User`s guide

Pick and Place
This program demonstrates a simple pick-and-place application. The robot picks up parts at
one location and places them at another.
Features Introduced
l Program initialization
l Variable assignment
l System parameter modification
l FOR loop
l Motion instructions
l Hand control
l Terminal output
Program Listing
.PROGRAM move.parts()
; ABSTRACT: Pick up parts at location pick and put them down at place
parts = 100 ;Number of parts to be processed
height1 = 25.4 ;Approach/depart height at "pick"
height2 = 50.8 ;Approach/depart height at "place"
PARAMETER HAND.TIME = 0.16 ;Set up for slow hand
OPEN ;Make sure the hand is open
RIGHTY ;Make sure configuration is correct
MOVE start ;Move to safe starting location
FOR i = 1 TO parts ;Process the parts
APPRO pick, height1 ;Go toward the pick-up
MOVES pick ;Move to the part
CLOSEI ;Close the hand
DEPARTS height1 ;Back away
APPRO place, height2 ;Go toward the put-down
MOVES place ;Move to the destination
OPENI ;Release the part
DEPARTS height2 ;Back away
END ;Loop for next part
TYPE "All done. ", /I0, parts, " parts processed"
Pick and Place
V+Language User's Guide, v17.0
Page 338