      🤖 FLEX_PART_HANDLER_2025
    
      A vision-guided, sensor-driven robot program written for modern CNC automation cells. This self-contained demo simulates smart gripper logic, offset pickup, retry-safe loading, and cycle summary handling — all abstracted for public sharing and educational use.
    
🧠 Program Highlights (click to expand)
        Modular label-based structure with inline subroutines
Full inlined TOOL_LIGHT logic (no external calls)
Simulated VOFFSET via AI vision pickup
Safe retry logic for CNC chuck sequences
Optional finishing (deburr/polish) logic
Smart drop positioning with slot indexing

      NDA-Safe Notice:

        All code, naming, and diagrams are fully rewritten and anonymized for demo purposes.
        This program is inspired by legacy FANUC motion logic, modernized and abstracted for open learning.
      
      Version 2025.04 • Author: Automation Upgrade • Runtime: 12 Labels • Format: FANUC .LS
    
    ⬇️ Program Logic Breakdown ⬇️
  🔍 Label Explorer
  
    📄 Download full LS format (.txt)
  
📦 LBL[10] Vision Pickup
    LBL[10:INBOUND]

      UTOOL_NUM=1

      UFRAME_NUM=2

      MESSAGE[START VISION PICKUP]

      $WAITTMOUT=R[41:VISION TIME]

      RUN VISION: FLEX_AI_2025

      WAIT (F[21:VISION FOUND]=ON) TIMEOUT,LBL[55]

      PR[2:VISION OFFSET]=[X:23.0, Y:-5.2, Z:0.0, W:0, P:0, R:0]

      PR[3:APPROACH]=PR[2:VISION OFFSET]

      PR[3,3]=100

      P[10:PICK]=500mm/sec CNT100 Offset,PR[3]

      DO[10:GRIPPER CLOSE CMD]=PULSE,0.2sec

      WAIT (DI[10:GRIPPER CLOSED]=ON) TIMEOUT,LBL[998]

      MESSAGE[GRIPPER CONFIRMED CLOSED]

      MESSAGE[PAYLOAD SET TO MATCH TOOL]

      JMP LBL[20]
  
⚙️ LBL[20] CNC Load
    LBL[20:LOAD CNC]

      UTOOL_NUM=2

      UFRAME_NUM=3

      MESSAGE[LOADING CNC INTERFACE]

      R[80]=0

    LBL[21:RETRY LOAD]

      P[20:CNC APPROACH]=750mm/sec CNT50

      WAIT (DI[110:CHUCK READY]=ON) TIMEOUT,LBL[901]

      DO[105:OPEN CHUCK]=PULSE,0.2sec

      WAIT (DI[108:CHUCK OPEN CONFIRM]=ON) TIMEOUT,LBL[901]

      P[21:CNC INSERT]=250mm/sec FINE

      DO[11:GRIPPER OPEN CMD]=PULSE,0.2sec

      WAIT (DI[11:GRIPPER OPEN]=ON) TIMEOUT,LBL[997]

      MESSAGE[GRIPPER CONFIRMED OPEN]

      WAIT .2(sec)

      DO[106:CLOSE CHUCK]=PULSE,0.2sec

      WAIT (DI[109:CHUCK CLOSED CONFIRM]=ON) TIMEOUT,LBL[901]

      JMP LBL[30]
  
🧽 LBL[30] Finish (Deburr)
    LBL[30:FINISH]

      IF (R[90]=2), JMP LBL[40]

      UTOOL_NUM=3

      UFRAME_NUM=5

      MESSAGE[STARTING FINISH TOOL]

      DO[110:TOOL SPIN]=ON

      P[30:FINISH START]=100mm/sec CNT50

      WAIT .5(sec)

      P[31:FINISH SWEEP]=350mm/sec CNT100

      WAIT .5(sec)

      DO[110]=OFF

      JMP LBL[40]
  
🔄 LBL[40] CNC Unload
    LBL[40:UNLOAD CNC]

      UTOOL_NUM=2

      UFRAME_NUM=3

      MESSAGE[UNLOADING CNC]

      DO[105:OPEN CHUCK]=PULSE,0.2sec

      WAIT (DI[108:CHUCK OPEN CONFIRM]=ON) TIMEOUT,LBL[902]

      P[22:UNLOAD POS]=250mm/sec FINE

      DO[10:GRIPPER CLOSE CMD]=PULSE,0.2sec

      WAIT (DI[10:GRIPPER CLOSED]=ON) TIMEOUT,LBL[998]

      MESSAGE[GRIPPER CONFIRMED CLOSED]

      JMP LBL[50]
  
🛠️ LBL[50] Regrip Process
    LBL[50:REGRIP]

      UTOOL_NUM=4

      UFRAME_NUM=6

      MESSAGE[REGRIP INITIATED]

      P[40:REGRIP DROP]=500mm/sec CNT50

      DO[120:REGRIP OPEN]=ON

      WAIT (DI[121:REGRIP OPEN SENSE]=ON)

      DO[11:GRIPPER OPEN CMD]=PULSE,0.2sec

      WAIT (DI[11:GRIPPER OPEN]=ON) TIMEOUT,LBL[997]

      MESSAGE[GRIPPER CONFIRMED OPEN]

      WAIT .2(sec)

      P[41:REGRIP PICK]=250mm/sec FINE

      DO[10:GRIPPER CLOSE CMD]=PULSE,0.2sec

      WAIT (DI[10:GRIPPER CLOSED]=ON) TIMEOUT,LBL[998]

      MESSAGE[GRIPPER CONFIRMED CLOSED]

      DO[120:REGRIP OPEN]=OFF
  
🚀 LBL[60] Dropoff Logic
    LBL[60:DROP]

      UTOOL_NUM=2

      UFRAME_NUM=4

      R[6]=R[5]*(-150)

      PR[4:OFFSET]=PR[3:NULL]

      PR[4,2]=R[6]

      PR[4,3]=100

      P[50:DROPOFF]=500mm/sec CNT25 Offset,PR[4]

      DO[11:GRIPPER OPEN CMD]=PULSE,0.2sec

      WAIT (DI[11:GRIPPER OPEN]=ON) TIMEOUT,LBL[997]

      MESSAGE[GRIPPER CONFIRMED OPEN]

      WAIT .25(sec)

      R[5]=R[5]+1

      IF (R[5]>=R[28:MAX DROPS]), R[5]=0
  
📊 LBL[70] Cycle Summary
    LBL[70:SUMMARY]

      MESSAGE[=== CYCLE COMPLETE ===]

      MESSAGE[PART COUNT: R[1]]

      R[1]=R[1]+1

      JMP LBL[10]
  
⚠️ LBL[997–998] Timeout Handlers
    LBL[997]

      MESSAGE[ERROR: GRIPPER OPEN TIMEOUT]

      UALM[7]

      JMP LBL[999]

    LBL[998]

      MESSAGE[ERROR: GRIPPER CLOSE TIMEOUT]

      UALM[8]

      JMP LBL[999]
  
🏁 LBL[999] END
    LBL[999:END]

      PR[1:HOME]=P[1:SAFE HOME]

      PR[1:HOME]=100% FINE

      MESSAGE[PROGRAM COMPLETE]

      DO[100:STATUS_END]=ON
  
.

    ***** Code Breakdown *****
  
.

    ⬇️
  
      📝 Code Summary: FLEX_PART_HANDLER_2025
    
      A breakdown of the key sections and logic of the FLEX_PART_HANDLER_2025 robot program, explaining the main functions, components, and flow of operations.
    
      NDA-Safe Notice:

        All code, naming, and diagrams are fully rewritten and anonymized for demo purposes.
        This program is inspired by legacy FANUC motion logic, modernized and abstracted for open learning.
      
🔍 Label Breakdown
      Below are the primary labels in FLEX_PART_HANDLER_2025, detailing their function and logic in the program. These sections represent the key steps in the robot's processing flow.
    
📦 LBL[10] Vision Pickup
        Function: Initializes the vision pickup process to detect and position the part using AI vision system.
Key Logic: 
            RUN VISION: FLEX_AI_2025: Calls the vision system to detect the part and determine its offset.
PR[2:VISION OFFSET]: Stores the part's offset to be used later for precise pickup.
WAIT (F[21:VISION FOUND]=ON): Waits until the vision system confirms that the part is found before proceeding.

⚙️ LBL[20] CNC Load
        Function: Loads the part into the CNC machine by positioning the gripper and verifying part placement.
Key Logic: 
            WAIT (DI[110:CHUCK READY]=ON): Waits for the chuck (CNC clamping mechanism) to be ready before proceeding.
DO[105:OPEN CHUCK]=PULSE,0.2sec: Opens the CNC chuck to allow the part to be inserted.
P[21:CNC INSERT]: Positions the part correctly for CNC insertion based on pre-defined coordinates.

🧽 LBL[30] Finish (Deburr)
        Function: Optional deburring or polishing step for parts post-CNC processing to remove any sharp edges or imperfections.
Key Logic: 
            DO[110:TOOL SPIN]=ON: Activates the finishing tool (e.g., deburring tool) to start the operation.
WAIT .5(sec): Waits for a brief period to allow the tool to complete its initial movement.
P[31:FINISH SWEEP]=350mm/sec CNT100: Sweeps the tool across the part at a specified speed to perform the finishing task.

🔄 LBL[40] CNC Unload
        Function: Unloads the processed part from the CNC machine and moves it to a safe position.
Key Logic: 
            WAIT (DI[108:CHUCK OPEN CONFIRM]=ON): Waits for the chuck to confirm that it has opened before attempting to remove the part.
DO[10:GRIPPER CLOSE CMD]=PULSE,0.2sec: Closes the gripper around the part to ensure it is secured before removal.

🛠️ LBL[50] Regrip Process
        Function: Regrips the part if needed to reposition or reorient the part for further processing or unloading.
Key Logic: 
            DO[120:REGRIP OPEN]=ON: Opens the regrip mechanism to reposition the part.
WAIT (DI[121:REGRIP OPEN SENSE]=ON): Waits for confirmation that the regrip mechanism is open.
DO[11:GRIPPER OPEN CMD]=PULSE,0.2sec: Opens the gripper to ensure proper repositioning.

🚀 LBL[60] Dropoff Logic
        Function: Drops off the part at the designated dropoff location (e.g., a bin or another machine).
Key Logic: 
            PR[4:OFFSET]=PR[3:NULL]: Calculates the dropoff position for the part based on the robot's current position.
DO[11:GRIPPER OPEN CMD]=PULSE,0.2sec: Opens the gripper to release the part at the dropoff location.

📊 LBL[70] Cycle Summary
        Function: Provides a summary of the entire cycle, including the number of parts processed.
Key Logic: 
            MESSAGE[=== CYCLE COMPLETE ===]: Displays a message when the cycle is completed.
R[1]=R[1]+1: Increments the part count to track the total number of parts processed.

⚠️ LBL[997–998] Timeout Handlers
        Function: Handles any timeouts that occur during the process, such as when the gripper fails to close or the CNC chuck doesn't open in time.
Key Logic: 
            UALM[7]: Activates an alarm if there is a timeout in the gripper operation.
JMP LBL[999]: Jumps to the program end if a timeout occurs, ensuring that the program fails safely.

🏁 LBL[999] END
        Function: Marks the end of the program, returning the robot to a safe home position.
Key Logic: 
            PR[1:HOME]=P[1:SAFE HOME]: Moves the robot to a pre-defined "safe home" position to complete the program.
MESSAGE[PROGRAM COMPLETE]: Displays a message indicating the program has finished successfully.