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vision example
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vision example
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(S'##BEGINNING OF PROGRAM##'
p0
S'##start position'
p1
S'Move J [start pos] X) 286.731 Y) 199.803 Z) 138.666 W) -55.06 P) 179.97 R) -124.81 T) 40.0 Speed-25 Ad 15 As 10 Dd 20 Ds 5 $F'
p2
S'##configure pickup height and wrist pos##'
p3
S'Store Position 1 Element 3 = -10'
p4
S'Store Position 1 Element 4 = -90'
p5
S'Store Position 1 Element 5 = 180'
p6
S'Store Position 1 Element 6 = -90'
p7
S'##zero pickup offset'
p8
S'Store Position 2 Element 1 = 0'
p9
S'Store Position 2 Element 2 = 0'
p10
S'Store Position 2 Element 3 = 0'
p11
S'Store Position 2 Element 4 = 0'
p12
S'Store Position 2 Element 5 = 0'
p13
S'Store Position 2 Element 6 = 0'
p14
S'###START LOOP###'
p15
S'Tab Number 1'
p16
S'Move J [*] X) 286.793 Y) 199.847 Z) 138.591 W) -55.06 P) 179.97 R) -124.81 T) 40.0 Speed-45 Ad 15 As 10 Dd 20 Ds 5 $F'
p17
S'Get Vision'
p18
S'Wait T - wait time - Seconds-1.5'
p19
S'Get Vision'
p20
S'Out Off - set output OFF - Output-45'
p21
S'##move above pickup'
p22
S'Store Position 2 Element 3 = 15'
p23
S'OFFS SP [SP:1] offs [*SP:2] [*] T) 40.0 Speed-50 Ad 15 As 10 Dd 20 Ds 5 $F'
p24
S'##move to pickup'
p25
S'Store Position 2 Element 3 = 0'
p26
S'OFFS SP [SP:1] offs [*SP:2] [*] T) 40.0 Speed-10 Ad 15 As 10 Dd 20 Ds 5 $F'
p27
S'##grip part'
p28
S'Out On - set output ON - Output-45'
p29
S'Wait T - wait time - Seconds-.3'
p30
S'##move above pickup'
p31
S'Store Position 2 Element 3 = 15'
p32
S'OFFS SP [SP:1] offs [*SP:2] [*] T) 40.0 Speed-10 Ad 15 As 10 Dd 20 Ds 5 $F'
p33
S'Store Position 2 Element 3 = 100'
p34
S'OFFS SP [SP:1] offs [*SP:2] [*] T) 40.0 Speed-40 Ad 15 As 10 Dd 20 Ds 5 $F'
p35
S'##move to setdown'
p36
S'Move J [*] X) -42.055 Y) 398.123 Z) 89.78 W) 3.538 P) 179.98 R) -6.132 T) 40.0 Speed-50 Ad 15 As 10 Dd 20 Ds 5 $F'
p37
S'Move J [*] X) -42.038 Y) 397.961 Z) 64.864 W) 3.621 P) 179.91 R) -6.049 T) 40.0 Speed-10 Ad 15 As 10 Dd 20 Ds 5 $F'
p38
S'Out Off - set output OFF - Output-45'
p39
S'Wait T - wait time - Seconds-.3'
p40
S'Move J [*] X) -42.044 Y) 398.017 Z) 144.857 W) 3.605 P) 179.92 R) -6.066 T) 40.0 Speed-25 Ad 15 As 10 Dd 20 Ds 5 $F'
p41
S'Out On - set output ON - Output-45'
p42
S'Jump Tab-1'
p43
tp44
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