| 1: LBL[1:Begining]; |
(Label to jump to ) |
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| 2: UFRAME_NUM= 1; |
(Frame number similar to work coordinates) |
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| 3: UTOOL_NUM= 1; |
(calls Tool number offset) |
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| 4: J P[1:Perch] 50% CNT100 ; |
(jog to a recorded position at 50%)(CNT=round off going to point) |
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| 5: RO[1]= ON; |
(turns on an output RO 1) |
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| 6: RO[2]= OFF; |
(turns off an output RO 2) |
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| 7: RO[3]= ON; |
(turns on an output RO 3) |
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| 8: RO[4]= OFF; |
(turns off output RO 4) |
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| 9: J P[9:Perch 2] 50% CNT100 ; |
(jog to a recorded position at 50%)(CNT= round off going through point /corner a certain amount) |
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| 10: LBL[2:Pick Part]; |
(label to jump to from another part of program) |
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| 11: $WAITTMOUT= 2000; |
(If waiting to long timeout) |
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| 12: ; |
|
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| 13: L P[2:Approch] 500mm/sec CNT100 ; |
(move in a straight line to the point at 500MM/sec roundig off corner) |
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| 14: WAIT DI[2] = ON; |
(wait for an input DI2 to come on) |
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| 15: ; |
|
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| 16: ! R[15] is for the part style; |
Utilizing register 15 for part style |
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| 17: IF R[15] = 1 , JMP LBL[3]; |
If register 15 is a 1 (some part style) jump to label 3 |
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| 18: IF R[15] = 2 , JMP LBL[4]; |
If register 15 is a 2 (some part style) jump to label 4 |
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| 19: PAUSE; |
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| 20: ABORT; |
If no part style selected abort program |
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| 21: ; |
|
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| 22: LBL[3:Pick Part#1]; |
Pick part style #1 |
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| 23: L P[11] 100mm/sec FINE ; |
L=move in a straight line to a recorded position at a specific speed |
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| 24: ; |
|
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| 25: JMP LBL[5]; |
jump over part style #2 to label 5 |
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| 26: LBL[4:Pick Part#2]; |
Pick part style #2 |
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| 27: L P[12] 100mm/sec FINE ; |
L=move in a straight line to a recorded position at a specific speed |
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| 28: ; |
|
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| 29: LBL[5:Continue]; |
label 5 |
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| 30: CALL CLSGRP1; |
Call subprogram to close gripper |
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| 31: L P[8:Depart Out] 100mm/sec CNT100 ; |
move in a straight line to depart position point |
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| 32: IF DI[2] = ON , JMP LBL[98]; |
If the input Digital input #2(somthing with conveyor) is on jump to label 98 problem with conveyor |
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| 33: ; |
|
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| 34: LBL[6:Continue]; |
label 6 |
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| 35: J P[1:Perch] 50% CNT100 ; |
move to recorded position the fastest posible way using joint moves |
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| 36: JMP LBL[99]; |
jump to label 99 |
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37: ;
38: ; |
|
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| 39: LBL[98:Conveyor problem present]; |
conveyor problem was present |
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| 40: macro_119; |
run macro program |
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| 41: DO[14]= OFF; |
Turn digital output #14 off |
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| 42: DO[16]= ON; |
Turn digital output #14 on |
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| 43: MESSAGE[Alarm indicating]; |
Message with the said text displayed |
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| 44: MESSAGE[Dropped part]; |
Message with the said text displayed |
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| 45: MESSAGE[Remedy- check sensor]; |
Message with the said text displayed |
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| 46: PAUSE; |
|
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| 47: JMP LBL[6]; |
Jump to label #6 |
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| 48: ; |
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49: LBL[99:End]
|
label 99 |
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50: J P[2:"Approch"]
|
joint move to recorded position #2 commented as an approach point |
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51: J P[1:"Perch"]
|
joint move to recorded position #1 commented as perch point |
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/END |
End of program |
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