Pick and Place DEPARTS height1 Now that the robot is grasping the part, we can back away from the part holder. This instruction moves the hand back height1 millimeters, following a straight-line path to make sure the part does not hit its holder. APPRO place, height2 MOVES place OPENI DEPARTS height2 Similar to the above motion sequence, these instructions cause the part to be moved to the put-down location and released. END This marks the end of the FOR loop. When this instruction is executed, control is transferred back to the FOR instruction for the next cycle through the loop (unless the loop count specified by parts is exceeded).
The final section of the program simply displays a message on the system terminal and terminates execution. TYPE "All done. ", /I0, parts, " pieces processed." The above instruction outputs the message: All done. 100 pieces processed. (The /I0 format specification in the instruction causes the value of parts to be output as an integer value without a decimal point.) RETURN Although not absolutely necessary for proper execution of the program, it is good programming practice to include a RETURN (or STOP) instruction at the end of every program. .END This line is automatically included by the eV+ editor to mark the program's end. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 211