User`s guide

Teaching Locations With the MCP
NOTE:This procedure does not apply to the Adept T20 pendant.
This program demonstrates how an operator can teach locations with the manual control
pendant, thus allowing the controller to operate without a system terminal. The two-line
liquid crystal display (LCD) of the pendant is used to prompt the operator for the locations to
be taught. The operator can then manually position the robot at a desired location and press a
key on the pendant. The program automatically records the location for later use (in this
case, for the pick-and-place program).
Features Introduced
l Subroutine parameters
l Attachments and detachments
l Manual control pendant interaction
l WAIT instruction
l Location definition within a program
Program Listing
.PROGRAM teach(pick, place, start)
; ABSTRACT: This program is used for teaching the locations
; "pick", "place", and "start" for the "move.parts" program.
;
; INPUT PARAM: None
;
; OUTPUT PARAM: pick, place, and start
;
; SIDE EFFECTS: Robot is detached while this routine is active
AUTO $clear.display
$clear.display = $CHR(12)+$CHR(7)
ATTACH (1) ;Connect to the
pendant
DETACH (0) ;Release control of
the robot
; Output prompt to the display on the manual control pendant
WRITE (1) $clear.display, "Move robot to 'START' & press RECORD"
WRITE (1) /X17, "RECORD", $CHR(5), /S
WRITE (1) $CHR(30), $CHR(3), /S ;Blink LED on control
pendant
Teaching Locations With the MCP
V+Language User's Guide, v17.0
Page 344