TRANSPORTATION AND INSTALLATION MANUAL
119
(Program example 2)
When the hand mass is 3 kg and the gravity center offset is (0 mm, 0 mm, 20 mm)
and the mass is 1 kg and gravity center offset is (30 mm, 0 mm, 50 mm) when the
workpiece is grasped.
Pick-and-place operation is executed under the above conditions.
PROGRAM SAMPLE
PAYLOAD={3,0,0,20}
ACCUR=COARSE
ENABLE NOWAIT
RESET DOUT
MOVE P0
DOUT(1)
WAIT DIN(1)
LOOP:
MOVE P1+POINT(0,0,100)
IF DIN(-1)THEN GOTO FIN
MOVE P1
WAIT MOTION>=100
DOUT(213)
DELAY 1
PAYLOAD={1,30,0,50}
MOVE P1+POINT(0,0,100)
MOVE P2+POINT(0,0,100)
MOVE P2
WAIT MOTION>=100
DOUT(-213)
DELAY 1
PAYLOAD={3,0,0,20}
MOVE P2+POINT(0,0,100)
GOTO LOOP
FIN:
MOVE P0
DOUT(1)
STOP
END
