transit_Ready_to_A_Front
                 Call Check_Tool_A_ID
                 ToolFree≔1
                 Call Dock_A_DropOff
                 Call Transit_A_Back_to_Ready
             6: Dock-M to Dock-B
               If ToolService≟6
                 Popup
                 Call Transit_Ready_to_Dock_M
                 ToolFree≔1
                 Popup
                 Call HookCheckClosed
                 Call Check_Tool_B_ID
                 ToolFree≔0
                 Call HookCheckClosed
                 Call Check_Tool_B_ID
                 Call Transit_Dock_M_to_Ready
                 Call Transit_Ready_to_B_Front
                 Call Check_Tool_B_ID
                 ToolFree≔1
                 Call Dock_B_DropOff
                 Call Transit_B_Back_to_Ready
             7: Dock-M to Dock-C
               If ToolService≟7
                 Popup
                 Call Transit_Ready_to_Dock_M
                 ToolFree≔1
                 Popup
                 Call HookCheckClosed
                 Call Check_Tool_C_ID
                 ToolFree≔0
                 Call HookCheckClosed
                 Call Check_Tool_C_ID
                 Call Transit_Dock_M_to_Ready
                 Call Transit_Ready_to_C_Front
                 Call Check_Tool_C_ID
                 ToolFree≔1
                 Call Dock_C_DropOff
                 Call Transit_C_Back_to_Ready
             8: Dock-M to Dock-D
               If ToolService≟8
                 Popup
                 Call Transit_Ready_to_Dock_M
                 ToolFree≔1
                 Popup
                 Call HookCheckClosed
                 Call Check_Tool_D_ID
                 ToolFree≔0
                 Call HookCheckClosed
                 Call Check_Tool_D_ID
                 Call Transit_Dock_M_to_Ready
                 Call Transit_Ready_to_D_Front
                 Call Check_Tool_D_ID
                 ToolFree≔1
                 Call Dock_D_DropOff
                 Call Transit_D_Back_to_Ready
             9: R-2-M: Mount tool
               If ToolService≟9
                 Popup
                 Call Transit_Ready_to_Dock_M
                 'Call Dock_M_DropOff'
                 Popup
                 Call HookCheckClosed
                 Call DetectToolID
                 Call Dock_M_PickUp
                 Call Transit_Dock_M_to_Ready
                 ToolFree≔1
             10: R-2-M: Remove tool
               If ToolService≟10
                 Popup
                 Call Transit_Ready_to_Dock_M
                 ToolFree≔1
                 Call Dock_M_DropOff
                 Popup
                 Call HookCheckOpen
                 'Call Dock_M_PickUp'
                 Call Transit_Dock_M_to_Ready
             11: R-2-M: Replace tool
               If ToolService≟11
                 Popup
                 Call Transit_Ready_to_Dock_M
                 Call Dock_M_DropOff
                 Popup
                 Call HookCheckClosed
                 Call DetectToolID
                 Call Dock_M_PickUp
                 Call Transit_Dock_M_to_Ready
                 ToolFree≔1
             0: End Tool Service
               If ToolService≟0
                 '''0: End program'' must be last step in the Tool Service loop'
                 'This routine can close down the DockSetUp program. It also checks for non-valid user input and ask for next task. Valid input must be in the 'ElseIf' string'
               ElseIf ToolService≟0  or ToolService≟1 or ToolService≟2 or ToolService≟3 or ToolService≟4 or ToolService≟5 or ToolService≟6 or ToolService≟7 or ToolService≟8 or ToolService≟9 or ToolService≟10 or ToolService≟11 or ToolService≟20
                 Wait: 0.5
               Else
                 Popup
                 Wait: 0.5
               ToolService≔'Tool Service task number: (''20'': Menu  ''0'': End)'
               Wait: 0.2
       42: Dock SetUp and Adjust
         If Kelvin_Action≟42
           'This loop runs the setup operation. ''0'' end the loop and go back to the Kelvin menu'
           'Some steps depend on user indput, others are done automaticaly by setting a value for ''DockSetUp'''
           Popup
           Loop DockSetUp≠0
             10: Start Dock SetUp
               If DockSetUp≟10
                 Popup
                 Wait: 0.2
             1: SetUp New Dock
               If DockSetUp≟1
                 Popup
                 Popup
                 Wait: 10.0
                 Popup
                 Popup
                 Popup
                 Halt
             2: Dock Adjust
               If DockSetUp≟2
                 Popup
                 Popup
                 MoveJ
                   Ready
                 Popup
                 Dock4SetUp≔'Dock to adjust: 1:A 2:B 3:C 4:D (Exit: ''0'')'
                 'We need a copy to control the program'
                 If Dock4SetUp≟0
                   Popup
                   'Next we kill the Dock SetUp routine and go back to Kelvin menu'
                   DockSetUp≔0
                 Dock4Adjust≔Dock4SetUp
                 Popup
                 Loop 1 times
                   If Dock4Adjust≟1
                     Call Transit_Ready_to_A_Front
                     Popup
                     MoveL
                       Dock_A_Front
                       Dock_A_Center
                     Popup
                   If Dock4Adjust≟2
                     Call Transit_Ready_to_B_Front
                     Popup
                     MoveL
                       Dock_B_Front
                       Dock_B_Center
                     Popup
                   If Dock4Adjust≟3
                     Call Transit_Ready_to_C_Front
                     Popup
                     MoveL
                       Dock_C_Front
                       Dock_C_Center
                     Popup
                   If Dock4Adjust≟4
                     Call Transit_Ready_to_D_Front
                     Popup
                     MoveL
                       Dock_D_Front
                       Dock_D_Center
                     Popup
                   If Dock4Adjust≟99
                     Popup
                     DockSetUp≔0
                   If Dock4Adjust≟0
                     Popup
                   ElseIf Dock4Adjust≟0 or Dock4Adjust≟1 or Dock4Adjust≟2 or Dock4Adjust≟3 or Dock4Adjust≟4 or Dock4Adjust≟10 or Dock4Adjust≟99
                     Wait: 0.2
                   Else
                     Popup
                 'When tool in dock we go on to next step'
                 '''DockSetUp'' set to 3 for next step'
                 DockSetUp≔3
             3: ManualDockAdjustments
               'This routine will help the operator to fine tune the alignment of the Tool Changer to the Dock Station'
               'The step size in this adjustment can be changede by setting a new value for 'DeltaTrans' and unsuppres a rotation value in the 'BeforeStart' section'
               If DockSetUp≟3
                 Wait: 0.2
                 If Dock4Adjust≟99
                   Popup
                   DockSetUp≔0
                   Wait: 0.2
                 If Dock4Adjust≟88
                   Popup
                   MoveL
                     Dock_X_Front
                     Dock_X_Center
                 Popup
                 Popup
                 Popup
                 Popup
                 Loop UserXAdjustment≠0
                   DockXCenterBeta≔get_actual_tcp_pose()
                   If UserXAdjustment≟1
                     DockXCenter1≔pose_trans(DockXCenterBeta, p[-DockXDeltaTrans/1000*0.9272,-DockXDeltaTrans/1000*0.3746,0,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter1
                     Wait: 0.5
                   If UserXAdjustment≟2
                     DockXCenter2≔pose_trans(DockXCenterBeta, p[DockXDeltaTrans/1000*0.9272,DockXDeltaTrans/1000*0.3746,0,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter2
                     Wait: 0.2
                   If UserXAdjustment≟3
                     DockXCenter3≔pose_trans(DockXCenterBeta, p[-DockXDeltaTrans/1000*0.3746,DockXDeltaTrans/1000*0.9272,0,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter3
                     Wait: 0.2
                   If UserXAdjustment≟4
                     DockXCenter4≔pose_trans(DockXCenterBeta, p[DockXDeltaTrans/1000*0.3746,-DockXDeltaTrans/1000*0.9272,0,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter4
                     Wait: 0.2
                   If UserXAdjustment≟5
                     DockXCenter5≔pose_trans(DockXCenterBeta, p[0,0,DockXDeltaTrans/1000,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter5
                     Wait: 0.2
                   If UserXAdjustment≟6
                     DockXCenter6≔pose_trans(DockXCenterBeta, p[0,0,-DockXDeltaTrans/1000,0,0,0])
                     MoveL
                       DockXCenterBeta
                       DockXCenter6
                     Wait: 0.5
                   If UserXAdjustment≟7
                     DockXCenter7≔pose_trans(DockXCenterBeta, Xccw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter7
                     Wait: 0.2
                   If UserXAdjustment≟8
                     DockXCenter8≔pose_trans(DockXCenterBeta, Xcw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter8
                     Wait: 0.2
                   If UserXAdjustment≟9
                     DockXCenter9≔pose_trans(DockXCenterBeta, Yccw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter9
                     Wait: 0.2
                   If UserXAdjustment≟10
                     DockXCenter10≔pose_trans(DockXCenterBeta, Ycw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter10
                     Wait: 0.2
                   If UserXAdjustment≟11
                     DockXCenter11≔pose_trans(DockXCenterBeta, Zccw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter11
                     Wait: 0.2
                   If UserXAdjustment≟12
                     DockXCenter12≔pose_trans(DockXCenterBeta, Zcw)
                     MoveL
                       DockXCenterBeta
                       DockXCenter12
                     Wait: 0.2
                   If UserXAdjustment≟0
                     Popup
                   ElseIf UserXAdjustment≟0 or UserXAdjustment≟1 or UserXAdjustment≟2 or UserXAdjustment≟3 or UserXAdjustment≟4 or UserXAdjustment≟5 or UserXAdjustment≟6 or UserXAdjustment≟7 or UserXAdjustment≟8 or UserXAdjustment≟9 or UserXAdjustment≟10 or UserXAdjustment≟11 or UserXAdjustment≟12 or UserXAdjustment≟13
                     Wait: 0.2
                   Else
                     Popup
                   UserXAdjustment≔'Fine tune command: (Exit: ''0'')'
                 Wait: 0.2
                 UserXAdjustment≔13
                 Popup
                 Dock_X_Home≔get_actual_tcp_pose()
                 Dock_X_Center≔Dock_X_Home
                 Dock_X_Front≔pose_trans(Dock_X_Center, DeltaFront)
                 Dock_X_Back≔pose_trans(Dock_X_Center,DeltaBack)
                 Dock_X_Start≔pose_trans(Dock_X_Center, DeltaStart)
                 Dock_X_Open≔pose_trans(Dock_X_Center, DeltaOpen)
                 Dock_X_Locking≔pose_trans(Dock_X_Center, DeltaLocking4)
                 Dock_X_Opening≔pose_trans(Dock_X_Center, DeltaOpening)
                 MoveL
                   Dock_X_Center
                   Dock_X_Front
                 DockSetUp≔4
                 Dock4Adjust≔88
             4: TestDrive Slow
               If DockSetUp≟4
                 If Dock4Adjust≟99
                   Popup
                   DockSetUp≔0
                   Wait: 0.2
                 Popup
                 Wait: 0.5
                 MoveL
                   Dock_X_Front
                   Dock_X_Start
                   Dock_X_Opening
                   Dock_X_Open
                   Dock_X_Back
                   Wait: 1.0
                   Dock_X_Back
                   Dock_X_Open
                   Dock_X_Locking
                   Dock_X_Center
                   Wait: 1.0
                   Dock_X_Center
                   Dock_X_Front
                 Popup
             5: TestDrive Fast
               If DockSetUp≟5
                 If Dock4Adjust≟99
                   Popup
                   DockSetUp≔0
                   Wait: 0.2
                 Popup
                 Wait: 0.5
                 MoveL
                   Dock_X_Front
                   Dock_X_Start
                   Dock_X_Opening
                   Dock_X_Open
                   Dock_X_Back
                   Wait: 0.5
                   Dock_X_Back
                   Dock_X_Open
                   Dock_X_Locking
                   Dock_X_Center
                   Wait: 0.5
                   Dock_X_Center
                   Dock_X_Front
                 Wait: 0.5
                 MoveL
                   Dock_X_Front
                   Dock_X_Start
                   Dock_X_Opening
                   Dock_X_Open
                   Dock_X_Back
                   Wait: 0.5
                   Dock_X_Back
                   Dock_X_Open
                   Dock_X_Locking
                   Dock_X_Center
                   Wait: 0.5
                   Dock_X_Center
                   Dock_X_Front
                 Popup
             6: Save setting
               If DockSetUp≟6
                 If Dock4Adjust≟99
                   Popup
                   DockSetUp≔0
                   Wait: 0.2
                 Wait: 0.2
                 Dock4Adjust≔99
                 Popup
                 If Dock4SetUp≟1
                   Popup
                   Dock_A_Home≔Dock_X_Home
                   Dock_A_Center≔Dock_A_Home
                 If Dock4SetUp≟2
                   Popup
                   Dock_B_Home≔Dock_X_Home
                   Dock_B_Center≔Dock_B_Home
                 If Dock4SetUp≟3
                   Popup
                   Dock_C_Home≔Dock_X_Home
                   Dock_C_Center≔Dock_C_Home
                 If Dock4SetUp≟4
                   Popup
                   Dock_D_Home≔Dock_X_Home
                   Dock_D_Center≔Dock_D_Home
                 Popup
                 'Next we kill the Dock SetUp routine'
                 DockSetUp≔0
             0: End DockSetUp program
               '''0: End program'' must be last step in the DockSetUp loop'
               'This routine can close down the DockSetUp program. It also checks for non-valid user input and ask for next task. Valid input must be in the 'ElseIf' string'
               If DockSetUp≟0
                 Wait: 0.2
               ElseIf DockSetUp≟0 or DockSetUp≟1 or DockSetUp≟2 or DockSetUp≟3 or DockSetUp≟4 or DockSetUp≟5 or DockSetUp≟6 or DockSetUp≟10
                 Wait: 0.2
               Else
                 Popup
                 Wait: 0.5
               DockSetUp≔'Programs:  1:New 2:Adjust 3:FineTune 4:Slow 5:Fast 6:Save (Exit: 0)'
       43: Save to BackUp
         If Kelvin_Action≟43
           Wait: 0.2
           Popup
           Popup
           Loop BackUp≠0
             If BackUp≟10
               Popup
             If BackUp≟1
               Popup
               Dock_A_BackUp≔Dock_A_Home
             If BackUp≟2
               Popup
               Dock_B_BackUp≔Dock_B_Home
             If BackUp≟3
               Popup
               Dock_C_BackUp≔Dock_C_Home
             If BackUp≟4
               Popup
               Dock_D_BackUp≔Dock_D_Home
             If BackUp≟0
               Wait: 0.2
             ElseIf BackUp≟0 or BackUp≟1 or BackUp≟2 or BackUp≟3 or BackUp≟4 or BackUp≟10
               Wait: 0.2
             Else
               Popup
               Wait: 0.2
             BackUp≔'BackUp: A:1 B:2 C:3 D:4 (Exit:''0'' Menu:''10'')'
       44: Reload from BackUp
         If Kelvin_Action≟44
           Wait: 0.2
           Popup
           Loop ReLoad≠0
             If ReLoad≟10
               Popup
             If ReLoad≟1
               Popup
               Dock_A_Home≔Dock_A_BackUp
               Dock_A_Center≔Dock_A_Home
             If ReLoad≟2
               Popup
               Dock_B_Home≔Dock_B_BackUp
               Dock_B_Center≔Dock_B_Home
             If ReLoad≟3
               Popup
               Dock_C_Home≔Dock_C_BackUp
               Dock_C_Center≔Dock_C_Home
             If ReLoad≟4
               Popup
               Dock_D_Home≔Dock_D_BackUp
               Dock_D_Center≔Dock_D_Home
             If ReLoad≟0
               Wait: 0.2
               Popup
             ElseIf ReLoad≟0 or ReLoad≟1 or ReLoad≟2 or ReLoad≟3 or ReLoad≟4 or ReLoad≟10
               Wait: 0.2
             Else
               Popup
             ReLoad≔'Reload: A:1 B:2 C:3 D:4 (Exit:''0'' Menu:''10'')'
       45: Pause
         If Kelvin_Action≟45
           'Program just wait for 10 seconds. Can be used to open ''Move'' or ''I/O'' in the background'
           Popup
           Wait: 10.0
           Popup
           'This step only sends you on to the menu in Step-0 (next step)'
       46: Langauge
         If Kelvin_Action≟46
           Wait: 0.2
           'Traslation from English to German, Frence an Spanish is based on Google Translate.'
           'Default langauge can be set in ''General setup for Tool Changer'''
           Popup
           Lang≔'DK:1 UK:2 GE:3 FR:4 ES:5'
           Sprog PopUp
             If Lang≟1
               Popup
             ElseIf Lang≟2
               Popup
             ElseIf Lang≟3
               Popup
             ElseIf Lang≟4
               Popup
             ElseIf Lang≟5
               Popup
             Else
               Popup
               'If a user enter a invalid langauge numberthe langauge is set to English'
               Lang≔2
       77: Quick Menu
         If Kelvin_Action≟77
           Wait: 0.2
           'Insert your favorit programs in the popup'
           Popup
           'This step only sends you on to thoose next program in step #0'
       88: Full Menu
         If Kelvin_Action≟88
           Wait: 0.2
           Popup
           Popup
           Popup
           Popup
           Popup
           Popup
           Popup
           Popup
           'After this step user is send to step #0 to thoose next program'
       99: Short Menu
         If Kelvin_Action≟99
           Wait: 0.2
           'This step only sends you on to thoose next program in next step (#0). No listing of program numbers'
       0: End program
         '''0: End program'' (this step) must be last step in the Kelvin Action loop'
         'This routine can close down the Kelvin shell program'
         'It also checks for non-valid user input and ask for next task'
         'Valid input must be listed in the 'ElseIf' string'
         If Kelvin_Action≟0
           Farewell Popup
             If Lang≟1
               Popup
             ElseIf Lang≟2
               Popup
             ElseIf Lang≟3
               Popup
             ElseIf Lang≟4
               Popup
             ElseIf Lang≟5
               Popup
             Else
               Popup
           'Ending the Tool Changer program. Restart ''Kelvin.urp'' to get the shell program back'
           Halt
         ElseIf Kelvin_Action≟0 or Kelvin_Action≟1 or Kelvin_Action≟2 or Kelvin_Action≟3 or Kelvin_Action≟4 or Kelvin_Action≟5 or Kelvin_Action≟6 or Kelvin_Action≟7 or Kelvin_Action≟8 or Kelvin_Action≟9 or Kelvin_Action≟10 or Kelvin_Action≟11 or Kelvin_Action≟12 or Kelvin_Action≟13 or Kelvin_Action≟14 or Kelvin_Action≟15 or Kelvin_Action≟16 or Kelvin_Action≟17 or Kelvin_Action≟18 or Kelvin_Action≟19 or Kelvin_Action≟20 or Kelvin_Action≟40 or Kelvin_Action≟41 or Kelvin_Action≟42 or Kelvin_Action≟43 or Kelvin_Action≟44  or Kelvin_Action≟45 or Kelvin_Action≟46 or Kelvin_Action≟77 or  Kelvin_Action≟88 or Kelvin_Action≟99
           Wait: 0.2
         Else
           'This popup is shown if the user enter a invalid program number'
           Try Again Popup
             If Lang≟1
               Popup
             ElseIf Lang≟2
               Popup
             ElseIf Lang≟3
               Popup
             ElseIf Lang≟4
               Popup
             ElseIf Lang≟5
               Popup
             Else
               Popup
         Menu Popup
           'This popup is shown right before the user must input a number for the next program'
           If Lang≟1
             Popup
           ElseIf Lang≟2
             Popup
           ElseIf Lang≟3
             Popup
           ElseIf Lang≟4
             Popup
           ElseIf Lang≟5
             Popup
           Else
             Popup
         LoopReStarter
           'Some program loops need to be reset to run more than one time'
           ToolService≔20
           BackUp≔10
           ReLoad≔10
           DockSetUp≔10
         Kelvin_Action≔'Kelvin program: (''88'' for menu, ''0'' to end program)'
     Halt
     '- - - - - Game Over - - - - Fine - - - - The End - - - - Slut - - - - - - - - - - - - -'
     Stop-Popup-39
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     Halt
     'Halt command here to prevent the robot to execute not suppressed SubFunctions'
     SubFunctions
       'SubFunctions to be used for building the main program'
       'SubFunctions here are only backup versions of the functions used in the main program. Copy-paste into main program'
       'Copy-paste into main program'
       Halt
       'Halt command here to prevent the robot to execute not suppressed SubFunctions'
       'Switch functions drop-off the first tool and pick-up the next tool'
       'All switch functions check the Tool ID by using the function that check the Tool ID for a docking station'
       'Tool-ID check can be overruled in popup'
       Switch A2B
         Call Transit_Ready_to_A_Front
         Call Check_Tool_A_ID
         ToolFree≔1
         Call Dock_A_DropOff
         Call Transit_A_Back_to_B_Back
         Call HookCheckOpen
         Call Dock_B_PickUp
         Call HookCheckClosed
         Call Check_Tool_B_ID
         ToolFree≔0
         Call Transit_B_Front_to_Ready
       Switch A2C
         Call Transit_Ready_to_A_Front
         Call Check_Tool_A_ID
         ToolFree≔1
         Call Dock_A_DropOff
         Call Transit_A_Back_to_C_Back
         Call HookCheckOpen
         Call Dock_C_PickUp
         Call HookCheckClosed
         Call Check_Tool_C_ID
         ToolFree≔0
         Call Transit_C_Front_to_Ready
       Switch A2D
         Call Transit_Ready_to_A_Front
         Call Check_Tool_A_ID
         ToolFree≔1
         Call Dock_A_DropOff
         Call Transit_A_Back_to_D_Back
         Call HookCheckOpen
         Call Dock_D_PickUp
         Call HookCheckClosed
         Call Check_Tool_C_ID
         ToolFree≔0
         Call Transit_D_Front_to_Ready
       Switch A2M
         Call Transit_Ready_to_A_Front
         Call Check_Tool_A_ID
         ToolFree≔1
         Call Dock_A_DropOff
         Call Transit_A_Back_to_M_Dock
         Call HookCheckOpen
         Call Dock_M_PickUp
         Call HookCheckClosed
         Call DetectToolID
         Call Transit_Dock_M_to_Ready
       Switch B2A
         Call Transit_Ready_to_B_Front
         Call Check_Tool_B_ID
         ToolFree≔1
         Call Dock_B_DropOff
         Call Transit_B_Back_to_A_Back
         Call HookCheckOpen
         Call Dock_A_PickUp
         Call HookCheckClosed
         Call Check_Tool_A_ID
         ToolFree≔0
         Call Transit_A_Front_to_Ready
       Switch B2C
         Call Transit_Ready_to_B_Front
         Call Check_Tool_B_ID
         ToolFree≔1
         Call Dock_B_DropOff
         Call Transit_B_Back_to_C_Back
         Call HookCheckOpen
         Call Dock_C_PickUp
         Call HookCheckClosed
         Call Check_Tool_C_ID
         ToolFree≔0
         Call Transit_C_Front_to_Ready
       Switch B2D
         Call Transit_Ready_to_B_Front
         Call Check_Tool_B_ID
         ToolFree≔1
         Call Dock_B_DropOff
         Call Transit_B_Back_to_D_Back
         Call HookCheckOpen
         Call Dock_D_PickUp
         Call HookCheckClosed
         Call Check_Tool_D_ID
         ToolFree≔0
         Call Transit_D_Front_to_Ready
       Switch B2M
         Call Transit_Ready_to_B_Front
         Call Check_Tool_B_ID
         ToolFree≔1
         Call Dock_B_DropOff
         Call Transit_B_Back_to_M_Dock
         Call HookCheckOpen
         Call Dock_M_PickUp
         Call HookCheckClosed
         Call DetectToolID
         ToolFree≔0
         Call Transit_Dock_M_to_Ready
       Switch C2A
         Call Transit_Ready_to_C_Front
         Call Check_Tool_C_ID
         ToolFree≔1
         Call Dock_C_DropOff
         Call Transit_C_Back_to_A_Back
         Call HookCheckOpen
         Call Dock_A_PickUp
         Call HookCheckClosed
         Call Check_Tool_A_ID
         ToolFree≔0
         Call Transit_A_Front_to_Ready
       Switch C2B
         Call Transit_Ready_to_C_Front
         Call Check_Tool_C_ID
         ToolFree≔1
         Call Dock_C_DropOff
         Call Transit_C_Back_to_B_Back
         Call HookCheckOpen
         Call Dock_B_PickUp
         Call HookCheckClosed
         Call Check_Tool_B_ID
         ToolFree≔0
         Call Transit_B_Front_to_Ready
       Switch C2D
         Call Transit_Ready_to_C_Front
         Call Check_Tool_C_ID
         ToolFree≔1
         Call Dock_C_DropOff
         Call Transit_C_Back_to_D_Back
         Call HookCheckOpen
         Call Dock_D_PickUp
         Call HookCheckClosed
         Call Check_Tool_D_ID
         ToolFree≔0
         Call Transit_D_Front_to_Ready
       Switch C2M
         Call Transit_Ready_to_C_Front
         Call Check_Tool_C_ID
         ToolFree≔1
         Call Dock_C_DropOff
         Call Transit_C_Back_to_M_Dock
         Call HookCheckOpen
         Call Dock_M_PickUp
         Call HookCheckClosed
         Call DetectToolID
         ToolFree≔0
         Call Transit_Dock_M_to_Ready
       Switch D2A
         Call Transit_Ready_to_D_Front
         Call Check_Tool_D_ID
         ToolFree≔1
         Call Dock_D_DropOff
         Call HookCheckOpen
         Call Transit_D_Back_to_A_Back
         Call Dock_A_PickUp
         Call HookCheckClosed
         Call Check_Tool_A_ID
         ToolFree≔0
         Call Transit_A_Front_to_Ready
       Switch D2B
         Call Transit_Ready_to_D_Front
         Call Check_Tool_D_ID
         ToolFree≔1
         Call Dock_D_DropOff
         Call Transit_D_Back_to_B_Back
         Call HookCheckOpen
         Call Dock_B_PickUp
         Call HookCheckClosed
         Call Check_Tool_B_ID
         ToolFree≔0
         Call Transit_B_Front_to_Ready
       Switch D2C
         Call Transit_Ready_to_D_Front
         Call Check_Tool_D_ID
         ToolFree≔1
         Call Dock_D_DropOff
         Call Transit_D_Back_to_C_Back
         Call HookCheckOpen
         Call Dock_C_PickUp
         Call HookCheckClosed
         Call Check_Tool_C_ID
         ToolFree≔0
         Call Transit_C_Front_to_Ready
       Switch D2M
         Call Transit_Ready_to_D_Front
         Call Check_Tool_D_ID
         ToolFree≔1
         Call Dock_D_DropOff
         Call Transit_D_Back_to_M_Dock
         Call HookCheckOpen
         Call Dock_M_PickUp
         Call HookCheckClosed
         Call DetectToolID
         ToolFree≔0
         Call Transit_Dock_M_to_Ready
       Switch M2A
         Call Transit_Ready_to_Dock_M
         Call Dock_M_DropOff
         Call Transit_M_Dock_to_A_Back
         Call HookCheckOpen
         Call Dock_A_PickUp
         Call HookCheckClosed
         Call Check_Tool_A_ID
         ToolFree≔0
         Call Transit_A_Front_to_Ready
       Switch M2B
         Call Transit_Ready_to_Dock_M
         Call Dock_M_DropOff
         Call Transit_M_Dock_to_B_Back
         Call HookCheckOpen
         Call Dock_B_PickUp
         Call HookCheckClosed
         Call Check_Tool_B_ID
         ToolFree≔0
         Call Transit_B_Front_to_Ready
       Switch M2C
         Call Transit_Ready_to_Dock_M
         Call Dock_M_DropOff
         Call Transit_M_Dock_to_C_Back
         Call HookCheckOpen
         Call Dock_C_PickUp
         Call HookCheckClosed
         Call Check_Tool_C_ID
         ToolFree≔0
         Call Transit_C_Front_to_Ready
       Switch M2D
         Call Transit_Ready_to_Dock_M
         Call Dock_M_DropOff
         Call Transit_M_Dock_to_D_Back
         Call HookCheckOpen
         Call Dock_D_PickUp
         Call HookCheckClosed
         Call Check_Tool_D_ID
         ToolFree≔0
         Call Transit_D_Front_to_Ready
     'SubFunctions in folder. Open folder for more information'
     'Thread Programs starts here (Small programs running in the background independent from robot program)'
     'Thread-1: Stop program if tool is released'
     'Thread-2: Control pneumatic valves'
     'Thread-3: Set pneumatic pressure'
   Thread_1
     'This Thread is for securing that a tool is not released during operations'
     'Values for "ToolFree" and "HookOpen" is used to deside if the robot should stop'
     If analog_in[3]<4.0*Tool_ID_Adjust and ToolFree≟0
       Popup
       'Popup stop program or unsuppress ''Halt'' here'
       Halt
     Wait: 0.5
   'Thread_2'
   'Thread_3'
   Dock_A_PickUp
     Set
     Stop-Popup-40
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_A_Back
       Dock_A_Open
       Dock_A_Locking
       Dock_A_Center
       Dock_A_Front
     ToolFree≔0
   Dock_A_DropOff
     Set
     Stop-Popup-41
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     ToolFree≔1
     MoveL
       Dock_A_Front
       Dock_A_Start
       Dock_A_Opening
       Dock_A_Open
       Dock_A_Back
   Dock_B_PickUp
     Set
     Stop-Popup-42
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_B_Back
       Dock_B_Open
       Dock_B_Locking
       Dock_B_Center
       Dock_B_Front
     ToolFree≔0
   Dock_B_DropOff
     Set
     Stop-Popup-43
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     ToolFree≔1
     MoveL
       Dock_B_Front
       Dock_B_Start
       Dock_B_Opening
       Dock_B_Open
       Dock_B_Back
   Dock_C_PickUp
     Set
     Stop-Popup-44
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_C_Back
       Dock_C_Open
       Dock_C_Locking
       Dock_C_Center
       Dock_C_Front
     ToolFree≔0
   Dock_C_DropOff
     Set
     Stop-Popup-45
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     ToolFree≔1
     MoveL
       Dock_C_Front
       'If force()>22'
       Dock_C_Start
       Dock_C_Opening
       Dock_C_Open
       Dock_C_Back
   Dock_D_PickUp
     Set
     Stop-Popup-46
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_D_Back
       Dock_D_Open
       Dock_D_Locking
       Dock_D_Center
       Dock_D_Front
     ToolFree≔0
   Dock_D_DropOff
     Set
     Stop-Popup-47
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     ToolFree≔1
     MoveL
       Dock_D_Front
       Dock_D_Start
       Dock_D_Opening
       Dock_D_Open
       Dock_D_Back
   Dock_M_PickUp
     'Finish manual tool shift at Dock-M'
     Set
     ToolFree≔0
     'Restart the live check on the tool connection. Robot will stop if the tool is released after this step'
     Wait: 0.5
   Dock_M_DropOff
     'Prepare for manual tool shift at Dock-M'
     Set
     ToolFree≔1
     'Tool can now be released without trigging a safety stop of the program'
     Wait: 0.5
   Transit_A_Back_to_B_Back
     Set
     Stop-Popup-1
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_A_Back
       BackA_1_B
       BackA_2_B
       Dock_B_Back
   Transit_A_Back_to_C_Back
     Set
     Stop-Popup-2
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_A_Back
       BackA_1_C
       BackA_2_C
       Dock_C_Back
   Transit_A_Back_to_D_Back
     Set
     Stop-Popup-3
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_A_Back
       BackA_1_D
       BackA_2_D
       Dock_D_Back
   Transit_A_Back_to_M_Dock
     Set
     Stop-Popup-4
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_A_Back
       BackA_1_M
       BackA_2_M
       Dock_M_Center
   Transit_A_Back_to_Ready
     Set
     Stop-Popup-5
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_A_Back
       BackA_1_R
       BackA_2_R
       Ready
   Transit_B_Back_to_A_Back
     Set
     Stop-Popup-6
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_B_Back
       BackA_2_B
       BackA_1_B
       Dock_A_Back
   Transit_B_Back_to_C_Back
     Set
     Stop-Popup-7
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_B_Back
       BackB_1_C
       BackB_2_C
       Dock_C_Back
   Transit_B_Back_to_D_Back
     Set
     Stop-Popup-8
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_B_Back
       BackB_1_D
       BackB_2_D
       Dock_D_Back
   Transit_B_Back_to_M_Dock
     Set
     Stop-Popup-9
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_B_Back
       BackB_1_M
       BackB_2_M
       Dock_M_Center
   Transit_B_Back_to_Ready
     Set
     Stop-Popup-10
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_B_Back
       BackB_1_R
       BackB_2_R
       Ready
   Transit_C_Back_to_A_Back
     Set
     Stop-Popup-11
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_C_Back
       BackA_2_C
       BackA_1_C
       Dock_A_Back
   Transit_C_Back_to_B_Back
     Set
     Stop-Popup-12
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Dock_C_Back
       BackB_2_C
       BackB_1_C
       Dock_B_Back
   Transit_C_Back_to_D_Back
     Set
     Stop-Popup-13
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_C_Back
       BackC_1_D
       BackC_2_D
       Dock_D_Back
   Transit_C_Back_to_M_Dock
     Set
     Stop-Popup-14
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_C_Back
       BackC_1_M
       BackC_2_M
       Dock_M_Center
   Transit_C_Back_to_Ready
     Set
     Stop-Popup-15
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_C_Back
       BackC_1_R
       BackC_2_R
       Ready
   Transit_D_Back_to_A_Back
     Set
     Stop-Popup-16
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Back
       BackA_2_D
       BackA_1_D
       Dock_B_Back
   Transit_D_Back_to_B_Back
     Set
     Stop-Popup-17
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Back
       BackB_2_D
       BackB_1_D
       Dock_B_Back
   Transit_D_Back_to_C_Back
     Set
     Stop-Popup-18
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Back
       BackC_2_D
       BackC_1_D
       Dock_C_Back
   Transit_D_Back_to_M_Dock
     Set
     Stop-Popup-19
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Back
       BackD_1_M
       BackD_2_M
       Dock_M_Center
   Transit_D_Back_to_Ready
     Set
     Stop-Popup-20
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Back
       BackD_1_R
       BackD_2_R
       Ready
   Transit_M_Dock_to_A_Back
     Set
     Stop-Popup-21
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_M_Center
       BackA_2_M
       BackA_1_M
       Dock_A_Back
   Transit_M_Dock_to_B_Back
     Set
     Stop-Popup-22
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_M_Center
       BackB_2_M
       BackB_1_M
       Dock_B_Back
   Transit_M_Dock_to_C_Back
     Set
     Stop-Popup-23
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_M_Center
       BackC_2_M
       BackC_1_M
       Dock_C_Back
   Transit_M_Dock_to_D_Back
     Set
     Stop-Popup-24
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_M_Center
       BackD_2_M
       BackD_1_M
       Dock_D_Back
   Transit_Ready_to_A_Back
     Set
     Stop-Popup-25
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       BackA_2_R
       BackA_1_R
       Dock_A_Back
   Transit_Ready_to_A_Front
     Set
     Stop-Popup-26
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       Ready_1_A
       Ready_2_A
       Ready_3_A
       Dock_A_Front
   Transit_A_Front_to_Ready
     Set
     Stop-Popup-27
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_A_Front
       Ready_3_A
       Ready_2_A
       Ready_1_A
       Ready
   Transit_Ready_to_B_Back
     Set
     Stop-Popup-28
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       BackB_2_R
       BackB_1_R
       Dock_B_Back
   Transit_Ready_to_B_Front
     Set
     Stop-Popup-29
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       Ready_1_B
       Ready_2_B
       Ready_3_B
       Dock_B_Front
   Transit_B_Front_to_Ready
     Set
     Stop-Popup-30
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_B_Front
       Ready_3_B
       Ready_2_B
       Ready_1_B
       Ready
   Transit_Ready_to_C_Back
     Set
     Stop-Popup-31
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Ready
       BackC_2_R
       BackC_1_R
       Dock_C_Back
   Transit_Ready_to_C_Front
     Set
     Stop-Popup-32
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       Ready_1_C
       Ready_2_C
       Ready_3_C
       Dock_C_Front
   Transit_C_Front_to_Ready
     Set
     Stop-Popup-33
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_C_Front
       Ready_3_C
       Ready_2_C
       Ready_1_C
       Ready
   Transit_Ready_to_D_Back
     Set
     Stop-Popup-34
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveL
       Ready
       BackD_2_R
       BackD_1_R
       Dock_D_Back
   Transit_Ready_to_D_Front
     Set
     Stop-Popup-35
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       Ready_1_D
       Ready_2_D
       Ready_3_D
       Dock_C_Front
   Transit_D_Front_to_Ready
     Set
     Stop-Popup-36
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_D_Front
       Ready_3_D
       Ready_2_D
       Ready_1_D
       Ready
   Transit_Ready_to_Dock_M
     Set
     Stop-Popup-37
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Ready
       Ready_1_M
       Ready_2_M
       Ready_3_M
       Dock_M_Center
   Transit_Dock_M_to_Ready
     Set
     Stop-Popup-38
       Popup
       Popup
       Halt
       'Stop-Popup is placed at start of movement that is based on data for each robot installation'
       'Stop-Popup block a new robot installation from running parts of the program that is not ready for execution'
       'Each Stop-Popup have an id number to make it easy to find the right Stop-Popup in the code'
     MoveJ
       Dock_M_Center
       Ready_3_M
       Ready_2_M
       Ready_1_M
       Ready
   PowerCheck
     If analog_in[3]<0.4*Tool_ID_Adjust
       Popup
   HookCheckOpen
     If analog_in[3]>0.5*Tool_ID_Adjust
       HookOpen PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     If analog_in[3]>0.5*Tool_ID_Adjust
       HookStillOpen PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   HookCheckClosed
     If analog_in[3]<4.6*Tool_ID_Adjust
       HookNotClosed1PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     If analog_in[3]<4.6*Tool_ID_Adjust
       HookNotClosed2PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     If analog_in[3]<4.6*Tool_ID_Adjust
       HookNotClosed2PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
       'Halt'
     Else
       Wait: 0.1
   Check_Tool_A_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     'If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)'
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)
       No ID 4 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 5'
     'If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)'
     'Tool-ID 6'
     'If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)'
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   Check_Tool_B_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)
       No ID 2 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     'If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)'
     'Tool-ID 5'
     'If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)'
     'Tool-ID 6'
     'If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)'
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   Check_Tool_C_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     'If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)'
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)
       No ID 4 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 5'
     'If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)'
     'Tool-ID 6'
     'If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)'
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   Check_Tool_D_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     'If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)'
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)
       No ID 4 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 5'
     'If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)'
     'Tool-ID 6'
     'If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)'
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   Check_Tool_E_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     'If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)'
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     'If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)'
     'Tool-ID 5'
     If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)
       No ID 5 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 6'
     'If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)'
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   Check_Tool_F_ID
     'Suppress all other but the Tool-ID to check for'
     'Tool-ID 0'
     'If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)'
     'Tool-ID 1'
     'If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)'
     'Tool-ID 2'
     'If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)'
     'Tool-ID 3'
     'If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)'
     'Tool-ID 4'
     'If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)'
     'Tool-ID 5'
     'If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)'
     'Tool-ID 6'
     If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)
       No ID 6 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     'Tool-ID 7'
     'If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)'
     'Tool-ID 8'
     'If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)'
     'Tool-ID 9'
     'If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)'
     'Tool-ID 10'
     'If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)'
   CheckID0
     If (analog_in[3]<4.6*Tool_ID_Adjust) or (analog_in[3]>5.1*Tool_ID_Adjust)
       No ID PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID1
     If (analog_in[3]<5.5*Tool_ID_Adjust) or (analog_in[3]>5.9*Tool_ID_Adjust)
       No ID 1 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID2
     If (analog_in[3]<6.5*Tool_ID_Adjust) or (analog_in[3]>6.9*Tool_ID_Adjust)
       No ID 2 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID3
     If (analog_in[3]<7.2*Tool_ID_Adjust) or (analog_in[3]>7.6*Tool_ID_Adjust)
       No ID 3 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID4
     If (analog_in[3]<8.2*Tool_ID_Adjust) or (analog_in[3]>8.6*Tool_ID_Adjust)
       No ID 4 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID5
     If (analog_in[3]<9.2*Tool_ID_Adjust) or (analog_in[3]>9.7*Tool_ID_Adjust)
       No ID 5 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID6
     If (analog_in[3]<10.5*Tool_ID_Adjust) or (analog_in[3]>11.1*Tool_ID_Adjust)
       No ID 6 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID7
     If (analog_in[3]<11.4*Tool_ID_Adjust) or (analog_in[3]>12.0*Tool_ID_Adjust)
       No ID 7 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID8
     If (analog_in[3]<12.1*Tool_ID_Adjust) or (analog_in[3]>12.8*Tool_ID_Adjust)
       No ID 8 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID9
     If (analog_in[3]<12.9*Tool_ID_Adjust) or (analog_in[3]>13.6*Tool_ID_Adjust)
       No ID 9 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   CheckID10
     If (analog_in[3]<13.7*Tool_ID_Adjust) or (analog_in[3]>14.5*Tool_ID_Adjust)
       No ID 10 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
   DetectToolID
     If (analog_in[3]>4.6*Tool_ID_Adjust) and (analog_in[3]<5.1*Tool_ID_Adjust)
       Tool-0 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>5.5*Tool_ID_Adjust) and (analog_in[3]<5.9*Tool_ID_Adjust)
       Tool-1 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>6.5*Tool_ID_Adjust) and (analog_in[3]<6.9*Tool_ID_Adjust)
       Tool-2 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>7.2*Tool_ID_Adjust) and (analog_in[3]<7.6*Tool_ID_Adjust)
       Tool-3 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>8.2*Tool_ID_Adjust) and (analog_in[3]<8.6*Tool_ID_Adjust)
       Tool-4 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>9.2*Tool_ID_Adjust) and (analog_in[3]<9.7*Tool_ID_Adjust)
       Tool-5 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>10.5*Tool_ID_Adjust) and (analog_in[3]<11.1*Tool_ID_Adjust)
       Tool-6 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>11.4*Tool_ID_Adjust) and (analog_in[3]<12.0*Tool_ID_Adjust)
       Tool-7 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>12.1*Tool_ID_Adjust) and (analog_in[3]<12.8*Tool_ID_Adjust)
       Tool-8 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>12.9*Tool_ID_Adjust) and (analog_in[3]<13.6*Tool_ID_Adjust)
       Tool-9 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     ElseIf (analog_in[3]>13.7*Tool_ID_Adjust) and (analog_in[3]<14.5*Tool_ID_Adjust)
       Tool-10 PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
     Else
       Tool-NA PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup
       Tool-warning PopUp
         If Lang≟1
           Popup
         ElseIf Lang≟2
           Popup
         ElseIf Lang≟3
           Popup
         ElseIf Lang≟4
           Popup
         ElseIf Lang≟5
           Popup
         Else
           Popup