8-
37
8
ROBOT LANGUAGE
8-5 Sample Programs
Program
Comment
[NO1]
<<Main routine>>
001: L
1
; Label definition
002: P
1
; Initializes the point variable
003: CALL
2,
5
; Executes a subroutine five times repeatedly
004: JMP
1,
1
; Returns to L1
[NO2]
<<Picking up and placing a workpiece>>
001: WAIT
2,
1
; Waits for workpiece feed
002: CALL
3,
1
; Executes a [PICK] subroutine
003: CALL
4,
1
; Executes a [PLACE] subroutine
004: P+
; Point variable increment
[NO3]
<<Picking up a workpiece>>
001: MOVA
0,
100
; Moves to the workpiece feed position
002: DO
0,
1
; Air cylinder moves down
003: WAIT
1,
1
; Waits until the air cylinder moves down
004: DO
1,
1
; Chuck closes
005: TIMR
100
; Stays for one second
006: DO
0,
0
; Air cylinder moves up
007: WAIT
0,
1
; Waits until the air cylinder moves up
[NO4]
<<Placing a workpiece>>
001: MOVA
P,
100
; Moves to the workpiece mount position
002: DO
0,
1
; Air cylinder moves down
003: WAIT
1,
1
; Waits until the air cylinder moves down
004: DO
1,
0
; Chuck opens
005: TIMR
100
; Stays for one second
006: DO
0,
0
; Air cylinder moves up
007: WAIT
0,
1
; Waits until the air cylinder moves up
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