Sample Programs Sample Programs The following program is an example of a robot task working from a moving conveyor belt. The task consists of the following steps: 1. Wait for a signal that a part is present. 2. Pick up the part. 3. Place the part at a new location on the belt. 4. Return to a rest location to wait for the next part. CAUTION: These programs are meant only to illustrate programming techniques useful in typical applications. Moving-line programs are hardware dependent because of the belt parameters, so care must be exercised if you attempt to use these programs.
; *** PROGRAM TO RELOCATE PART ON CONVEYOR *** ; Set up belt parameters ENABLE BELT PARAMETER BELT.MODE = 0 belt.scale = 0.03067 ;Encoder scale factor ; Define belt twice, for two stations DEFBELT %b1 = belt, 1, 32, belt.scale WINDOW %b1 = window.1, window.2, window.error DEFBELT %b2 = belt, 2, 32, belt.scale WINDOW %b2 = window.1, window.2, window.error WHILE TRUE DO ;Loop indefinitely WAIT part.ready ;Wait for signal that part present bx = BELT(%b1) ;Read present belt position SETBELT %b1 = bx ;Set encoder offset for pick-up... SETBELT %b2 = bx ;...
and drop-off stations APPROS %b1:p1, 50 ;Move to the part and pick it up MOVES %b1:p1 CLOSEI DEPARTS 50 APPROS %b2:p2, 50 ;Carry part to drop-off location MOVES %b2:p2 OPENI DEPARTS 50 MOVES wait.location ;Return to rest location END ;Wait for the next part ; *** End of program *** eV+Language User's Guide, v2.x, 18318-000 Rev A Page 201