3.2.2 Subroutines
Example program Pr2 demonstrates how to use GOSUB and return.
P10 = P1 ‘P10 is set to P1
GOSUB *PICKUP ‘call subroutine *PICKUP
P10 = P2 ‘P10 is set to P2
GOSUB *PLACE ‘call subroutine *PLACE
END ‘end of program
*PICKUP ‘subroutine *PICKUP
MVS P10,-50
…..HCLOSE 1….. ‘incomplete subroutine
RETURN ‘end of subroutine *PICKUP
*PLACE
MVS P10,-50
….HOPEN 1…….. ‘incomplete subroutine
RETURN
Pr2: subroutine for pick and place
3.2.3 External input
Example program Pr3 demonstrates the use of the external inputs. The robot has 16
I/O lines. For example if bit 8 is connected to a light beam that monitors a conveyor
belt. If an object comes along the robot picks it up.
*LOOP
MOV PREST ‘Move to a position above the conveyor belt
‘ready to grab object that may come along
WAIT M_IN ( 8 ) = 0 ‘Waits for the input signal bit 8 to turn OFF
‘(light beam has been interrupted by the object)
GOSUB *PICKUP ‘calls subroutine which could pick up the object
GOSUB *PUTSOMEWHERE
GOTO *LOOP
Pr3: External input
RV-2AJ Robot Programming LAB NOTES Version 0.6 Nov 2005
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