4.3.5. Home position and workpiece position pose program

The Home position and workpiece position program (Job program #400) is a program for recording the home position of a specific process and the position to move to for the pickup operation. The pose variables of 6000’s are used for designating the home positions while the pose variables of 6500’s~ 6700’s are used for designating pickup positions for individual processes. In each process, up to 5 different workpieces can be handled.

Program 3 Job program for recording the home position, pickup position and slip sheet pickup position

Program File Format Version : 1.6 MechType: _MECHTYPE TotalAxis: _TOTAL_AX AuxAxis: _AUX_AX

1 ''Home, Package, Approach Position

2 PRINT #0,"Change the following positions to real work positions by using the pose constants."

3 STOP

4 P[6001]=P* 'Home Position #1

5 P[6001].CFG.CRD=1

6 P[6501]=P* 'Pickup Position #Work 1_1

7 P[6501].CFG.CRD=1

8 P[6551]=P* 'Pickup Position #Work 1_2

9 P[6551].CFG.CRD=1

10 P[6601]=P* 'Pickup Position #Work 1_3

11 P[6601].CFG.CRD=1

12 P[6651]=P* 'Pickup Position #Work 1_4

13 P[6651].CFG.CRD=1

14 P[6701]=P* 'Pickup Position #Work 1_5

15 P[6701].CFG.CRD=1

16 END

4.3.5. Home position and workpiece position pose program​

4.3.5. Home position and workpiece position pose program