Pick and Place Initially, you should also make sure that the robot has the desired hand opening, is at a safe starting location, and that SCARA robots have the desired configuration. RIGHTY Make sure the robot has a right-handed configuration (with the elbow of the robot to the right side of the workspace). This is important if there are obstructions in the workspace that must be avoided. This instruction causes the robot to assume the requested configuration during its next motion. OPEN Make sure the hand is initially open. This instruction is executed during the next robot motion, rather than immediately as is done by the OPENI instruction. MOVE start Move to a safe starting location.
Because of the preceding two instructions, the robot assumes a right-handed configuration with the hand open. The location start must be defined before the program is executed. That can be done, for example, with the HERE command. The location must be chosen such that the robot can move from it to the pick-up location for the parts without hitting anything. After initialization, the following program section performs the application tasks. FOR i = 1 TO parts Start a program loop. The following instructions (down to the END) will be executed parts times. After the last time the loop is executed, program execution continues with the TYPE instruction following the END below.
APPRO pick, height1 Move the robot to a location that is height1 millimeters above the location pick. The APPROS instruction is not used here because its straight-line motion would be slower than the motion commanded by APPRO. MOVES pick Move the robot to the pick-up location pick , which must have been defined previously. The straight-line motion commanded by MOVES assures that the hand does not hit the part during the motion. A MOVE instruction could be used here if there is sufficient clearance between the hand and the part to allow for a nonstraight-line path. CLOSEI Close the hand.
To assure that the part is grasped before the robot moves away, the I form of the CLOSE instruction is used-program execution will be suspended while the hand is closing. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 210