$```$

$****$ Program for pick and place example

$****$ "PickAndPlaceABB.MOD". The robot takes

A A A the crankshaft at the storage position

$*$k$**$ and moves it to the stacking.

PROGRAM PickAndPlaceABB;

IMPORT DATALIST $\text{'}..\backslash$Position Lists$\backslash$PickAndPlaceABB$.$PSL$\text{'}$;

VAR

$```$

TEACH ROBTARGET

POvStor:

TEACH ROBTARGET

TEACH ROBTARGET

PStor;

TEACH ROBTARGET

POvStack;

PStack;

bos$1$:

$[$ABB$2400\_16]...$Position Lists$\backslash$PickAndPlaceABB$.$PSL$.$

Next click on PROGRAMMING in the menu bar and click Teach$-$in $($or press F$8)$ to open the universal Teach$-$In tool to jog the robot. When the Teach$-$In tool opens you notice that the name of each joint is named Achse$1,$ Achs$2,$ and so on$.$ Operate each of the joints by using the left and right arrows until you see a warning which says joint limited reached and record the joint values for each joint in either direction in the table and observe the robot movements. After you observe the limits of one joint, make sure you place the joint at the zero position before you try the other joint to ensure you have the true joint limits for every joint. Remember robots have limited degree of freedom in each joint and you will operate each of the joints independently to check the limits of joint movements and complete the table below.