8-
53
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-18 Picking up workpieces at P0 and placing them sequentially
on a 2
×
4 pallet
X
P0
Y=10mm
Y
Point C (=P253)
Point D (=P254)
Point A (=P251)
Point B (=P252)
■
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]
001: MAT
2,
4,
0
; Defines 2
×
4 matrix as pallet number 0
002: C
1
; Sets counter variable to 1
003: L
0
; Label definition
004: ACHA
2,
10
; Specifies arch motion to move back Y-axis by Y=10mm
005: MOVA
0,
100
; Moves to pick point
006: CALL
1,
1
; PICK routine call
007: MSEL
0
; Specifies movement matrix
008: ACHA
2,
10
; Specifies arch motion to move back Y-axis by Y=10mm
009: MOVM
C,
100
; Moves to place point (on pallet)
010: CALL
2,
1
; PLACE routine call
011: JMPC
1,
8
; Jumps to L1 if counter variable is 8
012: C+
; Counter variable increment
013: JMP
0,
0
; Jumps to L0
014: L
1
; Label definition
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
