12 Automation lntegration
12.4 Sample Robotic - CNC lntegration Programs
185
Send Message $Start to MANAGER ID=TASK_ID
Return from Subroutine
Remark: ************************************************************************************************
Set Subroutine PUT032
Print to Screen: PUT_TO_MILL (PM8000)
Call Subroutine SCRIPT.PUT_TO_MILL1
Print to Screen: P1,P2,P3,P4,PB1: 'SCRIPT.P1', 'SCRIPT.P2','SCRIPT.P3','SCRIPT.P4','SCRIPT.PB1'
Go to Position SCRIPT.P4 Speed 50 (%)
Go to Position SCRIPT.PB1 Fast
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine PLACE VICE IN LOADING POSITION
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine OPEN DOOR
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine OPEN VICE
Go to Position SCRIPT.P3 Speed 50 (%)
Go to Position SCRIPT.P2 Speed 50 (%)
Go Linear to Position SCRIPT.P1 Speed 30 (%)
Open Gripper
Go Linear to Position SCRIPT.P2 Speed 30 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine CLOSE VICE
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
Send Message $Finish to MANAGER ID=TASK_ID
Send Message $End to MANAGER ID=TASK_ID
Return from Subroutine
Remark: ************************************************************************************************
Set Subroutine GET033
Print to Screen: GET PART FROM FEEDER (FDR1)
Call Subroutine SCRIPT.GET_FROM_FDR1
Print to Screen: P1,P2,P3,PB1: 'SCRIPT.P1', 'SCRIPT.P2','SCRIPT.P3','SCRIPT.PB1'
Go to Position SCRIPT.PB1 Fast
Go to Position SCRIPT.P4 Speed 50 (%)
Wait Until Digital Input 2 is ON
Go to Position SCRIPT.P2 Speed 50 (%)
Open Gripper
Go Linear to Position SCRIPT.P1 Speed 30 (%)
Close Gripper
