MODULE MTID322_lab4 !You need a Module and an ENDMODULE CONST robtarget Jacob:=[[803.44,4.46,935.84],[0.495762,0.000706147,0.868455,0.00249665],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget forward:=[[803.42,4.93,937.97],[0.495762,0.00070612,0.868455,0.00249665],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget punch:=[[925.93,383.12,1053.35],[0.495762,0.000706186,0.868455,0.00249671],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget hit:=[[925.93,383.12,1053.35],[0.495762,0.000706186,0.868455,0.00249671],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]; CONST robtarget slap:=[[925.93,383.12,1053.35],[0.495762,0.000706186,0.868455,0.00249671],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];

PROC main() !You always nedd a MAIN procedure in your program. Robot will always do this first Robothome; !Calling on subroutine, robot starts program in the home possition MoveL forward,v500,z10,tool0; !robot will move to first point MoveL punch,v1000,fine,tool0;!robot will move to seond point MoveL hit,v500,z10,tool0;!robot will move to third point MoveL slap,v1000,fine,tool0;!robot will move to fourth point RobotHome; !calls on subroutine, robot will move home ENDPROC

PROC RobotHome() !This will put the robot in home position MoveJ Jacob,v1000,z10,tool0; ! !I wan my robot to go to a safe place, and it is my English name ENDPROC ! this is the bottom of my sandwich ENDMODULE

they are my program for lab 4 which is made using robot studio, and I use IRB 1600

Write an ABB Robot program for Pick and Place. a. Create a main program using the program from Lab 4.

b. Write a Teach subroutine. (Click View and press 2 for routines and select Teach from the list) .

c. Bring cursor to the different points and teach the positions (Hint: Select MODPOS to modify the positions).

d. Write a gripper open and close subroutine. e. Save the program by clicking File and pressing 3 (on virtual pendant).

f. After that go to main routine. ( Click View and press 7 on virtual pendant to go to main routine).

g. To run the program: Move cursor to the first line of the program and select either FORWARD or START to run the robot. h. Demonstrate your working program to instructor.