Neuromeka INDY7, User Manual

Page: 165 / 325

165
05 | Programming
5.8
Application Command
An application command defines a set of process-specific instructions optimized for the process
executed by the tool. Basic commands such as robot motion, signal input/output, and program
flow control are combined in accordance with the process sequence and provided as a sort of
macro command in each application command. Unlike basic commands, these commands are
displayed in the program tree only when the user selects a tool.
Pick and Place
Pick and place commands are used by the robot to pick or place an object with the gripper.

pick
The robot picks the object at the specified position.
Process sequence
① Move to a vertical position of the object
② Open the gripper when it is closed
③ Approach to object position to grip the object
④ Close the gripper to grip the object
⑤ Grip the object and retreat to the vertical
position

place
The robot places the object at the specified position.
공정순서
① Move to a vertical position of the object
② Approach to the position for placing the object
③ Open the gripper to release the object
④ Release the object and retreat to the vertical
position