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This is the program we will be executing. You can download this file here.
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;Any line that has a semicolon in front of it is a comment and isn't read by the machine |
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;Define the name of the program |
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DEF ExampleProgramName() |
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;these are some set up variables you don't have to worry about right now |
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GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) |
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$APO.CDIS = 0.5000 |
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BAS (#INITMOV,0) |
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BAS (#VEL_PTP,20) |
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BAS (#ACC_PTP,20) |
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$advance=5 |
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;Defines the coordinates of the tool attached to the robot, relative to the flange |
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$TOOL={X 0, Y 0, Z 0, A 0, B 0, C 0} |
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;Defines the Origin of the base, where all the consequtive commands are relative to |
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$BASE={X -75, Y -1638, Z 492, A 0, B 0, C 0} |
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;Set speed in meters/second |
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$VEL.CP=0.3 |
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;First we must tell the program what the initial axis position should be |
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PTP {A1 90, A2 -75, A3 100, A4 169, A5 -60, A6 -150, E1 0, E2 180, E3 0, E4 0, E5 0, E6 0} |
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;Finally, we give it a series of LIN commands to trace out a square in space |
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;E1 and E2 are the external axis |
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LIN {X 0, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS |
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LIN {X 0, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS |
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LIN {X 300, Y 300, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS |
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LIN {X 300, Y 0, Z 400, A 0, B 0, C 180, E1 0, E2 180} C_DIS |
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LIN {X 0, Y 0, Z 400, A 90, B 0, C 180, E1 0, E2 180} C_DIS |
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END |