12 Automation lntegration
12.3 Sample Robot - CNC Communication Sequence
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Step 20
The robot monitors the CNC’s input signal. Once the machine signals that it is idle the robot extracts the
part from the VICE and closes the VICE.
Go to Position SCRIPT.P2 Speed 50 (%)
Go to Position SCRIPT.P3 Speed 50 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine CLOSE VICE
Remark: ************************************************************************************************
Set Subroutine CLOSE VICE
Call Subroutine SCRIPT. CVICE
Call Subroutine SYNCHRONIZE_WITH_PM8000
Return from Subroutine
Remark: ************************************************************************************************
Step 21
The program name is transferred to the CNC control via the script file and the machine executes the
task.
CVICE.NC (Sample)
M26 H11 ;USER OUT#1 OFF
M25 H4;CLOSE VICE
G04F1;MAKE SURE OUTPUT IS SEEN
M20;CHAIN TO PROGRAM
START.NC
Step 22
The robot monitors the CNC’s input signal. Once the machine signals that it is idle, the robot exits the
machine and then closes the door.
Open Gripper
Go Linear to Position SCRIPT.P2 Speed 30 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Go to Position SCRIPT.P3 Speed 50 (%)
Go to Position SCRIPT.P4 Speed 50 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine CLOSE DOOR
Step 23
The program name is transferred to the CNC control via the script file and the machine executes the
task.
CDOOR.NC (Sample)
M26 H11 ;USER OUT#1 OFF
M26 H102 ;CLOSE DOOR
