8-46
8
ROBOT LANGUAGE
8-5 Sample Programs
Program Comment
[NO0] <<Main routine>>
001: MAT 1, 3, 0 ; Defines 1×3 matrix (for supply pallet)
002: MAT 5, 4, 1 ; Defines 5×4 matrix (for transfer pallet)
003: C 1 ; Sets counter variable C to 1
004: D 1 ; Sets counter variable D to 1
005: L 0 ; Label definition
006: CALL 1, 1 ; Calls subroutine NO1
007: CALL 2, 1 ; Calls subroutine NO2
008: JMP 0, 0 ; Jumps to L0
[NO1] <<Supply pallet routine>>
001: WAIT 0, 1 ; Waits until supply pallet is set
002: MSEL 0 ; Selects matrix for feed pallet
003: MOVM C, 100 ; Moves to supply pallet
004: CALL 3, 1 ; PICK routine call
005: JMPC 1, 3 ; Jumps to L1 if counter variable C is 3
006: C+ ; Counter variable C increment
007: JMP 2, 1 ; Jumps to L2
008: L 1 ; Label definition
009: CALL 5, 1 ; Supply pallet eject routine call
010: C 1 ; Initializes counter variable C to 1
011: L 2 ; Label definition
[NO2] <<Transfer pallet routine>>
001: WAIT 1, 1 ; Waits until transfer pallet is set
002: MSEL 1 ; Selects transport pallet matrix
003: MOVM D, 100 ; Moves to transport pallet
004: CALL 4, 1 ; PLACE routine call
005: JMPD 1, 20 ; Jumps to L1 if counter variable D is 20
006: D+ ; Counter variable D increment
007: JMP 2, 2 ; Jumps to L2
008: L 1 ; Label definition
009: CALL 6, 1 ; Transfer pallet eject routine call
010: D 1 ; Initializes counter variable D to 1
011: L 2 ; Label definition
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