8-
44
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-11 Changing the placement sequence for palletizing
With this sample program, the robot picks up a workpiece supplied at P0 and place it sequentially on
a 4
×
5 pallet with the placement sequence shown below.
Point B (=P252)
Point C (=P253)
Point D (=P254)
Place points
Pick point
Point A (=P251)
P0
X
Y
Placement sequence
■
Teaching each point of P0 and P251 to P254 should be completed beforehand in PNT
(point) mode. (Matrix is defined as pallet number 0 in this example.)
Program
Comment
[NO0]
<<Main routine>>
001: MAT
4,
5,
0
; Defines 4
×
5 matrix as pallet number 0
002: C
1
; Sets counter variable to 1
003: CALL
1,
5
; Calls subroutine NO1 five times
004: C
10
; Sets counter variable to 10
005: CALL
2,
5
; Calls subroutine NO2 five times
006: C
11
; Sets counter variable to 11
007: CALL
1,
5
; Calls subroutine NO1 five times
008: C
20
; Sets counter variable to 20
009: CALL
2,
5
; Calls subroutine NO2 five times
[NO1]
<<Execution while counting up>>
001: MOVA
0,
100
; Moves to pick point
002: CALL
3,
1
; PICK routine call
003: MSEL
0
; Specifies movement matrix
004: MOVM
C,
100
; Moves to place point (on pallet)
005: CALL
4,
1
; PLACE routine call
006: C+
; Counter variable increment
[NO2]
<< Execution while counting down>>
001: MOVA
0,
100
; Moves to feed source point
002: CALL
3,
1
; PICK routine call
003: MSEL
0
; Specifies movement matrix
004: MOVM
C,
100
; Moves to place point (on pallet)
005: CALL
4,
1
; PLACE routine call
006: C-
; Counter variable decrement
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