3 Implementation Example of Static Pick-and-place Equipment Global Variables Register the global variables that are used in the V+ program. Robot Commands Send Program "run" (robot commands send program) is used to send robot commands to execute the static pick- and-place operations. A program is described below. .PROGRAM run() ; ABSTRACT: Pick and place program AUTO ar.speed, ar.accel, ar.wait_on, ar.wait_off, ar.dist, ar.loc[5], al.
safe EXTERNAL ebool_exet2 ebool_exet2 = TRUE ; Set parameter ar.speed = 100 ; Speed ratio per full speed [%] ar.accel = 50 ; Accel ratio per full speed [%] ar.wait_on = 0.5 ; Wait time for air-on [sec] ar.wait_off = 0.2 ; Wait time for air-off [sec] ar.dist = 40 ; Approach and deppart distance [mm] ; Calculate and set temporary destination DECOMPOSE ar.loc[] = HERE SET al.safe = TRANS(ar.loc[0],ar.loc[1],DZ(gl.wait),ar.loc[3],ar.loc[4],a r.loc[5]) ;Prepare robot motion ready CALIBRATE ATTACH () SPEED ar.speed, ar.speed ALWAYS ACCEL ar.accel, ar.accel ; Approach/Move to wait position MOVES al.safe MOVE gl.wait BREAK ; Approach/Move to pick position APPRO gl.pick, ar.dist MOVES gl.pick BREAK ;Suctioning on and waiting SIGNAL 4001 WAIT.EVENT ar.wait_on ;Depart/Approach/MOVE to palce position DEPART ar.dist APPRO gl.place, ar.dist 3-14 NJ-series Robot Integrated System Startup Guide (O049)