8-50
8
ROBOT LANGUAGE
8-5 Sample Programs
Program Comment
[NO0]
001: MAT 6, 4, 0 ; Defines 6×4 matrix (for supply pallet)
002: MAT 3, 4, 1 ; Defines 3×4 matrix (for small pallet 1)
003: MAT 3, 4, 2 ; Defines 3×4 matrix (for small pallet 2)
004: C 1 ; Sets counter variable C to 1
005: D 1 ; Sets counter variable D to 1
006: L 0 ; Label definition
007: MSEL 0 ; Selects matrix for feed pallet
008: MOVM C, 100 ; Moves to supply pallet
009: CALL 1, 1 ; PICK routine call
010: MSEL 1 ; Selects matrix for small pallet 1
011: MOVM D, 100 ; Moves to small pallet 1
012: CALL 2, 1 ; PLACE routine call
013: JMPD 1, 12 ; Jumps to L1 if counter variable D is 12
014: C+ ; Counter variable C increment
015: D+ ; Counter variable D increment
016: JMP 0, 0 ; Jumps to L0
017: L 1 ; Label definition
018: C+ ; Counter variable C increment
019: D 1 ; Sets counter variable D to 1
020: L 2 ; Label definition
021: MSEL 0 ; Selects matrix for supply pallet
022: MOVM C, 100 ; Moves to supply pallet
023: CALL 1, 1 ; PICK routine call
024: MSEL 2 ; Selects matrix for small pallet 2
025: MOVM D, 100 ; Moves to small pallet 2
026: CALL 2, 1 ; PLACE routine call
027: JMPD 3, 12 ; Jumps to L3 if counter variable D is 12
028: C+ ; Counter variable C increment
029: D+ ; Counter variable D increment
030: JMP 2, 0 ; Jumps to L2
031: L 3 ; Label definition
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