12 Automation lntegration
12.3 Sample Robot - CNC Communication Sequence
176
G0 X0 Y0 Z100
;*****************************************************************
Between these two lines the actual manufacturing code is written
;*****************************************************************
G0 X0 Y25 Z20
G0 Z50
M5
M20;CHAIN TO PROGRAM
START.NC
Step 14
Once the input interrupt that monitors the CNC machine is activated, the robot will start the unloading
sequence as soon as the robot is available. The sequence starts with the robot checking the input signal
coming from the CNC machine. If the machine signals that it is idle the robot will start the unloading
procedure.
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine PLACE VICE IN LOADING POSITION
Remark: ************************************************************************************************
Set Subroutine PLACE VICE IN LOADING POSITION
Call Subroutine SCRIPT.PLACE
Call Subroutine SYNCHRONIZE_WITH_PM8000
Return from Subroutine
Remark: ************************************************************************************************
Step 15
The program name is transferred to the CNC control via the script file and the machine executes the
task.
PLACE.NC (Sample)
M26 H11 ;USER OUT#1 OFF
G00 X-160 Y-20 Z160
G04F1;MAKE SURE OUTPUT IS SEEN
M20;CHAIN TO PROGRAM
START.NC
Step 16
The robot monitors the CNC’s input signal. The robot opens the door if the machine signals that it is idle.
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine OPEN DOOR
Remark: ************************************************************************************************
Set Subroutine OPEN DOOR
Call Subroutine SCRIPT.ODOOR
