User`s guide

DEPARTS height1
Now that the robot is grasping the part, we can back away from the part holder. This
instruction moves the hand back height1 millimeters, following a straight-line path to make
sure the part does not hit its holder.
APPRO place, height2
MOVES place
OPENI
DEPARTS height2
Similar to the above motion sequence, these instructions cause the part to be moved to the
put-down location and released.
END
This marks the end of the FOR loop. When this instruction is executed, control is transferred
back to the FOR instruction for the next cycle through the loop (unless the loop count
specified by parts is exceeded).
The final section of the program simply displays a message on the system terminal and
terminates execution.
TYPE "All done. ", /I0, parts, " pieces processed."
The above instruction outputs the message:
All done. 100 pieces processed.
(The /I0 format specification in the instruction causes the value of parts to be output as an
integer value without a decimal point.)
RETURN
Although not absolutely necessary for proper execution of the program, it is good
programming practice to include a RETURN (or STOP) instruction at the end of every
program.
.END
This line is automatically included by the V+ editor to mark the program's end.
Pick and Place
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
Page 341