User`s guide

Initially, you should also make sure that the robot has the desired hand opening, is at a safe
starting location, and that SCARA robots have the desired configuration.
RIGHTY
Make sure the robot has a right-handed configuration (with the elbow of the robot to the right
side of the workspace). This is important if there are obstructions in the workspace that must
be avoided.
This instruction causes the robot to assume the requested configuration during its next
motion.
OPEN
Make sure the hand is initially open. This instruction is executed during the next robot
motion, rather than immediately as is done by the OPENI instruction.
MOVE start
Move to a safe starting location. Because of the preceding two instructions, the robot
assumes a right-handed configuration with the hand open.
The location start must be defined before the program is executed. That can be done, for
example, with the HERE command. The location must be chosen such that the robot can
move from it to the pick-up location for the parts without hitting anything.
After initialization, the following program section performs the application tasks.
FOR i = 1 TO parts
Start a program loop. The following instructions (down to the END) will be executed parts
times. After the last time the loop is executed, program execution continues with the TYPE
instruction following the END below.
APPRO pick, height1
Move the robot to a location that is height1 millimeters above the location pick.
The APPROS instruction is not used here because its straight-line motion would be slower
than the motion commanded by APPRO.
MOVES pick
Move the robot to the pick-up location pick, which must have been defined previously.
The straight-line motion commanded by MOVES assures that the hand does not hit the part
during the motion. A MOVE instruction could be used here if there is sufficient clearance
between the hand and the part to allow for a nonstraight-line path.
CLOSEI
Close the hand. To assure that the part is grasped before the robot moves away, the I form of
the CLOSE instruction is used-program execution will be suspended while the hand is closing.
Pick and Place
V+Language User's Guide, v17.0
Page 340