Pick and Place Pick and Place This program demonstrates a simple pick-and-place application. The robot picks up parts at one location and places them at another. Features Introduced l Program initialization l Variable assignment l System parameter modification l FOR loop l Motion instructions l Hand control l Terminal output Program Listing .PROGRAM move.parts() ; ABSTRACT:
Pick up parts at location pick and put them down at place parts = 100 ;Number of parts to be processed height1 = 25.4 ;Approach/depart height at "pick" height2 = 50.8 ;Approach/depart height at "place" PARAMETER HAND.TIME = 0.16 ;Set up for slow hand OPEN ;Make sure the hand is open RIGHTY ;Make sure configuration is correct MOVE start ;Move to safe starting location FOR i = 1 TO parts ;Process the parts APPRO pick, height1 ;Go toward the pick-up MOVES pick ;Move to the part CLOSEI ;Close the hand DEPARTS height1 ;Back away APPRO place, height2 ;Go toward the put-down MOVES place ;Move to the destination OPENI ;Release the part DEPARTS height2 ;Back away END ;Loop for next part TYPE "All done.
", /I0, parts, " parts processed" eV+Language User's Guide, v2.x, 18318-000 Rev A Page 208