8-28
8
ROBOT LANGUAGE
8-5 Sample Programs
Program Comment
[NO1] <<Main routine>>
001: L 1 ; Label definition
002: JMPB 2, 2, 1 ; Jumps to L2 when workpiece A is detected
003: JMPB 3, 3, 1 ; Jumps to L3 when workpiece B is detected
004: JMPB 4, 4, 1 ; Jumps to L4 when workpiece C is detected
005: JMP 1, 1 ; Returns to L1
006: L 2 ; Label definition
007: P 1 ; Sets the point variable to 1
008: JMP 5, 1 ; Jumps to L5
009: L 3 ; Label definition
010: P 2 ; Sets the point variable to 2
011: JMP 5, 1 ; Jumps to L5
012: L 4 ; Label definition
013: P 3 ; Sets the point variable to 3
014: L 5 ; Label definition
015: CALL 2, 1 ; Executes a [PICK] subroutine
016: CALL 3, 1 ; Executes a [PLACE] subroutine
017: JMP 1, 1 ; Returns to L1
[NO2]
<<Picking up a workpiece>>
001: MOVA 0, 100 ; Moves to the workpiece feed position
002: DO 0, 1 ; Air cylinder moves down
003: WAIT 1, 1 ; Waits until the air cylinder moves down
004: DO 1, 1 ; Chuck closes
005: TIMR 100 ; Delays for one second
006: DO 0, 0 ; Air cylinder moves up
007: WAIT 0, 1 ; Waits until the air cylinder moves up
[NO3]
<<Placing a workpiece>>
001: MOVA P, 100 ; Moves to the workpiece mount position
002: DO 0, 1 ; Air cylinder moves down
003: WAIT 1, 1 ; Waits until the air cylinder moves down
004: DO 1, 0 ; Chuck opens
005: TIMR 100 ; Delays for one second
006: DO 0, 0 ; Air cylinder moves up
007: WAIT 0, 1 ; Waits until the air cylinder moves up
