Use the Position Identifier Table to assign the position numbers.

INITIALIZATION

User Frame set to zero

Tool Frame set to one

Initialize output

MOTION TO READY$/$CYCLE START

Robot moves to READY position at a fast speed.

Delays for input line BEGIN$\_$CYCLE to turn on$,$ which is its cycle start command from

the PLC$.$

PART PICK$-$UP

The robot moves to a POUNCE position at a fast speed.

Delays for digital input PART$\_$IN$\_$POS to turn on$,$ indicating a part is present.

When the robot senses this input, it then moves to position OVER$\_$PART at a fast

speed with half deceleration.

Opens its gripper.

Robot moves down PICK$\_$UP at a slow speed.speed with half deceleration.

Opens its gripper.

Robot moves down PICK$\_$UP at a slow speed.

Closes gripper to grasp the part.

Delays for $2$ seconds

Moves back up to OVER$\_$PART at a slow speed with half deceleration.

PART DROP$-$OFF AT PALLET

Robot now delays for digital input SKID$\_$IN$\_$POS to turn on$,$ indicating that the pallet

skid is in the position where it is going to place the part.

Robot then moves to the pallet OVER$\_$SKID position at a fast speed with half

deceleration.

Robot move down to the DROP$\_$OFF position at a slow speed, to place the part on

the pallet.

Opens the gripper to release the part.

Delays for $2$ seconds.

Moves back up to the OVER$\_$SKID position at a fast speed with half deceleration.

PROGRAM DONE SIGNAL

Turns on an output CYCLE$\_$DONE, indicating it has completed cycle.

Delays for $1\mathrm{.}2$ seconds.

Turns off the output CYCLE$\_$DONE.

Robot moves to the READY position at a fast speed.Position Identifier Table

Speed Values

Digital Inputs

Digital Output

Robot Output for Gripper

TPP Instructions

Continuous motion, half deceleration.

J P$[3]70\%$ CNT$50$

Pause program execution for Digital Input

WAIT DI$[101]=$ ONProgram Enter and Build

See Instructor for programming worksheet.

Fill$-$in the blanks with the information provided in the bulleted description to complete

the program.

$/$PROG progname

$\frac{?}{?}$ ATTR

$\frac{?}{MN}$

:$!$ PROGRAM TITLE: fillin ;

:$!$ PROGRAMMER: fillin ;

:$!$ DATE: fillin ;

:$!$

INITIALIZATION;

: UFRAME$\_$NUM $=0$;

: UTOOL$\_$NUM $=1$;

: $DO[101]=$;

:$!$ MOTION TO READY$/$BEGIN CYCLE;

: JP $70\%$ FINE;

: WAIT DI $|$;

:$!$ PART PICK$-$UP ;

: JP$[]70\%$ FINE;

: WAIT DI $|=ON$;

: $J{P}^{-},-70\%CNT$;

:

Where progname is the program name.

Create your own program name.: ROI $\frac{?}{b}=ar((SEC))$;

: J P $[\_]\_,$ CNT $\_$ ;

:$!$ PART DROP OF AT PALLET ;

: WAIT DI$[$

$]=$

: JP$[]$

;

: JP$|]\%$ FINE;

: $RO[,]=$

: WAIT $2\mathrm{.}0($SEC$)$;

: J P : $CNT$

:$!$ PROGRAM DONE SIGNAL;

: $DO[101]=ON$;

: WAIT $1\mathrm{.}2($SEC$)$;

: $[]=$ OFF;

: J P $70\%$ FINE;

$/$ POS

$\frac{?}{?}$ END

Don't forget a blank line after the $/$END statement.