ABB MultiMove - Page 64

6 Programming
6.4.2. Example "UnsyncArc" with independent movements
3HAC021272-001 Revision: H62
© Copyright 2004-2008 ABB. All rights reserved.
PROC main()
...
IndependentMove;
...
ENDPROC
PROC IndependentMove()
MoveL p11, v500, fine, tool1\WObj:=wobj1;
MoveC p12, p13, v500, z10, tool1\WObj:=wobj1;
MoveC p14, p11, v500, fine, tool1\WObj:=wobj1;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
TASK PERS wobjdata wobj2 :=
[ FALSE, TRUE, "",
[ [500, -200, 1000], [1, 0, 0 ,0] ],
[ [100, 1200, 100], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool2 := ...
CONST robtarget p21 := ...
...
CONST robtarget p24 := ...
PROC main()
...
IndependentMove;
...
ENDPROC
PROC IndependentMove()
MoveL p21, v500, fine, tool2\WObj:=wobj2;
MoveL p22, v500, z10, tool2\WObj:=wobj2;
MoveL p23, v500, z10, tool2\WObj:=wobj2;
MoveL p24, v500, z10, tool2\WObj:=wobj2;
MoveL p21, v500, fine, tool2\WObj:=wobj2;
ENDPROC
ENDMODULE
Continued