Pick and Place RETURN ;End of the program .END Detailed Description This program has five sections: formal introduction, initialization of variables, initialization of the robot location, performance of the desired motion sequence, and notice to the operator of completion of the task. Each of these sections is described in detail below. The first line of every program must have the form of the line below. It is a good practice to follow that line with a brief description of the purpose of the program. If there are any special requirements for use of the program, they should be included as well. .PROGRAM move.parts() This line identifies the program to the eV+ system.
In this case we see that the name of the program is move.parts. ; ABSTRACT: Pick up parts at location "pick" and put them down at "place" This is a very brief description of the operation performed by the program. (Most programs requires a more extensive summary.) Use variables to represent constants for two reasons: Using a variable name throughout a program makes the program easier to understand, and only one program line must be modified if the value of the constant is changed. parts = 100 Tell the program how many parts to process during a production run. In this case, 100 parts are processed.
height1 = 25.4 Height1 controls the height of the robot path when approaching and departing from the location where the parts are to be picked up. Here it is set to 25.4 millimeters (that is, 1 inch). height2 = 50.8 Similar to height1, height2 sets the height of the robot path when approaching and departing from the put-down location. It is set to 50.8 millimeters (2 inches). PARAMETER HAND.TIME 0.16 Set the system parameter HAND.TIME so that sufficient time is allowed to actuate the robot hand. This setting causes OPENI and CLOSEI instructions to delay program execution for 160 milliseconds while the hand is actuated. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 209