RobotStudio event

Robot programming

Slache
Slache ✭
in Robot Controller
Can't seem to make headway with the robot studio:
Guys i am a bit new at this and i have spent days trying to sort this out i need to program a robot to do a cycle pick and drop sequence but all i can only do this using about 72-80 command prompts could someone assist me on how to write a repetitive sequence to thi:
i have a 8x9 palette to pick and drop from
could anyone help or refer me?

sample
%%%
  VERSION:8a
  LANGUAGE:ENGLISH
%%%

MODULE Processing_proj
MODULE Processing_proj

PERS wobjdata feeder:=[FALSE, TRUE, "",[[600,0,200],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PERS robtarget farfaraway01:=[[-400,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway02:=[[-450,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway03:=[[-500,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway04:=[[-550,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway05:=[[-600,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway06:=[[-650,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway07:=[[-700,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway08:=[[-750,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway09:=[[-800,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway10:=[[-850,-400,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway11:=[[-400,-350,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway12:=[[-450,-300,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway13:=[[-500,-250,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway14:=[[-550,-200,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway15:=[[-600,-150,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway16:=[[-650,-100,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway17:=[[-700,-050,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway18:=[[-750,-000,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway19:=[[-800, 050,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget farfaraway20:=[[-850, 100,150],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget approach:=[[0,0,50],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pick:=[[0,0,0],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC main()

    ConfJ Off;
     
   
    MoveJ farfaraway1,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway2,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway3,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway4,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway5,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway6,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway7,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway8,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway9,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway10,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway11,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway12,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway13,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway14,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway15,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway16,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway17,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway18,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

    MoveJ farfaraway19,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;
   
    MoveJ farfaraway20,v1000,z10,tool0;
    MoveJ approach,v1000,z10,tool0wobj:=feeder;
    MoveL pick,v50,fine,tool0wobj:=feeder;
    SetDO DO11_10,1;
    WaitTime Inpos, 0.4;
    MoveL approach,v100,z10,tool0;
    MoveJ farfaraway1,v1000,fine,tool0;
    SetDO DO11_10,0;

ENDPROC


ENDMODULE

c'est la vie

Comments

  • charles123krik
    charles123krik ✭


    Robot
    software is encoded to tell mechanical devices are known as the
    Robots.what task to perform, and control the operation of the command.     Robot software used to perform tasks, and automate tasks.
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    of many people through texts, online simulation of robot programming
    sample and unique concept of program design based on behavior.
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  • lemster68
    lemster68 ✭✭✭
     

    This is the declaration for a robtarget array.

     

    PERS robtarget pFaraway{20}:=[[target1],[target2],etc.,]];

     

    PROC rPicknPlace()

     

       FOR i FROM 1 to 20 DO

         MoveJ pFaraway{i}, v1000,fine,toolgrip;

         Move,

         Move,

         Set IO,

         Move Faraway1,

       ENDFOR

    ENDPROC
    Lee Justice

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