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(Program example 2)
Let's assume that the hand mass is 1 kg and gravity center offset is 30 mm, and
that the mass is 3 kg and gravity center offset is 50 mm when the workpiece is
grasped.
Pick-and-place operation is executed under these conditions.
PROGRAM SAMPLE
PAYLOAD={1,30}
ACCUR=COARSE
ENABLE NOWAIT
RESET DOUT
MOVE T A I K I
DOUT(1)
WAIT DIN(1)
LOOP:
MOVE A+POINT(0,0,100)
IF DIN(–1)THEN GOTO FIN
MOVE A
WAIT MOTION>=100
DOUT(213)
DELAY 1
PAYLOAD={3,50}
MOVE A+POINT(0,0,100)
MOVE B+POINT(0,0,100)
MOVE B
WAIT MOTION>=100
DOUT(–213)
DELAY 1
PAYLOAD={1,30}
MOVE B+POINT(0,0,100)
GOTO LOOP
FIN:
MOVE TAIKI
DOUT(1)
STOP
END
TRANSPORTATION AND INSTALLATION MANUAL
E
– 81 –
STE 85389
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